CN105752197B - Elastic double leval jib pedipulator and its test platform - Google Patents
Elastic double leval jib pedipulator and its test platform Download PDFInfo
- Publication number
- CN105752197B CN105752197B CN201610206266.0A CN201610206266A CN105752197B CN 105752197 B CN105752197 B CN 105752197B CN 201610206266 A CN201610206266 A CN 201610206266A CN 105752197 B CN105752197 B CN 105752197B
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- Prior art keywords
- pedipulator
- double leval
- leval jib
- thigh
- motor
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of elastic double leval jib pedipulator and its test platform, thigh and shank including strip, the lower end of thigh is hinged with shank upper end and forms knee joint, follower is fixedly connected with shank, the first motor is fixed on the top of thigh, cover driving wheel admittedly on the output shaft of the first motor, driving wheel is connected with follower by timing belt；The middle part of strip foot is hinged in the lower end of shank, the first damping spring is connected between the upper end of foot and the top of thigh, so as to provide the elastic double leval jib pedipulator that a kind of response is timely, control is accurate, power transmission effect is good.And elastic double leval jib pedipulator is placed on a moving belt, set and the relatively-stationary fulcrum bearing of belt position, support bar is installed in fulcrum bearing, contiguous block is fixed with support bar, the second motor is fixed on contiguous block, the thigh upper end of the output shaft of second motor and elastic double leval jib pedipulator is fixedly linked, so as to provide it is a kind of occupy little space, pedipulator test platform simple in construction.
Description
Technical field
The invention belongs to pedipulator technical field, specifically, more particularly to a kind of elastic double leval jib pedipulator and its examination
Test platform.
Background technology
At present, legged type robot is due to possessing a variety of gaits and certain obstacle crossing function, relative to wheeled, crawler type and compacted
Dynamic formula robot application scope is more extensive, and the field such as particularly explored, reconnoitred under MODEL OVER COMPLEX TOPOGRAPHY can obtain
It is widely applied.The form of existing legged type robot leg structure is varied, but majority all includes thigh, shank and foot,
Wherein the upper end of thigh, which is arranged on the output shaft of power source, forms hip joint, and lower end and the be hinged knee that formed of shank of thigh close
Section, the rotation that motor is used to realize shank, lower end and the be hinged composition ankle-joint of foot of shank are connected with knee joint.It is this
Structure, because the motor on knee joint adds the weight of leg structure, make the inertia of leg big, be unfavorable for the timely sound of leg
Should be with the raising of active force.
The patent of invention of Application No. " 201310690161 .3 " discloses a kind of four-footed machine with elastic four-rod mechanism
Device people's leg, the patent of invention connect extension spring between thigh and the upper end of foot, and stage clip is connected between thigh and ankle-joint, and
The connecting steel wire ropes between hip joint and ankle-joint, kneed rotation is realized by the folding and unfolding of stage clip and steel wire rope, so as to keep away
Exempt from that motor directly is installed in knee joint.But steel wire rope realizes folding and unfolding by the rotation of reel, make the response of shank still
It is not prompt enough, and installation and debugging trouble, the folding and unfolding precision of steel wire rope are difficult to control, it is difficult to ensure that the uniformity of four-footed.
Also, in order to study the properties of pedipulator, research and development are required on test platform move pedipulator initial stage
During parameters be acquired, existing pedipulator test platform mainly includes the transmission belt run for pedipulator.By
Pedipulator is run the influence of distance, and existing test platform has the problem of space-consuming is big, production cost is high.
The content of the invention
One of technical problems to be solved by the invention be to provide a kind of response in time, control is accurate, power transmission effect is good
Elastic double leval jib pedipulator.
