CN105109570B - Zu Jiao formulas robot - Google Patents

Abstract

The invention discloses a foot-type robot, which comprises: a body, the bottom of which is provided with wheels; feet, which are in the shape of a hollow rod, the lower end of which is provided with a vacuum suction cup, and the upper end of which is connected to an air pump through a hose ; Four pairs of feet are sequentially arranged on the fuselage from front to back; a translation swing rod, each foot is movably sleeved on the outer end of a translation swing rod; and each translation swing rod is set on the On the fuselage; the first power mechanism, which is used to provide power for the front and rear swing mechanism; the foot lifting swing rod, the outer end of which is provided with a first chute, and each foot is provided with a slider, each foot The slider is movable and embedded in the first chute of a foot-lifting swing bar; and each foot-lifting swing bar is arranged on the fuselage through an up and down swing mechanism; and the second power mechanism is used for the up and down swing mechanism Provide power. The invention can easily drive the foot to move in translation and lift the foot so as to control the robot to move.

Description

legged robot

technical field

The invention relates to the field of robots, in particular to a legged robot.

Background technique

With the continuous development of robot technology, the application fields of walking robots are becoming wider and wider. Robots can replace humans to complete high-intensity, difficult, and dangerous tasks, or perform home care work. At present, in the motion mechanism of mobile robots, wheeled, crawler and foot-foot mechanisms are commonly used. Compared with wheeled robots or crawler robots, foot-footed robots have higher mobility and good performance. adaptability. At present, most of the foot-legged robots adopt the scheme of setting multiple joints on each foot, and each joint is controlled by a motor, which not only makes the structure of the robot more complicated, but also increases the complexity of the control. Therefore, the existing foot-footed robots need to move under the control of complex mechanisms.

The information disclosed in this Background section is only for enhancing the understanding of the general background of the present invention and should not be taken as an acknowledgment or any form of suggestion that the information constitutes the prior art that is already known to those skilled in the art.

Contents of the invention

The object of the present invention is to provide a legged robot, so as to overcome the disadvantage that the existing legged robot needs to be moved under the control of a complicated mechanism.

In order to achieve the above object, the present invention provides a leg-type robot, which includes: a fuselage with wheels provided at the bottom; feet in the shape of hollow rods, a vacuum suction cup is arranged at the lower end of the feet, and The upper end of the feet is connected to the air pump through a hose; four pairs of feet are sequentially arranged on the fuselage from front to back; translation swing rods, each of the feet is movably sleeved on one of the translation swing rods and each of the translation swing rods is arranged on the fuselage through a front and rear swing mechanism; the first power mechanism is used to provide power for the front and rear swing mechanism; the foot lifting swing rod is provided at its outer end There is a first chute, and each foot is provided with a slider, and each foot is movably embedded in a first chute of the foot-lifting swing bar through the slider; And each of the foot-lifting swing rods is arranged on the fuselage through a vertical swing mechanism; and a second power mechanism, which is used to provide power for the vertical swing mechanism.

Preferably, in the above technical solution, the forward and backward swing mechanism includes: a first gear, which is arranged on the fuselage; the first gear is driven to rotate by the first power mechanism; and a boss, which is connected to the The first gear is arranged coaxially; the inner end of the translation pendulum is provided with a second chute, and the upper end of the boss is movably engaged in the second chute.

Preferably, in the above technical solution, the first power mechanism includes: a transmission mechanism, and a transmission mechanism is interposed between two adjacent first gears in the front and rear, and the transmission mechanism includes: two a second gear meshing with two adjacent first gears; and two third gears meshing with the two second gears respectively, and the two third gears meshing with each other; and a driving mechanism , which includes: a first motor, which is arranged on the body; a fourth gear, which is connected to the first motor, and the fourth gear is connected to one of the transmission mechanisms on the middle side and the fifth gear, which is engaged with the fourth gear, and the fifth gear is engaged with the corresponding third gear on the transmission mechanism on the other side of the middle.

Preferably, in the above technical solution, the slider is arranged in the middle of the foot, so that the foot-lifting swing rod is connected to the middle of the foot; and the upper and lower parts of the foot are respectively sleeved At the outer ends of the two translation swing links; the forward and backward swing mechanism of the upper translation swing link and the lower translation swing link are respectively powered by the two first power mechanisms.

