CN104908839A - Bionic leg structure applicable to footed robot - Google Patents

Bionic leg structure applicable to footed robot Download PDF

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Publication number
CN104908839A
CN104908839A CN201510404427.2A CN201510404427A CN104908839A CN 104908839 A CN104908839 A CN 104908839A CN 201510404427 A CN201510404427 A CN 201510404427A CN 104908839 A CN104908839 A CN 104908839A
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fixedly connected
minor
rod
minor axises
end cap
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CN104908839B (en
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刘翔宇
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SHAANXI JIULI ROBOT MANUFACTURING Co Ltd
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SHAANXI JIULI ROBOT MANUFACTURING Co Ltd
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Abstract

The invention discloses a bionic leg structure applicable to a footed robot, wherein the leg structure is based on a rod mechanism and comprises a lifting system, a thrusting system, an auxiliary supporting system, a synergic movement system, and a rack. The lifting system substantially comprises a lifting motor and a lifting rod. The lifting motor is fixedly connected with the rack. The lifting rod is fixedly connected with the lifting motor, with the lifting rod and the lifting motor being rotated synchronously. The thrusting system substantially comprises a thrust motor, a first thrusting rod, and a second thrusting rod. The thrust motor is fixedly connected with the rack. The first thrusting rod is fixedly connected with the thrust motor, with the first thrusting rod and the thrust motor being rotated synchronously. The second thrusting rod is movably connected with the first thrusting rod, with the second thrusting rod and the first thrusting rod being capable of rotating relative to each other. The auxiliary supporting system substantially comprises a first supporting rod, a second supporting rod, a third supporting rod, a first long shaft, a fourth short shaft and a fifth short shaft. The synergic movement system substantially comprises a first connecting rod, a second connecting rod, foot plates, a first short shaft, a second short shaft, and a third short shaft.