The technical scheme that the present invention solves one of technical problem is as follows：A kind of elastic double leval jib pedipulator, including strip
Thigh and shank, the lower end of the thigh with shank upper end is be hinged forms knee joint, be fixedly connected with the shank by
Driving wheel, the central shaft of the follower and kneed center overlapping of axles, the first motor is fixed with the top of the thigh,
Driving wheel is installed with the output shaft of first motor, the driving wheel is connected with follower by timing belt；Also include strip
The foot of shape, the lower end of the shank and the middle part of foot are be hinged to form ankle-joint, in the upper of the upper end of the foot and thigh
The first damping spring is connected between portion, the both ends of first damping spring and thigh and foot are be hinged.
Using said structure, the first motor is fixed in upper leg portion, the first motor is passed through timing belt, driving wheel and passive
Wheel controls kneed rotation, and the first damping spring is connected between the upper end of foot and the top of thigh, so as to provide
A kind of elastic double leval jib pedipulator, has advantages below：
First, kneed rotation is realized by the first motor and timing belt, has both avoided installation motor on knee joint and made
Into leg inertia it is big the problem of, be advantageous to timely responding to for shank again, and the control of the first motor and timing belt is more accurate,
Installation and debugging are convenient, it is advantageously ensured that the uniformity of four legs；
2nd, thigh, shank, the top of foot and the first damping spring form the quadric chain of elasticity, significantly increase
The response speed and active force of foot lower end；
3rd, the first damping spring can serve as the effect of ligament, be advantageous to shock absorbing.
Vola is hinged with the lower end of the foot, the bottom surface in the vola is in cambered surface convex downwards, and the cambered surface is before and after
Direction is bent.Vola so is hinged in foot lower end, it is in the passive free degree to make vola, can adjust and contact according to state of ground
Face, make the contact area on foot and ground bigger, walking is more steady.
The second damping spring is respectively connected between the left and right ends in the vola and foot, second damping spring
Upper end is hinged with foot, and the lower end of the second damping spring and the corresponding end in vola are hinged.Second damping spring, a side are so set
Face further reduces impact, is on the other hand advantageous to prevent lateral external force, improves the stability of leg.
Preferably, the distance in the central shaft axle center of knee joint 4 to the be hinged axle center of ankle-joint is d1, first damping
The pin joint of spring and thigh to the distance in the central shaft axle center of knee joint 4 be d2, when the first damping spring in the raw when,
The distance between upper and lower two pin joints of first damping spring are d3, and the pin joint of first damping spring and foot closes to ankle
The distance in the be hinged axle center of section is d4, the d1:d2:d3:D4=48:44 .97:53:34 .5.
The two of the technical problems to be solved by the invention be to provide it is a kind of occupy little space, the elastic double leval jib that cost is low
Pedipulator test platform.
Two technical scheme that the present invention solves technical problem is as follows：Except the elastic double leval jib machinery of above-mentioned technical proposal
Leg, in addition to the relatively-stationary conveyer belt in position and fulcrum bearing, vertical guide rail is provided with the fulcrum bearing, is led described
The first sliding block is set with rail, mounting blocks is fixed with first sliding block, drive device is connected with the mounting blocks,
Under the driving of drive device, mounting blocks move up and down along guide rail；Horizontal guide rod is further fixed on the mounting blocks, in institute
Stating kink on guide rod has the second sliding block, is hinged with support block on second sliding block, transverse direction is fixed with the support block
Support bar, be fixed with contiguous block in the other end of the support bar, be fixed with the second motor on the contiguous block, described
The thigh upper end of the output shaft of two motors and the elastic double leval jib pedipulator is fixedly linked, the elastic double leval jib pedipulator position
In on conveyer belt, power source is connected with the conveyer belt.
Using said structure, elastic double leval jib pedipulator is suspended by the support bar in fulcrum bearing, is transmitting pedipulator
Take to remain where one is or jump and can carry out parameter acquisition, significantly decrease the length of conveyer belt, reduce conveyer belt
Space-consuming and production cost；Also, because mounting seat can move up and down along guide rail, the second sliding block can move along before and after guide rod
Dynamic, support bar can rotate on the second sliding block, by mounting blocks drive device and transmit matching somebody with somebody with leg exercise with power source
Close the influence that can be effectively prevented from support bar constraint to leg exercise parameter, it is ensured that the accuracy of acquisition parameter.