Preferably, in the above technical solution, the up and down swing mechanism includes: a turntable, which is rotatably arranged on the fuselage; a sixth gear, which is arranged on the turntable, and the main shaft of the sixth gear and The inner end of the foot lifting swing rod is fixedly connected, and the sixth gear is driven to rotate by the second power mechanism.

Preferably, in the above technical solution, the second power mechanism includes eight second motors respectively arranged on the eight turntables and eight seventh gears respectively connected to the eight second motors, and the eight The seventh gear meshes with eight sixth gears respectively.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention drives the movement of the foot through the joint action of the translation swing rod and the foot lift swing rod, and its structure is simple, so as to control the movement of the robot. The invention can climb and walk on horizontal walls, vertical walls, etc., and can cross obstacles of a certain height. It can not only replace human beings to carry out dangerous and heavy work, but also has high operating efficiency, and can also be equipped with corresponding equipment to clean the wall. , flaw detection, pipe laying, painting and other functions.

2. The front and rear swing mechanism and the first power mechanism of the present invention can control eight translation swing rods to swing through a first motor, so that the coordination of the translation movements of the feet is good, and it is further convenient to control the robot to move stably .

3. In the present invention, the upper and lower parts of each foot are respectively connected with two translation swing rods, so as to be driven by the two translation swing rods to swing back and forth, so as to improve the stability of movement and the load capacity.

4. The vertical swing mechanism and the second power mechanism of the present invention are simple in structure and convenient in maintenance.

Description of drawings

Fig. 1 is a three-dimensional structural schematic view of a legged robot without a hose according to the present invention.

Fig. 2 is a front view according to the present invention.

Fig. 3 is a top view of the forward and backward swing mechanism and the first power mechanism according to the present invention.

Fig. 4 is a top view of the vertical swing mechanism and the second power mechanism according to the present invention.

Explanation of main reference signs:

1-body, 11-wheels; 2-feet, 21-vacuum suction cup, 211-hose, 212-air pump, 22-slider; 3-translation swing bar, 31-front and rear swing mechanism, 311-first Gear, 312-boss, 313-second gear, 314-third gear, 315-first motor, 316-fourth gear, 317-fifth gear, 32-second chute; 4-lifting foot swing lever , 41-the first chute, 42-up and down swing mechanism, 421-turntable, 422-the sixth gear, 423-the seventh gear, 424-the second motor.

detailed description

The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

Unless expressly stated otherwise, throughout the specification and claims, the term "comprise" or variations thereof such as "includes" or "includes" and the like will be understood to include the stated elements or constituents, and not Other elements or other components are not excluded.

Example 1

As shown in Figures 1 to 4, the first embodiment according to the specific implementation of the present invention is: a legged robot, which includes a fuselage 1, feet 2, a translation swing bar 3 and a foot lift swing bar 4 ,in:

As shown in FIG. 1 and FIG. 2 , wheels 11 are provided at the bottom of the fuselage 1 , and the fuselage 1 is supported and moved by the wheels 11 . The foot 2 is in the shape of a hollow rod, the lower end of the foot 2 is provided with a vacuum suction cup 21 , and the upper end of the foot 2 is connected to an air pump 212 through a hose 211 , and the air pump 212 is arranged on the body 1 . Four pairs of feet 2 are sequentially arranged on the fuselage 1 from front to back, and eight feet 2 are arranged on the fuselage 1, and two feet 2 of each pair of feet 2 are symmetrically arranged on the fuselage respectively. 1 on the left and right sides. When the air pump 212 pumps air through the foot 2 to the vacuum chuck 21, the vacuum chuck 21 can be adsorbed on the ground by negative pressure. of adsorption.

As shown in Figures 1 and 3, eight translation swing rods 3 are respectively arranged on the fuselage 1 corresponding to the eight feet 2, and each foot 2 is movably sleeved on the outer end of a translation swing rod 3. 2 can move up and down along the translation pendulum 3. Each translation pendulum 3 is arranged on the fuselage 1 through a front and rear swing mechanism 31, then the fuselage 1 is provided with eight front and rear swing mechanisms 31 in total, and the first power mechanism is arranged on the fuselage 1 as the front and rear swing mechanism 31 Power is provided to drive the translation pendulum 3 through the first power mechanism to drive the foot 2 to swing back and forth.

