CN106184458A - A kind of Hexapod Robot driven by parallel connecting rod - Google Patents
A kind of Hexapod Robot driven by parallel connecting rod Download PDFInfo
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- CN106184458A CN106184458A CN201610531554.3A CN201610531554A CN106184458A CN 106184458 A CN106184458 A CN 106184458A CN 201610531554 A CN201610531554 A CN 201610531554A CN 106184458 A CN106184458 A CN 106184458A
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- connecting rod
- leg
- rotationally connected
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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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- Combustion & Propulsion (AREA)
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Abstract
The present invention relates to a kind of Hexapod Robot driven by parallel connecting rod, mainly it is made up of body and six groups of pedipulators, described body is a class octahedral structure, and described six groups of pedipulator structures are identical, and six groups of pedipulators become on the axisymmetric six of which face being arranged on body.By adjusting the action of each steering wheel, rely on parallel connecting rod to drive the swing of thigh and the rotation of waist structure, rely on serial connecting rod to drive waving of shank, and then realize the adjustment of Hexapod Robot multiple lower limb formula gait.The present invention uses long leg mechanism, adds the range of operation of the leg of robot, and the speed of service have also been obtained and is greatly improved, and its method of operation uses four kinds of gait pattern, adds robot service ability in unstructured moving grids.
Description
Technical field
The present invention relates to a kind of Hexapod Robot driven by parallel connecting rod, belong to robot field.
Background technology
Along with the progress of science and technology, the research of robot is not only limited to the Fixed Point Operation of structured environment, but to
The non-structure environments such as the search and rescue of deep-ocean resource exploitation, disaster field, radiation environment operation, hot mission execution, military surveillance attack
Lower AUTONOMOUS TASK direction is developed, thus replaces the mankind to complete the task of danger in the environment that can not arrive.This just requires machine
Device people possesses the adaptation ability under unstructured moving grids and capacity of will.The design of traditional mechanism oneself meet this aspect through being difficult to
Demand, it is therefore desirable to draw inspiration with the biology constantly evolved complex environment, by their contour structures, cognitive way
Footpath, movement mechanism and way of act apply in the development of robot.
In the leg mechanism design that existing Hexapod Robot is initial, generally motor is directly installed on the joint of leg
Place's (knee joint, buttocks joint and waist joint), utilizes motor shaft that leg mechanism is coupled together, and therefore, Hexapod Robot is being run
During, major part load is all applied on motor shaft, and owing to the diameter of motor shaft is relatively thin, in the short time, motor shaft arises that
Abrasion in various degree, greatly reduces the exercise performance in unstructured moving grids.
Summary of the invention
It is an object of the invention to the deficiency overcoming prior art to exist, it is provided that a kind of six foot machines driven by parallel connecting rod
Device people.
For reaching above-mentioned purpose, present inventive concept is as follows:
The present invention designs a kind of novel leg structure, on the one hand, introduce serial linkage and parallel linkage, steering wheel
(built-in motor, reduction box and drive feedback circuit board) indirectly drives the fortune of leg structure by the rotation of drive link mechanism
Turn, not only reduce the bearing load of motor shaft, and the supporting role of rigid link considerably increases the carrying of leg structure
Ability, on the other hand, improves the leg configuration of Hexapod Robot, uses the long leg mechanism of class Aranea, by kneed center of gravity
Height adjustment, on joint and waist joint, not only adds the range of operation of the leg of robot, and the speed of service is also
It is greatly improved.Hexapod Robot body of the present invention uses small-sized class octahedral structure, not only reduces leg
Bearing load and contact pressure to ground, and add the motility of robot.By six groups of identical pedipulator lower limbs
Cooperating between formula structure walking subsystem, it is achieved the operation in unstructured moving grids.
For reaching above-mentioned purpose, the present invention uses following technical proposals:
A kind of Hexapod Robot driven by parallel connecting rod, is mainly made up of body and six groups of pedipulators, and described body is one
Class octahedral structure, described six groups of pedipulator structures are identical, and six groups of pedipulators become axisymmetric and are arranged on body wherein
On six faces.