The drive device includes the 3rd motor, and the 3rd motor is located at below fulcrum bearing, the output of the 3rd motor
Axle is connected by vertical leading screw and nut mechanism with mounting blocks.Simple in construction, production is easily.
The guide rail is arranged side by side with two, and the guide rod has four in matrix distribution, and second sliding block is arranged side by side
There are two, the support block is between two the second sliding blocks.It is simple in construction, stably.
The power source of the conveyer belt is made up of motor.
Beneficial effect：The present invention makes the first motor control knee by timing belt by fixing the first motor in upper leg portion
The rotation in joint, and the first damping spring is connected between the upper end of foot and the top of thigh, so as to provide a kind of response
In time, accurate elastic double leval jib pedipulator is controlled, and by the relatively-stationary fulcrum bearing in position and conveyer belt, pedipulator is hanged
Put on the support bar of fulcrum bearing, so as to provide it is a kind of occupy little space, test platform simple in construction.
Brief description of the drawings
Fig. 1 is the structural representation of embodiment one.
Fig. 2 removes the rearview after timing belt, driving wheel and follower for Fig. 1.
Fig. 3 is Fig. 2 axonometric drawing.
Fig. 4 is the structural representation of embodiment two.
Fig. 5 is Fig. 4 internal structure schematic diagram.
Marked in figure as follows：Thigh 1, the first motor 2, timing belt 3, knee joint 4, shank 5, ankle-joint 6, foot 7, second
Damping spring 8, vola 9, the first damping spring 10, conveyer belt 11, the second motor 12, contiguous block 13, support bar 14, support block
15th, guide rod 16, the second sliding block 17, mounting blocks 18, the first sliding block 19, guide rail 20, fulcrum bearing 21, the 3rd motor 22 and driving wheel
23。
Embodiment
Embodiments of the invention are described below in detail, described embodiment example is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
Figure description embodiment is exemplary, it is intended to explains the present invention, and is not considered as limiting the invention.
In the description of the invention, it is necessary to explanation, if any term " " center ", " transverse direction ", " longitudinal direction ", " length ",
The indicating position such as " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " interior ", " outer " and position relationship are base
In orientation shown in the drawings or position relationship, narration description of the invention and simplified, rather than instruction or hint are for only for ease of
Signified device or element must have specific orientation, be constructed and operated with particular orientation, should not be construed as limiting the invention
Specific protection domain.In addition, be only used for describing purpose if any term " first ", " second ", and it is not intended that instruction or dark
Show relative importance or the implicit quantity for indicating technical characteristic.
In the present invention, except as otherwise clear stipulaties and restriction, if any term " assembling ", " connected ", " connection ", " fixation " etc.
Term should be gone to understand as broad sense, for example, it may be being fixedly connected or being detachably connected, or is integrally connected；Can also
It is mechanical connection or electrical connection；Can be joined directly together or be connected by intermediary.For this area
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In invention, unless otherwise prescribed and limit, fisrt feature second feature it " on " or it " under " can include
First and second features directly contact, and it is not direct contact but by between them that can also include the first and second features
Other characterisation contact.Moreover, fisrt feature second feature " on ", " under " and " above " to include fisrt feature special second
Directly over sign and oblique upper, or be only to represent that fisrt feature level height is higher than the height of second feature.Fisrt feature is
Two features " on ", " under " and " following " fisrt feature that includes are immediately below second feature or obliquely downward, or are merely representative of the
One characteristic level is highly less than second feature.
Below in conjunction with the accompanying drawings, by being further described to the embodiment of the present invention, the technology of the present invention is made
Scheme and its advantage are clearer, clear and definite.