Description

A kind of bionical leg structure that can be used for legged type robot
Technical field
The present invention relates to legged type robot technology, be specially a kind of bionical leg structure that can be used for legged type robot.
Background technology
Legged type robot is a kind of Intelligent robot with redundant drive, higly branched chain, time-varying topology kinematic mechanism, relates to a comprehensive high-tech product of bioscience, bionics, theory of mechanisms, sensing technology and information-handling technique etc.Legged type robot relies on it to show very strong comformability with the discontinuous contact characteristic on ground in the process of walking, especially on the passage having obstacle or on very inapproachable work-yard, there is more vast potential for future development, be therefore widely used in rescue and relief work, explosive, address exploration of removing mines, amusement and the field such as civilian.
The leg (or pedipulator) of robot is the important component part of robot, plays very important effect to legged type robot motion.But every bar leg of legged type robot common at present has 3 initiatively degree of freedom, and every bar leg needs 3 driving links, complex structure, and it is difficult to control, and cost is high, quality is large, and cause the load-carrying capacity of robot poor, kinematic velocity is low, and alerting ability is not enough; On the other hand, the foot end track of legged type robot is not closed, and easily causes foot end and ground resulting in friction, and even cause foot end stuck time serious, robot cannot normal operation.
Summary of the invention
For the deficiencies in the prior art, the technical matters that quasi-solution of the present invention is determined is, provides a kind of bionical leg structure that can be used for legged type robot.This leg structure adopts linkage, has two drive motor, can alleviate the quality of leg, reduce energy consumption, simultaneously can increase load-carrying capacity by a relatively large margin, for the problem solving existing legged type robot high energy consumption and compatible with environment difference is laid a good foundation, there is good application prospect.
The technical scheme that the present invention solve the technical problem is, design a kind of bionical leg structure that can be used for legged type robot, it is characterized in that this leg structure is based on linkage, comprise elevator system, moving system, auxiliary shoring system, combined action system and frame;
Described elevator system mainly comprises lifting motor and lifting arm, and lifting motor is fixedly connected with frame by screw; Lifting arm is fixedly connected with lifting motor by retarder, flange, both synchronous axial system;
Described moving system mainly comprises pushing motor, No. 1 catch bar and No. 2 catch bars, and pushing motor is fixedly connected with frame by screw; No. 1 catch bar is fixedly connected with pushing motor by retarder, flange, both synchronous axial system; No. 2 catch bars are connected with No. 1 catch bar on-fixed by bearing, roller bearing end cap, and both can relatively rotate;
Described auxiliary shoring system mainly comprises No. 1 strut bar, No. 2 strut bars, No. 3 strut bars, No. 1 major axis, No. 4 minor axises and No. 5 minor axises, and No. 5 minor axises, together with welding machine frame, are fixedly connected with; No. 1 strut bar is connected with No. 5 minor axis on-fixeds by bearing, roller bearing end cap, and both can rotate relatively; Said No. 4 minor axises are connected with No. 1 strut bar on-fixed by bearing, roller bearing end cap, and both can rotate relatively; No. 2 catch bars are fixedly connected with No. 4 minor axises by screw; No. 1 major axis is fixedly connected with No. 2 catch bars by screw; No. 2 major axis are fixedly connected with catch bar with screw; No. 3 strut bars are fixedly connected with No. 1 major axis, No. 2 major axis by screw;
Described combined action system mainly comprises No. 1 pipe link, No. 2 pipe links, sole, No. 1 minor axis, No. 2 minor axises and No. 3 minor axises; No. 1 pipe link is connected with No. 2 major axis on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; No. 1 minor axis and No. 1 pipe link weld together, be fixedly connected with, and No. 1 minor axis is connected with No. 2 catch bar on-fixeds by bearing, roller bearing end cap simultaneously, and both can relatively rotate; No. 2 catch bars are connected with No. 1 major axis on-fixed by bearing, roller bearing end cap, and both can relatively rotate; No. 2 minor axises, No. 3 minor axises are fixedly connected with sole respectively by screw, and No. 2 minor axises, No. 3 minor axises are connected with No. 1 pipe link, No. 2 pipe link on-fixeds respectively by bearing, roller bearing end cap simultaneously, can relatively rotate between the two.
Compared with prior art, the bionical leg structure that the present invention can be used for legged type robot has the following advantages and beneficial effect:
1, the linkage structure of the present invention's design is simple, designs ingenious, can either alleviate the quality of leg structure, reduces energy consumption, simultaneously again can the load-carrying capacity of increase robot by a relatively large margin;
2, the present invention adopts two servomotors, by the cooperation control of two motors, makes the path of motion of leg end more stable, quick, accurate;
3, designed bionic leg structure relates to bionics field, and leg exercise is divided into and promotes and advance two stages, simultaneously adds sole at the end of leg, increases the area of contact on leg and ground, makes that the motion of robot is more stable, rule, is convenient to control;