Described pedipulator includes fork, leg in lower steering wheel, yawing axis, connecting rod base, inner side steering wheel, outside steering wheel, leg
Outside lever, leg draw-in bar, leg outside link, inner side list universal coupling, cylinder slide block, outside list universal coupling, thigh, little
Lower limb, foot end cap, foot, draft link and lower fulcrum bar；Described connecting rod base is fixing connects body, one end of fork and connecting rod in described leg
Seat is rotationally connected, and by inner side servo driving, in leg, the other end of fork rotates even with one end of described leg draw-in bar
Connecing, the other end of described leg draw-in bar is rotationally connected with described cylinder slide block by described inner side list universal coupling；Described lower limb
One end of portion's outside lever is rotationally connected with connecting rod base, and by outside servo driving, the other end of leg outside lever and described lower limb
One end of portion's outside link is rotationally connected, and the other end of described leg outside link is by described outside list universal coupling and described cylinder
Slide block is rotationally connected；Described cylinder slide block is slidably connected with described thigh, and one end of described thigh is rotationally connected with connecting rod base, separately
One end is rotationally connected by pin with one end of described shank, and described foot rolls with the other end of described shank and is connected, and foot is arranged
There is sufficient end cap；Described yawing axis is rotationally connected with described connecting rod base, and one end of described draft link is rotationally connected with yawing axis, and leads to
Crossing down servo driving, the other end of described draft link is rotationally connected by pin with one end of described lower fulcrum bar, another of lower fulcrum bar
End is slidably connected with shank.Due to the interlink function of yawing axis, described thigh and shank remain at same perpendicular
In.
The running status of the robot of present invention design is to be realized by the operating of three steering wheels of control, by controlling
Turning to rotating speed to realize the advance of robot, retreat and turn to of three steering wheels.By increase in robot photographic head and
Corresponding sensor (vision sensor, displacement transducer, touch sensor etc.), can be as the motor-driven mobile machine of various height
The travel mechanism of the platforms such as people, unmanned battlebus, and planet detection vehicle.
Compared with prior art, present invention have the advantage that:
A kind of Hexapod Robot driven by parallel connecting rod of the present invention, have employed the configuration of miniaturization agent structure, thus strengthens
Motility on rugged path, and reduce the contact pressure to ground.The profile copying Aranea is designed, structure
Compact, flexibly, stability is higher, is difficult to break down, and has multi-motion form, can not only realize linear rows in action
Walk and plane motion, and can realize flexibly turning to, it is possible to meet the operation under non-structure environment.
Accompanying drawing explanation
Fig. 1 is a kind of Hexapod Robot population structure schematic diagram driven by parallel connecting rod of the present invention.
Fig. 2 is that a kind of Hexapod Robot population structure driven by parallel connecting rod of the present invention overlooks view.
Fig. 3 is a kind of Hexapod Robot pedipulator structural representation driven by parallel connecting rod of the present invention.
Fig. 4 is a kind of Hexapod Robot pedipulator lifting view driven by parallel connecting rod of the present invention.
Fig. 5 is a kind of Hexapod Robot pedipulator falling state schematic diagram driven by parallel connecting rod of the present invention.
Fig. 6 is a kind of Hexapod Robot pedipulator right turn state schematic diagram driven by parallel connecting rod of the present invention.
Fig. 7 is a kind of Hexapod Robot pedipulator left turn state schematic diagram driven by parallel connecting rod of the present invention.
Fig. 8 is that a kind of Hexapod Robot driven by parallel connecting rod of the present invention four kinds runs gait schematic diagram.
Detailed description of the invention
It is as follows that the preferred embodiments of the present invention combine detailed description:
Seeing Fig. 1 and Fig. 2, a kind of Hexapod Robot driven by parallel connecting rod, mainly by bodyWith six groups of pedipulator groups
Become, described bodyBeing a class octahedral structure, described six groups of pedipulator structures are identical, and six groups of pedipulators become axle pair
Claim is arranged on bodySix of which face on.
