CN105905185A - Connecting-rod type robot travelling device and method - Google Patents
Connecting-rod type robot travelling device and method Download PDFInfo
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- CN105905185A CN105905185A CN201610406380.8A CN201610406380A CN105905185A CN 105905185 A CN105905185 A CN 105905185A CN 201610406380 A CN201610406380 A CN 201610406380A CN 105905185 A CN105905185 A CN 105905185A
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- connecting shaft
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 238000004088 simulation Methods 0.000 claims description 3
- 241000282414 Homo sapiens Species 0.000 abstract description 5
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
Classifications
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a connecting-rod type robot travelling device and method. The device comprises a carrying unit, a fixing shaft and four sets of travelling mechanisms D. The carrying unit is fixedly mounted on the fixing shaft. The four sets of travelling mechanisms D are coaxially mounted on the lower portion of the fixing shaft. Each travelling mechanism comprises a driving shaft, a driving rod, a connecting shaft A, a connecting shaft B, a connecting rod A, a connecting rod B, a connecting shaft C, a connecting block, a connecting shaft D, a parallel rod A, a parallel rod B, a connecting shaft E, a connecting shaft F and a travelling foot. The robot travelling method is designed, a robot can imitate feet of human beings to travel; and the four parallel travelling mechanisms are adopted, two mechanisms on the left side correspond to the other two mechanisms on the right side, the four mechanisms provide support alternately, and thus movement smoothness of the robot can be effectively ensured.
Description
Technical field
The present invention relates to robot field, be specifically related to robot walking device and the traveling method of the walking of a kind of bionical human leg.
Background technology
At present, the walking manner of robot is varied, common are wheel type, crawler type etc. and imitates vehicle to run mode, and also some bio-robot imitates animal walking mode, such as snakelike swinging walking robot.The most also the robot of some simulating human walking, this robot ambulation mode has clear advantage, as walked on rough road surface, can climb building, is suitable for complex work environment.But the robot center of gravity of apery walking judges relatively difficult, and stability is the highest.
Summary of the invention
Goal of the invention: the present invention is to solve the problem that biped robot imitating human walking is unstable, a kind of four-footed walking robot running gear side by side of design, it is ensured that stability during robot ambulation.
Technical scheme: a kind of link-type robot walking device of the present invention, including load carrying device, fixing axle, walking mechanism A, walking mechanism B, walking mechanism C, walking mechanism D, described load carrying device is fixedly mounted on fixing axle, and described walking mechanism A, walking mechanism B, walking mechanism C, walking mechanism D are coaxially mounted to below described fixing axle；
Described walking mechanism A, walking mechanism B, walking mechanism C, walking mechanism D include drive shaft, drive rod, connecting shaft A, connecting shaft B, connecting rod A, connecting rod B, connecting shaft C, contiguous block, connecting shaft D, parallel bar A, parallel bar B, connecting shaft E, connecting shaft F and walking foot respectively；Described drive shaft is that four groups of walking mechanisms share, described drive rod is fixing with drive shaft to be connected, described drive rod by connecting shaft A respectively with connecting rod A, connecting rod B is coaxially connected, described connecting rod A is flexibly connected with contiguous block by connecting shaft C, described contiguous block is flexibly connected with parallel bar A by connecting shaft D, described contiguous block is flexibly connected with parallel bar B also by connecting shaft B, described connecting shaft B is fixedly mounted on fixing axle, described parallel bar A is flexibly connected with walking foot by movable axis F, described parallel bar B, connecting rod B is flexibly connected with walking foot by movable axis E.
Further, in described walking mechanism A, walking mechanism B, walking mechanism C, tetra-groups of walking mechanisms of walking mechanism D, walking mechanism is one group two-by-two.
Further, described walking mechanism A and walking mechanism D are one group, described walking mechanism B and mono-group of walking mechanism C, guarantee that one group is lifted during two groups of walking mechanism adjustment, and one group is put down.
