CN104908839B - It is a kind of to can be used for the bionical leg structure of legged type robot - Google Patents

It is a kind of to can be used for the bionical leg structure of legged type robot Download PDF

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CN104908839B
CN104908839B CN201510404427.2A CN201510404427A CN104908839B CN 104908839 B CN104908839 B CN 104908839B CN 201510404427 A CN201510404427 A CN 201510404427A CN 104908839 B CN104908839 B CN 104908839B
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bearing
fixedly connected
short
lifting
major axis
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CN104908839A (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 present invention disclose and a kind of can be used for the bionical leg structure of legged type robot, it is characterised in that the leg structure is based on linkage, including lifting system, moving system, auxiliary shoring system, collective effect system and frame；The lifting system mainly includes lifting motor and lifting arm, and lifting motor is fixedly connected with frame；Lifting arm is fixedly connected with lifting motor, both synchronous axial systems；The moving system mainly includes pushing motor, No. 1 catch bar and No. 2 catch bars, and pushing motor is logical to be fixedly connected with frame；No. 1 catch bar is fixedly connected with pushing motor, both synchronous axial systems；No. 2 catch bars and No. 1 catch bar on-fixed connection, both can relatively rotate；The auxiliary shoring system mainly includes No. 1 support bar, No. 2 support bars, No. 3 support bars, No. 1 major axis, No. 4 short axles and No. 5 short axles；The collective effect system mainly includes No. 1 connecting rod, No. 2 connecting rods, sole, No. 1 short axle, No. 2 short axles and No. 3 short axles.