4, in designed linkage, add one group of supplemental support lever system, can make robot move time more stable, and by a relatively large margin improve its load-carrying capacity;
5, leg structure of the present invention is with a wide range of applications, can be used for the legged type robot fields such as two foots, four-footed, six foots and eight foots, has good prospect.
Accompanying drawing explanation
Fig. 1 is a kind of angle schematic diagram of integral structure that the present invention can be used for a kind of embodiment of bionical leg structure of legged type robot;
Fig. 2 is the another kind of angle schematic diagram of integral structure that the present invention can be used for a kind of embodiment of bionical leg structure of legged type robot;
Fig. 3 is local (dotted portion in Fig. 2) the sectional structure schematic diagram that the present invention can be used for a kind of embodiment of bionical leg structure of legged type robot;
Fig. 4 is the local structure schematic diagram that the present invention can be used for the removal roller bearing end cap of a kind of embodiment of bionical leg structure of legged type robot;
Fig. 5 is the perspective view that the present invention can be used for the weldment 11 of a kind of embodiment of bionical leg structure of legged type robot;
Fig. 6 is the perspective view that the present invention can be used for the weldment 8 of a kind of embodiment of bionical leg structure of legged type robot.
Detailed description of the invention
The present invention is described further below in conjunction with embodiment and accompanying drawing thereof.But the claims of the application is not limited to the description scope of described embodiment.
The bionical leg structure that can be used for legged type robot of the present invention's design (is called for short leg structure or bionic leg, see Fig. 1-6), it is characterized in that this leg structure comprises elevator system, moving system, auxiliary shoring system, combined action system and frame 2.
Described elevator system mainly comprises lifting motor 1 and lifting arm 3.Described lifting motor 1 is fixedly connected with frame 2 by screw; Described lifting arm 3 is fixedly connected with lifting motor 1 by retarder, flange, both synchronous axial system (see Fig. 1,2).
Described moving system mainly comprises pushing motor 12, No. 1 catch bar 11, No. 2 catch bars 10.Described pushing motor 12 is fixedly connected with frame 2 by screw; Described No. 1 catch bar 11 is fixedly connected with pushing motor 12 by retarder, flange, both synchronous axial system; Described No. 2 catch bars 10 are connected with No. 1 catch bar 11 on-fixed by bearing, roller bearing end cap, and both can relatively rotate (see Fig. 1,5).
Described auxiliary shoring system mainly comprises No. 1 strut bar 9, No. 2 strut bars 4, No. 3 strut bars 5, No. 1 major axis 18, No. 4 minor axises 19, No. 5 minor axises 20.Described No. 5 minor axises 20 and frame 2 weld together, be fixedly connected with; Described No. 1 strut bar 9 is connected with No. 5 minor axis 20 on-fixeds by bearing, roller bearing end cap, and both can rotate relatively; Said No. 4 minor axises 19 are connected with No. 1 strut bar 9 on-fixed by bearing, roller bearing end cap, and both can rotate relatively; Described No. 1 major axis 18 is fixedly connected with No. 2 strut bars 4 by screw; Described No. 2 major axis 21 are fixedly connected with No. 2 strut bars 4 with screw; Described No. 3 strut bars 5 are fixedly connected with (see Fig. 1-3) by screw and No. 1 major axis 18, No. 2 major axis 21.
Described combined action system mainly comprises No. 1 pipe link 6, No. 2 pipe links 7, sole 8, No. 1 minor axis 13, No. 2 minor axises 14, No. 3 minor axises 15.Described No. 1 pipe link 6 is connected with No. 2 major axis 21 on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; Described No. 1 minor axis 13 and No. 1 pipe link 6 weld together, be fixedly connected with, and No. 1 minor axis 13 is connected with No. 2 catch bar 10 on-fixeds by bearing, roller bearing end cap simultaneously, and both can relatively rotate; Described No. 2 pipe links 7 are connected with No. 1 major axis 18 on-fixed by bearing, roller bearing end cap, and both can relatively rotate; Described No. 2 minor axises 14, No. 3 minor axises 15 are fixedly connected with sole 8 respectively by screw, No. 2 minor axises 14, No. 3 minor axises 15 are connected respectively by bearing, roller bearing end cap and No. 1 pipe link 6, No. 2 pipe link 7 on-fixeds simultaneously, can relatively rotate between the two (see Fig. 1,4,6).
Leg structure of the present invention is with a wide range of applications, can be used for the pedipulator doing the legged type robots such as two foots, four-footed, six foots or eight foots, has good application prospect.
Principle of work and the process of bionic leg leg structure of the present invention are: when leg structure works, and two motors work simultaneously: lifting motor 1 rotates, and drive lifting arm 3 to rotate, lifting arm 3 drives No. 1 pipe link 6, and drives No. 2 pipe links 7 by No. 3 strut bars 5; Pushing motor 12 rotates simultaneously, drives No. 1 catch bar 11, No. 1 catch bar 11 to drive No. 2 catch bars 10, No. 2 catch bars 10 to drive No. 1 pipe link 6.In this process, two motor coordination work, combined action, thus the motion process completing leg structure.Meanwhile, in order to improve the stability in operational process, improving leg intensity, by No. 1 strut bar 9, No. 2 strut bars 4, No. 3 strut bars 5, No. 1 pipe link 6, No. 2 pipe links 7 being connected with frame 2.
The present invention does not address part and is applicable to prior art.