Further, described connecting shaft B, connecting shaft C and connecting shaft D are not arranged on the same straight line be.
Further, described parallel bar A is parallel to each other with parallel bar B.
Further, described drive shaft, connecting rod A and connecting rod B three all can freely rotate around connecting shaft A.
Further, the composition quadrilateral structure of described connecting rod A, connecting rod B, parallel bar B and contiguous block；Drive the angle of A and connecting rod B to be continually changing when drive rod rotates, make quadrangle form change, thus realize contiguous block swinging around connecting shaft B.
Further, top, parallel bar A and the parallel bar B with walking foot of described contiguous block forms a quadrilateral structure；Contiguous block makes the change of shape of tetragon around swinging of connecting shaft B, thus swings before and after realizing walking foot.
The invention also discloses the traveling method of above-mentioned a kind of link-type robot walking device, including: drive shaft turns during walking, drive connecting shaft A around drive shaft turns by drive rod, connecting shaft A drives connecting rod A and the motion of connecting rod B；Owing to connecting shaft B is fixed, therefore connecting rod A drives contiguous block to swing around connecting shaft B by connecting shaft C, thus realize contiguous block and drive gimbal lever A and gimbal lever B to swing by connecting shaft D and connecting shaft B, and gimbal lever A and gimbal lever B swings before and after driving walking foot by connecting shaft F and connecting shaft E, the leg walking of simulation people.
Beneficial effect: a kind of robot ambulation mode designed by the present invention, it is possible to imitating human foot walking, by four walking mechanisms side by side, the left and right sides is the most corresponding, alternately supports, it is possible to the robust motion of robot is effectively ensured.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention；
Fig. 2 is walking mechanism structural representation of the present invention.
Detailed description of the invention
As it is shown in figure 1, a kind of robot walking device includes load carrying device 1, fixing axle 2, walking mechanism A 3, walking mechanism B 4, walking mechanism C 5, walking mechanism D 6.Described load carrying device 1 is fixedly mounted on fixing axle 2, and four groups of walking mechanisms A-D are coaxially mounted to below fixing axle 2.Four groups of walking mechanisms A-D can swing.Described walking mechanism A 3 is one group with walking mechanism D 6, described walking mechanism B 4 and 5 one groups of walking mechanism C.When walking mechanism A 3 and walking mechanism D 6 support ground, walking mechanism B 4 and walking mechanism C 5 are mentioned.When walking mechanism B 4 and walking mechanism C 5 support ground, walking mechanism A 3 and walking mechanism D 6 are mentioned.
Fig. 2 is walking mechanism structural representation of the present invention.Described walking mechanism includes drive shaft 28, drive rod 29, connecting shaft A30, connecting shaft B31, connecting rod A32, connecting rod B27, connecting shaft C21, contiguous block 22, connecting shaft D23, parallel bar A24, parallel bar B33, connecting shaft E34, connecting shaft F25, walking foot 26.Described drive shaft 28 is that four groups of walking mechanisms share.Drive rod 29 is fixing with drive shaft 28 to be connected.Described drive shaft 28 is coaxially connected with connecting rod A32 and connecting rod B27 by connecting shaft A30, and drive shaft 28, connecting rod A32 and connecting rod B27 three all can freely rotate around connecting shaft A30.Connecting rod A32 is flexibly connected with contiguous block 22 by connecting shaft C21.Described contiguous block 22 is flexibly connected with parallel bar A24 by connecting shaft D23, and contiguous block 22 is flexibly connected with parallel bar B33 by connecting shaft B31.Described connecting shaft B31 is fixedly mounted on fixing axle 2.Parallel bar A24 is flexibly connected with walking foot by movable axis F25.Parallel bar B33, connecting rod B27 are flexibly connected with walking foot by movable axis E34.