Embodiment one：
As shown in Figure 1, Figure 2 and Figure 3, the present embodiment includes the thigh 1 and shank 5 of strip, the lower end of the thigh 1 with
The upper end of shank 5 is be hinged to form knee joint 4, and follower, the central shaft and knee of the follower are fixedly connected with the shank 5
The center overlapping of axles in joint 4.The first motor 2 is fixed with the top of the thigh 1, it is solid on the output shaft of first motor 2
Driving wheel 23 is cased with, the driving wheel 23 is connected with follower by timing belt 3.The present embodiment also includes the foot 7 of strip,
The lower end of the shank 5 is hinged with the middle part of foot 7 and forms ankle-joint 6.The top of the upper end of the foot 7 and thigh 1 it
Between be connected with the first damping spring 10, the both ends of first damping spring 10 and thigh 1 and foot 7 are be hinged.In the foot
The lower end in portion 7 is hinged with vola 9, and the bottom surface in the vola 9 is bent along the longitudinal direction in cambered surface convex downwards, the cambered surface.Institute
State and the second damping spring 8 is respectively connected between the left and right ends in vola 9 and foot 7, the upper end of second damping spring 8 and foot
Portion 7 is be hinged, and the corresponding end of the lower end and vola 9 of the second damping spring 8 is hinged.
As shown in figure 1, the distance that the central shaft axle center of knee joint 4 is hinged axle center to ankle-joint 6 is d1, described first subtracts
Shake the pin joint of spring 10 and thigh 1 to the distance in the central shaft axle center of knee joint 4 be d2, when the first damping spring 10 is in nature
During state, the first damping spring about 10 the distance between two pin joints be d3, first damping spring 10 and foot 7
The distance that pin joint is hinged axle center to ankle-joint 6 is d4, the d1:d2:d3:D4=48:44 .97:53:34 .5.This implementation
The example preferably d1 is 48mm, and d2 is 44 .97mm, and d3 53mm, d4 are 35 .5mm, the foot 7 and the pin joint in vola 9
The distance d5 that axle center is hinged to ankle-joint 6 is 43 .5mm.The pin joint of first damping spring 10 and thigh 1 is to knee joint 4
Angle α between the line L1 and the center line L2 of thigh 1 in central shaft axle center is 21 .37 °.
Embodiment two：
As shown in Figure 4 and Figure 5, except the elastic double leval jib pedipulator structure that embodiment one describes, the present embodiment also include
The relatively-stationary conveyer belt 11 in position and fulcrum bearing 21.Vertical guide rail 20, the guide rail are installed in the fulcrum bearing 21
20 are arranged side by side with two, and the first sliding block 19 is set with each guide rail 20.On two first sliding blocks 19
Same mounting blocks 18 are fixed with, drive device is connected with the mounting blocks 18, under the driving of drive device, mounting blocks 18
Moved up and down along guide rail 20.The preferably described drive device of the present embodiment includes the 3rd motor 22, and the 3rd motor 22 is positioned at branch
The lower section of bearing 21, the output shaft of the 3rd motor 22 are connected by vertical leading screw and nut mechanism with mounting blocks 18, the screw mandrel
Nut body is between two guide rails 20.
As shown in Figure 4 and Figure 5, horizontal guide rod 16 is also fixedly connected with the mounting blocks 18, the guide rod 16 is in
Matrix distribution has four, and kink has the second sliding block 17 on the guide rod 16, and second sliding block 17 is arranged side by side with two,
Support block 15 is hinged with second sliding block 17, the support block 15 is between two the second sliding blocks 17.In the support
Horizontal support bar 14 is fixed with block 15, one end and the support block 15 of the support bar 14 are fixed, in the support bar 14
The other end is fixed with contiguous block 13, and the second motor 12 is fixed with the contiguous block 13.Second motor 12 is positioned at connection
The lower section of block 13, the upper end of thigh 1 of the output shaft of the second motor 12 and the elastic double leval jib pedipulator are fixedly linked to form hip
Joint.Under the driving of the second motor 12, the swing of thigh 1.The elastic double leval jib pedipulator is located at conveyer belt 11
On, power source is connected with the conveyer belt 11, the power source of the conveyer belt 11 is made up of motor.The present embodiment is preferably described
The distance between hip joint center and the central shaft axle center of knee joint 4 are 58 .18mm.