Description

It is a kind of to can be used for the bionical leg structure of legged type robot
Technical field
It is specially a kind of to can be used for the bionical leg structure of legged type robot the present invention relates to legged type robot technology.
Background technology
Legged type robot be it is a kind of with redundant drive, highly branched chain, time-varying topology motion Intelligent robot, relate to And to a comprehensive high-tech product of bioscience, bionics, theory of mechanisms, sensing technology and the information processing technology etc..Foot Formula robot shows very strong adaptability with the discontinuous contact characteristic on ground in the process of walking by it, is especially having There is broader development prospect on the passage of barrier or on very inapproachable work-yard, therefore be widely used in speedily carrying out rescue work The disaster relief, explosive, address exploration of removing mines, amusement and the field such as civilian.
The leg (or pedipulator) of robot is the important component of robot, legged type robot motion is played and is weighed very much The effect wanted.But every leg of legged type robot common at present has 3 active frees degree, every leg needs 3 driving links, knot Structure is complicated, and control is difficult, and high cost, quality are big, causes that the load capacity of robot is poor, and movement velocity is low, flexibility deficiency；It is another Aspect, the sufficient end track of legged type robot is not closed, and easily causes sufficient end and ground resulting in friction, and foot is even resulted in when serious End is stuck, and robot cannot normal operation.
The content of the invention
In view of the shortcomings of the prior art, the technical problem that the present invention is intended to solve is to provide one kind and can be used for legged type robot Bionical leg structure.The leg structure uses linkage, with two motors, can mitigate the quality of leg, reduces Energy consumption, while increase load capacity that can be by a relatively large margin, poor to solve existing legged type robot high energy consumption and environmental suitability Problem lay a good foundation, with good application prospect.
The technical scheme that the present invention solves the technical problem is that design is a kind of can be used for the bionical leg of legged type robot Structure, it is characterised in that the leg structure is based on linkage, including lifting system, moving system, auxiliary shoring system, common work With system and frame；
The lifting system mainly includes lifting motor and lifting arm, and lifting motor is fixedly connected by screw with frame； Lifting arm is fixedly connected by decelerator, flange with lifting motor, both synchronous axial systems；
The moving system mainly includes pushing motor, No. 1 catch bar and No. 2 catch bars, pushing motor by screw and Frame is fixedly connected；No. 1 catch bar is fixedly connected by decelerator, flange with pushing motor, both synchronous axial systems；No. 2 promotions Bar is connected by bearing, bearing (ball) cover and No. 1 catch bar on-fixed, and both can relatively rotate；
The auxiliary shoring system mainly includes No. 1 support bar, No. 2 support bars, No. 3 support bars, No. 1 major axis, No. 4 short axles With No. 5 short axles, No. 5 short axles are fixedly connected together with welding machine frame；No. 1 support bar is short by bearing, bearing (ball) cover and No. 5 Axle on-fixed is connected, and both can rotate against；Described No. 4 short axles are connected by bearing, bearing (ball) cover and No. 1 support bar on-fixed Connect, both can rotate against；No. 2 catch bars are fixedly connected by screw and No. 4 short axles；No. 1 major axis is by screw and No. 2 promotions Bar is fixedly connected；No. 2 major axis are fixedly connected with screw with catch bar；No. 3 support bars are consolidated by screw and No. 1 major axis, No. 2 major axis Fixed connection；
The collective effect system mainly includes No. 1 connecting rod, No. 2 connecting rods, sole, No. 1 short axle, No. 2 short axles and No. 3 Short axle；No. 1 connecting rod is connected by bearing, bearing (ball) cover with No. 2 major axis on-fixeds, and both can relatively rotate；No. 1 short axle and 1 Number connecting rod welds together, and is fixedly connected, while No. 1 short axle is connected by bearing, bearing (ball) cover and No. 2 catch bar on-fixeds Connect, both can relatively rotate；No. 2 catch bars are connected by bearing, bearing (ball) cover with No. 1 major axis on-fixed, and both relative can turn It is dynamic；No. 2 short axles, No. 3 short axles are fixedly connected by screw with sole respectively, at the same No. 2 short axles, No. 3 short axles respectively by bearing, Bearing (ball) cover is connected with No. 1 connecting rod, No. 2 connecting rod on-fixeds, can relatively rotate between the two.
Compared with prior art, the present invention can be used for the bionical leg structure of legged type robot has advantages below and beneficial Effect：
1st, the linkage simple structure of present invention design, designs ingenious, can either mitigate the quality of leg structure, reduces energy Consumption, while the load capacity of increase robot that again can be by a relatively large margin；
2nd, the present invention uses two servomotors, is controlled by two coordinations of motor, makes the movement locus of leg end more Plus it is stable, quick, accurate；
3rd, designed bionic leg structure is related to bionics field, and leg exercise is divided into lifting and two stages of propulsion, together When add sole in the end of leg, increase the contact area on leg and ground, the motion of robot is more stablized, rule, It is easy to control；
4th, in designed linkage, increased one group of Auxiliary support lever system, can make robot motion when more Stabilization, and by a relatively large margin improve its load capacity；
5th, leg structure of the invention is with a wide range of applications, can be used for the sufficient formula machines such as two foots, four-footed, six foots and eight foots Device people field, with good prospect.
Brief description of the drawings
Fig. 1 is that the present invention can be used for a kind of a kind of angle of the overall structure of embodiment of bionical leg structure of legged type robot Schematic diagram；
Fig. 2 is that the present invention can be used for a kind of overall structure another kind angle of embodiment of bionical leg structure of legged type robot Degree schematic diagram；
Fig. 3 is that the present invention can be used for a kind of part of embodiment (dotted line in Fig. 2 of bionical leg structure of legged type robot Part) cross section structure diagram；
Fig. 4 is the office that the present invention can be used for a kind of removal bearing (ball) cover of embodiment of bionical leg structure of legged type robot Portion's structural representation；
Fig. 5 is that the present invention can be used for a kind of three-dimensional knot of the weldment 11 of embodiment of bionical leg structure of legged type robot Structure schematic diagram；
Fig. 6 is that the present invention can be used for a kind of three-dimensional knot of the weldment 8 of embodiment of bionical leg structure of legged type robot Structure schematic diagram.
Specific embodiment
The present invention is further discussed below with reference to embodiment and its accompanying drawing.But claims hereof protection domain is not limited In the description scope of the embodiment.
The present invention design can be used for legged type robot bionical leg structure (abbreviation leg structure or bionic leg, referring to Fig. 1-6), it is characterised in that the leg structure include lifting system, moving system, auxiliary shoring system, collective effect system and Frame 2.
The lifting system mainly includes lifting motor 1 and lifting arm 3.The lifting motor 1 is consolidated by screw with frame 2 Fixed connection；The lifting arm 3 is fixedly connected by decelerator, flange with lifting motor 1, both synchronous axial systems (referring to Fig. 1,2).
The moving system mainly includes the catch bar 10 of catch bar 11,2 of pushing motor 12,1.The pushing motor 12 It is fixedly connected with frame 2 by screw；No. 1 catch bar 11 is fixedly connected by decelerator, flange with pushing motor 12, Both synchronous axial systems；No. 2 catch bars 10 are connected by bearing, bearing (ball) cover and No. 1 on-fixed of catch bar 11, and both can be with Relatively rotate (referring to Fig. 1,5).
The auxiliary shoring system mainly includes No. 15, No. 1 major axis 18,4 of support bar of support bar 4,3 of support bar 9,2 Number 19, No. 5 short axles 20 of short axle.No. 5 short axles 20 weld together with frame 2, are fixedly connected；No. 1 support bar 9 passes through Bearing, bearing (ball) cover and No. 5 on-fixed of short axle 20 connections, both can rotate against；Described No. 4 short axles 19 pass through bearing, bearing End cap and No. 1 on-fixed of support bar 9 connection, both can rotate against；No. 1 major axis 18 is consolidated by screw and No. 2 support bars 4 Fixed connection；No. 2 major axis 21 are fixedly connected with screw and No. 2 support bars 4；No. 3 support bars 5 are long by screw and No. 1 18, No. 2 major axis 21 of axle are fixedly connected (referring to Fig. 1-3).
The collective effect system mainly includes 6, No. 2 connecting rods 7 of No. 1 connecting rod, the short axle of short axle 13,2 of sole 8,1 14th, No. 3 short axles 15.No. 1 connecting rod 6 is connected by bearing, bearing (ball) cover and No. 2 on-fixeds of major axis 21, and both can be relative Rotate；No. 1 short axle 13 and No. 1 connecting rod 6 weld together, and are fixedly connected, while No. 1 short axle 13 passes through bearing, bearing End cap and No. 2 on-fixed of catch bar 10 connections, both can relatively rotate；No. 2 connecting rods 7 pass through bearing, bearing (ball) cover and 1 The connection of number on-fixed of major axis 18, both can relatively rotate；14, No. 3 short axles 15 of No. 2 short axles pass through screw and sole 8 respectively It is fixedly connected, while 14, No. 3 short axles 15 of No. 2 short axles pass through bearing, 6, No. 2 connecting rods 7 of bearing (ball) cover and No. 1 connecting rod respectively On-fixed is connected, and can be relatively rotated between the two (referring to Fig. 1,4,6).
Leg structure of the present invention is with a wide range of applications, can be used to make the sufficient formula machines such as two foots, four-footed, six foots or eight foots The pedipulator of people, with good application prospect.
The operation principle and process of bionic leg leg structure of the present invention be：When leg structure works, two motors are simultaneously Work：Lifting motor 1 is rotated, and drives lifting arm 3 to rotate, and lifting arm 3 drives No. 1 connecting rod 6, and is driven by No. 3 support bars 5 No. 2 connecting rods 7；Pushing motor 12 is rotated simultaneously, drives 11, No. 1 catch bar 11 of No. 1 catch bar to drive No. 2 catch bars 10,2 Catch bar 10 drives No. 1 connecting rod 6.In this process, two motor coordination work, collective effect, so as to complete leg knot The motion process of structure.Meanwhile, in order to improve the stability in running, leg intensity is improved, by No. 1 support bar 9,2 With frame 2 be connected 6, No. 2 connecting rods 7 of No. 1 connecting rod by 4, No. 3 support bars 5 of support bar.
The present invention does not address part and is applied to prior art.