Described connecting rod A 32, connecting rod B 27, parallel bar B 33 and contiguous block 22 while composition quadrilateral structure；Drive the angle of A 32 and connecting rod B 27 to be continually changing when drive rod 29 rotates, make quadrangle form change, thus realize contiguous block 22 swinging around connecting shaft B 31.Described contiguous block 22 while with walking foot 26 top, parallel bar A 24 and parallel bar B 33 form a quadrilateral structure；Contiguous block 22 makes the change of shape of tetragon around swinging of connecting shaft B 31, thus swings before and after realizing walking foot.
The traveling method of above-mentioned a kind of link-type robot walking device, specifically includes:
During walking, drive shaft 28 rotates, and drives connecting shaft A30 to rotate around drive shaft 28 by drive rod 29.Connecting shaft A30 drives connecting rod A32 and the motion of connecting rod B27.Owing to connecting shaft B31 is fixed, therefore connecting rod A30 drives contiguous block 22 to swing around connecting shaft B31 by connecting shaft C21.Thus realize contiguous block 22 and drive gimbal lever A24 and gimbal lever B33 to swing by connecting shaft D23 and connecting shaft B31, and gimbal lever A24 and gimbal lever B33 swings before and after driving walking foot 26 by connecting shaft F25 and connecting shaft E34, the leg walking of simulation people.
The above, it it is only presently preferred embodiments of the present invention, not the present invention is made any pro forma restriction, although the present invention is disclosed above with preferred embodiment, but it is not limited to the present invention, any those skilled in the art, in the range of without departing from technical solution of the present invention, when the technology contents of available the disclosure above makes a little change or is modified to the Equivalent embodiments of equivalent variations, in every case it is the content without departing from technical solution of the present invention, any simple modification above example made according to the technical spirit of the present invention, equivalent variations and modification, all still fall within the range of technical solution of the present invention.
Claims (9)
1. a link-type robot walking device, it is characterized in that: include load carrying device (1), fixing axle (2), walking mechanism A(3), walking mechanism B(4), walking mechanism C(5), walking mechanism D(6), described load carrying device (1) is fixedly mounted on fixing axle (2), described walking mechanism A(3), walking mechanism B(4), walking mechanism C(5), walking mechanism D(6) be coaxially mounted to described fixing axle (2) lower section；
Described walking mechanism A(3), walking mechanism B(4), walking mechanism C(5), walking mechanism D(6) include drive shaft (28), drive rod (29), connecting shaft A(30 respectively), connecting shaft B(31), connecting rod A(32), connecting rod B(27), connecting shaft C(21), contiguous block (22), connecting shaft D(23), parallel bar A(24), parallel bar B(33), connecting shaft E(34), connecting shaft F(25) and walking foot (26)；nullDescribed drive shaft (28) is that four groups of walking mechanisms share，Described drive rod (29) is fixing with drive shaft (28) to be connected，Described drive rod (29) pass through connecting shaft A(30) respectively with connecting rod A(32)、Connecting rod B(27) coaxially connected，Described connecting rod A(32) by connecting shaft C(21) be flexibly connected with contiguous block (22)，Described contiguous block (22) pass through connecting shaft D(23) with parallel bar A(24) be flexibly connected，Described contiguous block (22) is also by connecting shaft B(31) with parallel bar B(33) be flexibly connected，Described connecting shaft B(31) it is fixedly mounted on fixing axle (2)，Described parallel bar A(24) by movable axis F(25) be flexibly connected with walking foot (26)，Described parallel bar B(33)、Connecting rod B(27) by movable axis E(34) be flexibly connected with walking foot (26).
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described walking mechanism A(3), walking mechanism B(4), walking mechanism C(5), walking mechanism D(6) walking mechanism is one group two-by-two in four groups of walking mechanisms.
A kind of link-type robot walking device the most according to claim 2, it is characterized in that: described walking mechanism A(3) and walking mechanism D(6) it is one group, described walking mechanism B(4) with walking mechanism C(5) one group, guarantee during two groups of walking mechanism adjustment that one group is lifted, one group is put down.