Preferably, as shown in FIG. 3 , the front and rear swing mechanism 31 includes a first gear 311 and a boss 312 , the first gear 311 is disposed on the fuselage 1 , and the first gear 311 is driven to rotate by the first power mechanism. The boss 312 is arranged coaxially with the first gear 311, and the inner end of the translation pendulum 3 is provided with a second chute 32. The sliding groove 32 can slide left and right along the upper end of the boss 312 . When the first gear 311 is driven by the first power mechanism to rotate, it drives the translation pendulum 3 to swing through the boss 312, thereby driving the foot 2 to swing, because the upper end of the boss 312 is movable and embedded in the second chute 32, which can convert the arc swing of the translation pendulum 3 into the linear motion of the fuselage 1.

Further preferably, as shown in FIG. 3 , the first power mechanism includes a transmission mechanism and a drive mechanism, and a transmission mechanism is interposed between two adjacent first gears 311 , and six gears are arranged on the fuselage 1 in total. Transmission mechanism, so that the front and rear adjacent swing mechanisms 31 are connected as a whole, each transmission mechanism includes a second gear 313 and a third gear 314, and the two second gears 313 are respectively connected to the two first gears adjacent to the front and rear. 311 for meshing connection, the two third gears 314 are meshed with the two second gears 313 respectively, and the two third gears 314 are meshed with each other, that is, the middle of the two adjacent first gears 311 pass through Four gears are connected together. The drive mechanism includes a first motor 315, a fourth gear 316 and a fifth wheel 317. The first motor 315 is arranged on the body 1, and the fourth gear 316 is connected to the first motor 315 to be driven by the first motor 315 to rotate. One side of the fourth gear 316 meshes with one of the third gears 314 on the transmission mechanism on the middle side. The fifth gear 317 meshes with the other side of the fourth gear 316 , and the fifth gear 317 meshes with the corresponding third gear 314 on the other side of the transmission mechanism in the middle.

The first motor 315 is meshed with the corresponding two third gears 314 on the transmission mechanism on both sides of the middle through the fourth gear 316 and the fifth gear 317 respectively, and the first gear 311 before and after the front and back has been connected by the transmission mechanism. Together, therefore, when the first motor 315 rotates, it can simultaneously drive the eight translation swing bars 3 to swing. Simultaneously, because the 3rd gear 314 on the transmission mechanism of one side directly meshes with the 4th gear 316, the corresponding 3rd gear 314 on the transmission mechanism of the other side is to mesh with the 4th gear 316 by the 5th gear 317, thereby can The rotation direction of the two first gears 311 corresponding to the left and right is reversed so that the two corresponding swing mechanisms 31 can simultaneously drive the two corresponding left and right feet 2 to swing in the same direction through the corresponding two translation swing rods 3 . And because the two first gears 311 adjacent to the front and back are connected by the transmission mechanism, the turning of the two first gears 311 adjacent to the front and back is opposite, so that the two translation swing links 3 adjacent to the front and back drive the two adjacent front and rear gears 311. Each foot 2 swings in the opposite direction, and the front foot 2 and the third pair of feet 2 swing in the same direction, and the second pair of feet 2 and the last pair of feet 2 swing in the same direction, the present invention The front and rear swing mechanism and the first power mechanism can control eight translation swing rods 3 to swing through a first motor 315, so that the coordination of the translation movements of the four pairs of feet 2 is good, so that the robot can be controlled to move stably.

As shown in Figures 1 and 4, eight foot-lifting swing rods 4 corresponding to the eight feet 2 are arranged on the fuselage 1, and each outer end of the foot-lifting swing rod 4 is provided with a first chute 41, And each foot 2 is provided with a slider 22, and each foot 2 is movable and embedded in the first chute 41 of a foot-lifting swing bar 4 through the slider 22, and the foot 2 can move along the Sliding left and right along the first chute 41. As shown in Figure 1, the outer end of the foot-lifting swing rod 4 is sandwiched between the front and rear sides of the foot 2, and the front and rear sides of the foot 2 are provided with sliders 22 that are movable and embedded in the outer ends of the foot-lifting swing rod 4. On the first sliding slot 41 at the end. Each foot-lifting swing rod 4 is arranged on the fuselage 1 through a vertical swing mechanism 42, so as to drive the foot-lifting swing rod 4 to swing up and down through the vertical swing mechanism 42. Because the outer end of the foot-lifting swing link 4 is connected with the slide block 22 on the foot 2 through the first chute 41, the arc swing of the foot-lifting swing link 4 can be converted into the up and down linear motion of the foot 2. The fuselage 1 is provided with a second power mechanism to provide power for the up and down swing mechanism 42 .