Claims (2)

1. it is a kind of to can be used for the bionical leg structure of legged type robot, it is characterised in that the leg structure is based on linkage, including Lifting system, moving system, auxiliary shoring system, collective effect system and frame；
The lifting system mainly includes lifting motor and lifting arm, and lifting motor is fixedly connected by screw with frame；Lifting Bar is fixedly connected by decelerator, flange with lifting motor, both synchronous axial systems；
The moving system mainly includes pushing motor, No. 1 catch bar and No. 2 catch bars, and pushing motor passes through screw and frame It is fixedly connected；No. 1 catch bar is fixedly connected by decelerator, flange with pushing motor, both synchronous axial systems；No. 2 catch bars lead to Bearing, bearing (ball) cover and No. 1 catch bar on-fixed connection are crossed, both can relatively rotate；
The auxiliary shoring system mainly includes No. 1 support bar, No. 2 support bars, No. 3 support bars, No. 1 major axis, No. 4 short axles and 5 Number short axle, No. 5 short axles are fixedly connected together with welding machine frame；No. 1 support bar is non-by bearing, bearing (ball) cover and No. 5 short axles It is fixedly connected, both can rotate against；No. 4 short axles are connected by bearing, bearing (ball) cover and No. 1 support bar on-fixed, and two Person can rotate against；No. 2 support bars are fixedly connected by screw and No. 4 short axles；No. 1 major axis is consolidated by screw and No. 2 support bars Fixed connection；No. 2 major axis are fixedly connected by screw and No. 2 support bars；No. 3 support bars pass through screw and No. 1 major axis, No. 2 major axis It is fixedly connected；
The collective effect system mainly includes that No. 1 connecting rod, No. 2 connecting rods, sole, No. 1 short axle, No. 2 short axles and No. 3 are short Axle；No. 1 connecting rod is connected by bearing, bearing (ball) cover with No. 2 major axis on-fixeds, and both can relatively rotate；No. 1 short axle and No. 1 Connecting rod welds together, and is fixedly connected, while No. 1 short axle is connected by bearing, bearing (ball) cover and No. 2 catch bar on-fixeds, Both can relatively rotate；No. 2 connecting rods are connected by bearing, bearing (ball) cover with No. 1 major axis on-fixed, and both can relatively rotate；2 Number short axle, No. 3 short axles are fixedly connected by screw with sole respectively, while No. 2 short axles, No. 3 short axles pass through bearing, bearing respectively End cap is connected with No. 1 connecting rod, No. 2 connecting rod on-fixeds, can relatively rotate between the two.
2. bionical leg structure according to claim 1, it is characterised in that the bionical leg structure is used to be two foots, four The legged type robot pedipulator of foot, 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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CN111169559B (en) * 2020-01-14 2021-01-15 太原理工大学 Full topography sufficient formula removes metallurgical stove charging robot

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

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

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