As it is shown on figure 3, described pedipulator include lower steering wheel 1, yawing axis 2, connecting rod base 3, inner side steering wheel 4, outside steering wheel 5,
Fork 6 in leg, leg outside lever 7, leg draw-in bar 8, leg outside link 9, inner side list universal coupling 10, cylinder slide block 11,
The single universal coupling 12 in outside, thigh 13, shank 14, foot end cap 15, foot 16, draft link 17 and lower fulcrum bar 18；Described connecting rod base 3 is solid
Surely body is connected, in described leg, one end of fork 6 is rotationally connected with connecting rod base 3, and is driven by inner side steering wheel 4, leg
The other end of interior fork 6 is rotationally connected with one end of described leg draw-in bar 8, and the other end of described leg draw-in bar 8 passes through institute
State the single universal coupling 10 in inner side to be rotationally connected with described cylinder slide block 11；One end of described leg outside lever 7 rotates with connecting rod base 3
Connecting, and driven by outside steering wheel 5, the other end of leg outside lever 7 is rotationally connected with one end of described leg outside link 9,
The other end of described leg outside link 9 is rotationally connected with described cylinder slide block 11 by described outside list universal coupling 12；Described
Cylinder slide block 11 is slidably connected with described thigh 13, and one end of described thigh 13 is rotationally connected with connecting rod base 3, and the other end is with described
One end of shank 14 is rotationally connected by pin, and described foot 16 rolls with the other end of described shank 14 and is connected, and foot 16 is provided with
Foot end cap 15；Described yawing axis 2 is rotationally connected with described connecting rod base 3, and one end of described draft link 17 rotates even with yawing axis 2
Connecing, and driven by lower steering wheel 1, the other end of described draft link 17 is rotationally connected by pin with one end of described lower fulcrum bar 18,
The other end of lower fulcrum bar 18 is slidably connected with shank 14.Due to the interlink function of yawing axis 2, described thigh 13 and shank 14 are all the time
It is maintained in same perpendicular, it is ensured that the stability in running.Foot structure has selected ball pivot, can be according to road
The state in face changes the position form of foot in real time, and no matter ground is the most smooth, and foot remains plateau.
A kind of Hexapod Robot leg method of operation driven by parallel connecting rod of the present embodiment is as follows:
As shown in FIG. 4,5,6, 7, a kind of Hexapod Robot leg driven by parallel connecting rod of the present invention can realize rise, fall and
Turning function.These three run action is all to be driven between serial linkage and parallel linkage by directly control steering wheel
Connect and realize thigh 13 and the control of shank 14, complete the run action specified.The rising of thigh 13 and whereabouts are by controlling
Inner side steering wheel 5 and the rotating of outside steering wheel 6 drive parallel linkage (fork 6, leg outside lever 7, leg in leg indirectly
Draw-in bar 8 and leg outside link 9) realize, the rising of shank 14 and whereabouts are indirectly to be driven by the rotating of steering wheel 1 under controlling
Dynamic serial linkage (draft link 17 and lower fulcrum bar 18) realizes.When inner side steering wheel 5, outside steering wheel 6 and lower steering wheel 1 are around axis
When rotating clockwise, pedipulator rises, as shown in Figure 4；When inner side steering wheel 5, outside steering wheel 6 and lower steering wheel 1 turn counterclockwise around axis
Time dynamic, pedipulator falls, as shown in Figure 5.Turning to of pedipulator is to be transferred by steering wheel 5 and the positive and negative of outside steering wheel 6 inside controlling
Realize: when inner side steering wheel 5 rotate counterclockwise around axis, outside steering wheel 6 rotates around axis both clockwise time, pedipulator right-hand rotation, such as Fig. 6
Shown in；When inner side steering wheel 5 rotates counterclockwise around axis around axis both clockwise rotation, outside steering wheel 6, pedipulator turns left, it is achieved
The divertical motion of robot, as shown in Figure 7.