Preferably, as shown in FIG. 4 , each up and down swing mechanism 42 includes a turntable 421 and a sixth gear 422, the turntable 421 is rotatably arranged on the fuselage 1, the sixth gear 422 is arranged on the turntable 421, and the sixth gear 422 The main shaft of the six gears 422 is fixedly connected to the inner end of the foot-lifting swing bar 4, and the sixth gear 422 is driven to rotate by the second power mechanism to drive the foot-lifting swing bar 4 to drive the foot 2 to move up and down. 421, it can ensure that the foot-lifting swing bar 4 can swing back and forth along with the foot 2. Further preferably, as shown in FIG. 4 , the second power mechanism includes a second motor 424 and a seventh gear 423, eight second motors 424 are arranged on the fuselage 1, and these eight second motors 424 are respectively arranged on eight On the turntable 421 , the eight seventh gears 423 are respectively connected with the eight second motors 424 , and the eight seventh gears are meshed with the eight sixth gears 422 respectively. The eight second motors 524 respectively drive the eight feet 2 to move up and down through the foot lifting swing rod 4 . The up and down swing mechanism 42 and the second power mechanism of the present invention are simple in structure and convenient in maintenance.

The mobile process of fuselage 1 of the present invention is:

First, the air pump 212 makes the vacuum suction cups 21 of the first pair of feet 2 and the third pair of feet 2 firmly adhere to the ground, while the vacuum suction cups 21 of the second pair of feet 2 and the last pair of feet 2 are cancelled. adsorption;

Then, the second power mechanism drives the foot-lifting swing bar 4 through the up-and-down swing mechanism 42 to drive the second pair of feet 2 and the last pair of feet 2 to move upwards to realize the foot-lifting action. After the foot-lifting is completed, the second power mechanism temporarily stops working ;

Then, the first power mechanism drives the translation swing rod 3 through the front and rear swing mechanism 31 to drive the four pairs of feet 2 to swing, wherein the frontmost feet 2 and the third pair of feet 2 swing backwards, and the second pair of feet 2 swings backwards. 2 and the last pair of feet 2 are swinging forward. At this time, since the frontmost foot 2 and the third pair of feet 2 are fixed on the ground by vacuum suction cups 21, when they swing backward, they can drive the fuselage 1 through The wheel 11 moves forward, and after a moving stroke is completed, the first power mechanism temporarily stops working;

Then, the second power mechanism drives the second pair of full feet 2 and the last pair of full feet 2 to move downward, and the vacuum suction cups 21 of the second pair of full feet 2 and the last pair of full feet 2 are controlled by the air pump 212 to be adsorbed on ground;

Then, the air pump 212 controls the vacuum suction cups 21 of the frontmost foot 2 and the third pair of feet 2 to cancel the adsorption, and then the second power mechanism drives the frontmost foot 2 and the third pair of feet 2 to lift up;

Finally, the first power mechanism drives four pairs of feet 2 to swing, wherein the second pair of feet 2 and the last pair of feet 2 swing backwards, and the frontmost pair of feet 2 and the third pair of feet 2 move backwards. Swing, now because the second pair of full feet 2 and the last pair of full feet 2 are fixed on the ground by the vacuum suction cup 21, when it swings backward, it can continue to drive the fuselage 1 to move forward through the wheels 11.

Through the cycle of the above steps, the four pairs of feet 2 can alternately swing to continuously drive the body 1 to move. And in the above steps, the first power mechanism and the second power mechanism can work at the same time, so that during the process of two pairs of feet 2 swinging backwards, the other two pairs of feet 2 move up and down at the same time, so as to increase the frequency of movement and speed.

The present invention drives the action of the foot 2 through the joint action of the translation swing bar 3 and the foot lift swing bar 4 , and its structure is simple so as to control the movement of the robot. The invention can climb and walk on horizontal walls, vertical walls, etc., and can cross obstacles of a certain height. It can not only replace human beings to carry out dangerous and heavy work, but also has high operating efficiency, and can also be equipped with corresponding equipment to clean the wall. , flaw detection, pipe laying, painting and other functions.