Claims (2)

1. can be used for a bionical leg structure for legged type robot, it is characterized in that this leg structure is based on linkage, comprise elevator system, moving system, auxiliary shoring system, combined action system and frame;
Described elevator system mainly comprises lifting motor and lifting arm, and lifting motor is fixedly connected with frame by screw; Lifting arm is fixedly connected with lifting motor by retarder, flange, both synchronous axial system;
Described moving system mainly comprises pushing motor, No. 1 catch bar and No. 2 catch bars, and pushing motor is fixedly connected with frame by screw; No. 1 catch bar is fixedly connected with pushing motor by retarder, flange, both synchronous axial system; No. 2 catch bars are connected with No. 1 catch bar on-fixed by bearing, roller bearing end cap, and both can relatively rotate;
Described auxiliary shoring system mainly comprises No. 1 strut bar, No. 2 strut bars, No. 3 strut bars, No. 1 major axis, No. 4 minor axises and No. 5 minor axises, and No. 5 minor axises, together with welding machine frame, are fixedly connected with; No. 1 strut bar is connected with No. 5 minor axis on-fixeds by bearing, roller bearing end cap, and both can rotate relatively; Said No. 4 minor axises are connected with No. 1 strut bar on-fixed by bearing, roller bearing end cap, and both can rotate relatively; No. 2 catch bars are fixedly connected with No. 4 minor axises by screw; No. 1 major axis is fixedly connected with No. 2 catch bars by screw; No. 2 major axis are fixedly connected with catch bar with screw; No. 3 strut bars are fixedly connected with No. 1 major axis, No. 2 major axis by screw;
Described combined action system mainly comprises No. 1 pipe link, No. 2 pipe links, sole, No. 1 minor axis, No. 2 minor axises and No. 3 minor axises; No. 1 pipe link is connected with No. 2 major axis on-fixeds by bearing, roller bearing end cap, and both can relatively rotate; No. 1 minor axis and No. 1 pipe link weld together, be fixedly connected with, and No. 1 minor axis is connected with No. 2 catch bar on-fixeds by bearing, roller bearing end cap simultaneously, and both can relatively rotate; No. 2 catch bars are connected with No. 1 major axis on-fixed by bearing, roller bearing end cap, and both can relatively rotate; No. 2 minor axises, No. 3 minor axises are fixedly connected with sole respectively by screw, and No. 2 minor axises, No. 3 minor axises are connected with No. 1 pipe link, No. 2 pipe link on-fixeds respectively by bearing, roller bearing end cap simultaneously, can relatively rotate between the two.
2. bionical leg structure according to claim 1, is characterized in that this bionical leg structure is for doing the legged type robot pedipulator of two foots, four-footed, six foots or eight foots.
CN201510404427.2A 2015-07-10 2015-07-10 It is a kind of to can be used for the bionical leg structure of legged type robot Active CN104908839B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111169559A (en) * 2020-01-14 2020-05-19 太原理工大学 Full topography sufficient formula removes metallurgical stove charging robot

Citations (7)

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Publication number Priority date Publication date Assignee Title
US6260862B1 (en) * 1998-02-11 2001-07-17 Joseph C. Klann Walking device
CN1537703A (en) * 2003-10-23 2004-10-20 上海交通大学 Amphibious biotic robot fortoise
CN101337494A (en) * 2008-08-12 2009-01-07 北京大学 Amphibious bionics robot
CN102390459A (en) * 2011-10-17 2012-03-28 上海交通大学 Four-legged bionic robot with knee-joint parallel leg structure
CN203819377U (en) * 2014-02-25 2014-09-10 中国人民解放军军事交通学院 Leg linkage mechanism of four-foot robot
CN104369790A (en) * 2014-09-04 2015-02-25 中国科学院合肥物质科学研究院 Double-foot robot walking mechanism
CN204871276U (en) * 2015-07-10 2015-12-16 陕西九立机器人制造有限公司 Bionical shank structure that can be used to sufficient formula robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6260862B1 (en) * 1998-02-11 2001-07-17 Joseph C. Klann Walking device
CN1537703A (en) * 2003-10-23 2004-10-20 上海交通大学 Amphibious biotic robot fortoise
CN101337494A (en) * 2008-08-12 2009-01-07 北京大学 Amphibious bionics robot
CN102390459A (en) * 2011-10-17 2012-03-28 上海交通大学 Four-legged bionic robot with knee-joint parallel leg structure
CN203819377U (en) * 2014-02-25 2014-09-10 中国人民解放军军事交通学院 Leg linkage mechanism of four-foot robot
CN104369790A (en) * 2014-09-04 2015-02-25 中国科学院合肥物质科学研究院 Double-foot robot walking mechanism
CN204871276U (en) * 2015-07-10 2015-12-16 陕西九立机器人制造有限公司 Bionical shank structure that can be used to sufficient formula robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111169559A (en) * 2020-01-14 2020-05-19 太原理工大学 Full topography sufficient formula removes metallurgical stove charging robot
CN111169559B (en) * 2020-01-14 2021-01-15 太原理工大学 Full topography sufficient formula removes metallurgical stove charging robot

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