A kind of Hexapod Robot driven by parallel connecting rod of the present invention has an operation gait of four types, as shown in Figure 8, from
Gait sequential can be seen that fromType arrivesType gait, supports the increasing number of foot, and the speed of corresponding gait will
Decline,Type gait is the one that Hexapod Robot runs that gait is fastest.Difference can be used according to different running environment
Gait planning, realize more efficient operation with this.
Triped gait is fastest a kind of method of operation, in running, need six groups of pedipulators mutually coordinated,
Cooperate.For the ease of the operation of robot being stated explanation, pedipulator I, IV andFor A group, six groups of pedipulator II,WithFor B group.First, drive steering wheel to make A group pedipulator lifting run forward, this moment B group pedipulator composition triangular support mechanism,
For maintaining the poised state of robot.When A group pedipulator falls to ground, steering wheel is driven to make B group pedipulator lifting forward
Motion, this moment A group tool lower limb composition triangular support mechanism.When B group pedipulator falls to ground, robot completes an operation
In the cycle, such repeatable operation realizes the continuous operation of robot.
A kind of Hexapod Robot driven by parallel connecting rod of the present invention can realize craspedodrome, skidding and laterally run.Straight line is transported
Behavior robot moves along a straight line along the direction of longitudinal axis, and it is a kind of method of operation most basic in Hexapod Robot, passes through A
Cooperation between group and B group pedipulator ensures robot traffic direction the most in the same direction；Skidding is exactly to transport at straight line
Can change its traffic direction by Fixed-point Motion of A in real time on the basis of row, fixed point turning action is that robot omnibearing motion is necessary dynamic
Make.First, A group pedipulator lifts, the angle that pivot around agent structure is certain, joint rotarily drive agent structure
Rotation, during this, B group pedipulator combined support whole body, when A group pedipulator falls to ground, B group pedipulator
Lifting, the angle that pivot around main body mechanism is identical, during this, A group pedipulator combined support whole body, works as B
When group pedipulator falls to ground, robot completes the run action that fixed point turns to；Laterally operate to robot along laterally
The direction of axle remains that body translation, this attitude of creeping are similar to the motion of Eriocheir sinensis, is therefore referred to as Eriocheir sinensis gait.First
First, B group pedipulator lifts laterally advance, and during this, A group pedipulator combined support whole body, when B group pedipulator falls
During to ground, A group pedipulator lifts the identical stride that laterally moves ahead, and during this, B group pedipulator combined support whole body,
When A group pedipulator falls to ground, robot completes the horizontal operation in a cycle, the alternately fortune of A combination B group pedipulator
Row ensure that the continuous running of robot.
Claims (3)
1. the Hexapod Robot driven by parallel connecting rod, it is characterised in that mainly by body () and six groups of pedipulator groups
Become, described body () it is a class octahedral structure, described six groups of pedipulator structures are identical, and six groups of pedipulators become axle
Be symmetrically installed on body () six of which face on.
A kind of Hexapod Robot driven by parallel connecting rod the most according to claim 1, it is characterised in that described pedipulator
Including fork (6), leg in lower steering wheel (1), yawing axis (2), connecting rod base (3), inner side steering wheel (4), outside steering wheel (5), leg
Outside lever (7), leg draw-in bar (8), leg outside link (9), inner side list universal coupling (10), cylinder slide block (11), outside list
Universal coupling (12), thigh (13), shank (14), foot end cap (15), foot (16), draft link (17) and lower fulcrum bar (18)；Described
Connecting rod base (3) fixing connection body (), in described leg, one end of fork (6) is rotationally connected with connecting rod base (3), and passes through
Inner side steering wheel (4) drives, and in leg, the other end of fork (6) is rotationally connected with one end of described leg draw-in bar (8), described lower limb
The other end of portion's draw-in bar (8) is rotationally connected with described cylinder slide block (11) by described inner side list universal coupling (10)；Described
One end of leg outside lever (7) is rotationally connected with connecting rod base (3), and is driven by outside steering wheel (5), leg outside lever (7)
The other end is rotationally connected with one end of described leg outside link (9), and the other end of described leg outside link (9) passes through described outside
Single universal coupling (12) is rotationally connected with described cylinder slide block (11)；Described cylinder slide block (11) is slided even with described thigh (13)
Connecing, one end of described thigh (13) is rotationally connected with connecting rod base (3), and the other end is rotated by pin with the one end of described shank (14)
Connecting, described foot (16) rolls with the other end of described shank (14) and is connected, and foot (16) is provided with sufficient end cap (15)；Described partially
Rotating shaft (2) is rotationally connected with described connecting rod base (3), and one end of described draft link (17) is rotationally connected with yawing axis (2), and passes through
Lower steering wheel (1) drives, and the other end of described draft link (17) is rotationally connected by pin with one end of described lower fulcrum bar (18), lower
The other end of bar (18) is slidably connected with shank (14).