Example 2

On the basis of Embodiment 1, further, as shown in Figure 1, the slider 22 is arranged in the middle part of the foot 2, so that the foot lifting swing bar 4 is connected with the middle part of the foot 2; and the upper part of the foot 2 and The lower part is sleeved on the outer ends of the two translation swing rods 3 respectively; the front and rear swing mechanism 31 of the upper translation swing rod 3 and the front and rear swing mechanism 31 of the lower translation swing rod 3 are respectively powered by two first power mechanisms . The fuselage 1 is respectively provided with three layers of pallets, the upper and lower two layers of pallets are respectively used to set the upper and lower layers of the front and rear swing mechanism 31 and the first power mechanism, and the middle pallet is used to set the up and down swing mechanism and the second power mechanism . And the upper end of the fuselage 1 is provided with a cover plate for protecting the fuselage 1 and installing the load. In this embodiment, the upper and lower parts of each foot 2 of the present invention are respectively connected with two translation swing rods 3, so that the fuselage 1 is driven to swing back and forth by the two translation swing rods 3, so as to improve the stability and load of the movement. ability.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling others skilled in the art to make and use various exemplary embodiments of the invention, as well as various Choose and change. It is intended that the scope of the invention be defined by the claims and their equivalents.

Claims (4)

1. a kind of Zu Jiao formulas robot, it includes：

Fuselage, its bottom is provided with wheel；

Sufficient pin, it is in hollow rod shape, and the lower end of the sufficient pin is provided with a vacuum cup, and the upper end of the sufficient pin passes through flexible pipe and sky Air pump is connected；Four pairs of sufficient pin are sequentially arranged on the fuselage from front to back；

Swing rod is translated, each sufficient pin is movably set in the outer end of the translation swing rod；And each translation swing rod passes through One swing mechanism is arranged on the fuselage；

First actuating unit, it is used to provide power for the swing mechanism；

Foot-up swing rod, its outer end is provided with one first chute, and each sufficient pin and is provided with a sliding block, each foot Pin is embedded in by the sliding block active card on first chute of the foot-up swing rod；And each foot-up swing rod passes through one Individual luffing mechanism is arranged on the fuselage；And

Second actuating unit, it is used to provide power for the luffing mechanism；

The swing mechanism includes：

First gear, it is arranged on the fuselage；The first gear is rotated by first actuating unit driving；And

Boss, it is coaxially disposed with the first gear；The inner of the translation swing rod is provided with one second chute, the boss Upper end active card is embedded in second chute；Characterized in that,

First actuating unit includes：

The transmission mechanism is folded between transmission mechanism, front and rear two adjacent first gears, the transmission mechanism bag Include：Two second gears for being engaged respectively with front and rear two adjacent first gears；And two respectively with it is described The 3rd gear that two second gears are engaged, and the intermeshing of described two 3rd gears；And

Drive mechanism, it includes：

First motor, it is arranged on the fuselage；

4th gear, itself and first motor connection, the 4th gear with the transmission mechanism of middle side One of them described 3rd gear be engaged；And

5th gear, it is engaged with the 4th gear, and the 5th gear and the biography positioned at middle opposite side Corresponding 3rd gear is engaged on motivation structure.

2. Zu Jiao formulas robot according to claim 1, it is characterised in that the sliding block is arranged in the sufficient pin Portion, so that the foot-up swing rod is connected with the middle part of the sufficient pin；And the top and bottom of the sufficient pin are sheathed on two respectively The outer end of the translation swing rod；The swing mechanism of the superposed translation swing rod and the translation positioned at bottom are put The swing mechanism of bar provides power by two first actuating units respectively.

3. the Zu Jiao formulas robot according to any one of claim 1-2, it is characterised in that the luffing mechanism bag Include：

Turntable, it is rotatably arranged on the fuselage；

6th gear, it is arranged on the turntable, and the main shaft of the 6th gear is fixedly connected with the inner of the foot-up swing rod, And the 6th gear by second actuating unit driving rotated.

4. Zu Jiao formulas robot according to claim 3, it is characterised in that second actuating unit includes eight difference The second motor being arranged on eight turntables and eight the 7th gears respectively with eight second motor connections, and eight Individual 7th gear is engaged with eight the 6th gears respectively.