Claims (8)
- A kind of 1. elastic double leval jib pedipulator test platform, for the elastic double leval jib machine rotated by the first motor driving knee joint Tool leg, it is characterised in that：Including the relatively-stationary conveyer belt in position and fulcrum bearing, vertical lead is installed in the fulcrum bearing Rail, the first sliding block is set with the guide rail, is fixed with mounting blocks on first sliding block, is connected on the mounting blocks There is drive device, under the driving of drive device, mounting blocks move up and down along guide rail；Transverse direction is further fixed on the mounting blocks Guide rod, kink has the second sliding block on the guide rod, support block is hinged with second sliding block, in the support block Horizontal support bar is fixed with, contiguous block is fixed with the other end of the support bar, second is fixed with the contiguous block Motor, the output shaft of the second motor are used to be fixedly linked with the thigh upper end of the elastic double leval jib pedipulator on conveyer belt, Conveyer belt is connected with power source.
- 2. elastic double leval jib pedipulator test platform according to claim 1, it is characterised in that：The drive device includes the Three motors, the 3rd motor are located at below fulcrum bearing, the output shaft of the 3rd motor by vertical leading screw and nut mechanism with Mounting blocks are connected.
- 3. elastic double leval jib pedipulator test platform according to claim 2, it is characterised in that：The guide rail is arranged side by side with Two, the guide rod has four in matrix distribution, and second sliding block is arranged side by side with two, and the support block is positioned at two the Between two sliding blocks.
- 4. elastic double leval jib pedipulator test platform according to claim 3, it is characterised in that：The power source of the conveyer belt It is made up of motor.
- 5. the elastic double leval jib pedipulator test platform according to any one in Claims 1 to 4, it is characterised in that：It is described Elastic double leval jib pedipulator, includes the thigh and shank of strip, and lower end and the be hinged knee that formed in shank upper end of the thigh close Section, follower, the central shaft of the follower and kneed center overlapping of axles are fixedly connected with the shank, described The top of thigh is fixed with first motor, is installed with driving wheel on the output shaft of first motor, the driving wheel with Follower is connected by timing belt；Also include the foot of strip, the lower end of the shank and the middle part of foot, which are hinged, forms ankle Joint, is connected with the first damping spring between the upper end of the foot and the top of thigh, and the two of first damping spring End and thigh and foot are be hinged.
- 6. elastic double leval jib pedipulator test platform according to claim 5, it is characterised in that：In the lower end of the foot Vola is hinged with, the bottom surface in the vola is bent along the longitudinal direction in cambered surface convex downwards, the cambered surface.
- 7. elastic double leval jib pedipulator test platform according to claim 6, it is characterised in that：In the left and right in the vola The second damping spring is respectively connected between both ends and foot, the upper end of second damping spring is hinged with foot, the second damping The lower end of spring and the corresponding end in vola are hinged.
- 8. elastic double leval jib pedipulator test platform according to claim 5, it is characterised in that：The kneed center The distance that axle axle center is hinged axle center to ankle-joint is d1, the pin joint of first damping spring and thigh to kneed center The distance in axle axle center is d2, when the first damping spring in the raw when, above and below the first damping spring between two pin joints Distance be d3, the distance that the pin joint of first damping spring and foot to ankle-joint is hinged axle center is d4, the d1: d2:d3:d4=48:44.97:53:34.5。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206266.0A CN105752197B (en) | 2016-04-05 | 2016-04-05 | Elastic double leval jib pedipulator and its test platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206266.0A CN105752197B (en) | 2016-04-05 | 2016-04-05 | Elastic double leval jib pedipulator and its test platform |
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| Publication Number | Publication Date |
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| CN105752197A CN105752197A (en) | 2016-07-13 |
| CN105752197B true CN105752197B (en) | 2018-03-23 |
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| CN201610206266.0A Expired - Fee Related CN105752197B (en) | 2016-04-05 | 2016-04-05 | Elastic double leval jib pedipulator and its test platform |
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