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described connecting shaft B(31), connecting shaft C(21) and connecting shaft D(23) be not arranged on the same straight line be.
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described parallel bar A(24) with parallel bar B(33) be parallel to each other.
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described drive shaft (28), connecting rod A(32) and connecting rod B(27) three all can be freely around connecting shaft A(30) rotate.
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described connecting rod A(32), connecting rod B(27), parallel bar B(33) and contiguous block (22) form quadrilateral structure；Drive rod (29) rotate time drive A(32) and connecting rod B(27) angle be continually changing, make quadrangle form change, thus realize contiguous block (22) around connecting shaft B(31) swing.
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described contiguous block (22) with walking the foot top of (26), parallel bar A(24) and parallel bar B(33) form a quadrilateral structure；Contiguous block (22) is around connecting shaft B(31) swing and make the change of shape of tetragon, thus swing before and after realizing walking foot.
9. according to the traveling method of a kind of link-type robot walking device described in claim 1-8 any one, it is characterized in that: drive shaft turns during walking, driving connecting shaft A around drive shaft turns by drive rod, connecting shaft A drives connecting rod A and the motion of connecting rod B；Owing to connecting shaft B is fixed, therefore connecting rod A drives contiguous block to swing around connecting shaft B by connecting shaft C, thus realize contiguous block and drive gimbal lever A and gimbal lever B to swing by connecting shaft D and connecting shaft B, and gimbal lever A and gimbal lever B swings before and after driving walking foot by connecting shaft F and connecting shaft E, the leg walking of simulation people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406380.8A CN105905185A (en) | 2016-06-12 | 2016-06-12 | Connecting-rod type robot travelling device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406380.8A CN105905185A (en) | 2016-06-12 | 2016-06-12 | Connecting-rod type robot travelling device and method |
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| CN105905185A true CN105905185A (en) | 2016-08-31 |
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| CN201610406380.8A Pending CN105905185A (en) | 2016-06-12 | 2016-06-12 | Connecting-rod type robot travelling device and method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2368529C1 (en) * | 2008-05-20 | 2009-09-27 | Государственное образовательное учреждение высшего профессионального образования Волгоградский государственный технический университет (ВолгГТУ) | Walking support for cross-country transport vehicles |
| CN202358215U (en) * | 2011-11-25 | 2012-08-01 | 广东岭南职业技术学院 | Mechanical leg mechanism and four-legged walker |
| CN103264735A (en) * | 2013-06-14 | 2013-08-28 | 山东省科学院自动化研究所 | Underactuated mixed-connected travelling mechanism |
| CN204821785U (en) * | 2015-07-10 | 2015-12-02 | 陕西九立机器人制造有限公司 | Shank structure of sufficient formula robot |
| CN205837001U (en) * | 2016-06-12 | 2016-12-28 | 江苏工程职业技术学院 | A kind of link-type robot walking device |
-
2016
- 2016-06-12 CN CN201610406380.8A patent/CN105905185A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2368529C1 (en) * | 2008-05-20 | 2009-09-27 | Государственное образовательное учреждение высшего профессионального образования Волгоградский государственный технический университет (ВолгГТУ) | Walking support for cross-country transport vehicles |
| CN202358215U (en) * | 2011-11-25 | 2012-08-01 | 广东岭南职业技术学院 | Mechanical leg mechanism and four-legged walker |
| CN103264735A (en) * | 2013-06-14 | 2013-08-28 | 山东省科学院自动化研究所 | Underactuated mixed-connected travelling mechanism |
| CN204821785U (en) * | 2015-07-10 | 2015-12-02 | 陕西九立机器人制造有限公司 | Shank structure of sufficient formula robot |
| CN205837001U (en) * | 2016-06-12 | 2016-12-28 | 江苏工程职业技术学院 | A kind of link-type robot walking device |
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Application publication date: 20160831 |
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