A kind of Hexapod Robot driven by parallel connecting rod the most according to claim 1, it is characterised in that due to yawing axis
(2) interlink function, described thigh (13) and shank (14) remain in same perpendicular.
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| CN201610531554.3A CN106184458B (en) | 2016-07-08 | 2016-07-08 | A kind of Hexapod Robot driven by parallel connecting rod |
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| CN201610531554.3A CN106184458B (en) | 2016-07-08 | 2016-07-08 | A kind of Hexapod Robot driven by parallel connecting rod |
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| CN106184458B CN106184458B (en) | 2018-04-06 |
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| CN107284548A (en) * | 2017-05-24 | 2017-10-24 | 上海交通大学 | The waist structure of Hexapod Robot in parallel |
| CN107380296A (en) * | 2017-08-25 | 2017-11-24 | 湖南匡楚科技有限公司 | Chemical material mixing arrangement based on climbing robot |
| CN108500982A (en) * | 2018-04-04 | 2018-09-07 | 深圳市云电机器人技术有限公司 | The construction method and its system of bionical multi-foot robot motor pattern |
| CN108891501A (en) * | 2018-07-31 | 2018-11-27 | 江西理工大学 | A kind of hexapod robot |
| CN109483739A (en) * | 2017-06-26 | 2019-03-19 | 达秦智能科技（上海）股份有限公司 | The ambulation control method of intelligent spider formula robot |
| CN109533080A (en) * | 2018-12-29 | 2019-03-29 | 北京工商大学 | Hexapod robot |
| CN112873224A (en) * | 2021-01-12 | 2021-06-01 | 上海东古智能科技有限公司 | Special robot system for ship-borne dynamic complex environment |
| CN112937720A (en) * | 2021-02-05 | 2021-06-11 | 重庆工程职业技术学院 | Walking robot |
| CN113460190A (en) * | 2021-08-05 | 2021-10-01 | 山东大学 | Six-foot clamping robot and working method |
| CN113669065A (en) * | 2020-05-13 | 2021-11-19 | 上海中车艾森迪海洋装备有限公司 | Mining device and mining method |
| CN114348140A (en) * | 2021-12-31 | 2022-04-15 | 德清县浙工大莫干山研究院 | Double-mode mobile robot capable of realizing pose stable operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284548A (en) * | 2017-05-24 | 2017-10-24 | 上海交通大学 | The waist structure of Hexapod Robot in parallel |
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| CN112873224A (en) * | 2021-01-12 | 2021-06-01 | 上海东古智能科技有限公司 | Special robot system for ship-borne dynamic complex environment |
| CN112937720A (en) * | 2021-02-05 | 2021-06-11 | 重庆工程职业技术学院 | Walking robot |
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| CN113460190A (en) * | 2021-08-05 | 2021-10-01 | 山东大学 | Six-foot clamping robot and working method |
| CN113460190B (en) * | 2021-08-05 | 2022-06-14 | 山东大学 | Six-foot clamping robot and working method |
| CN114348140A (en) * | 2021-12-31 | 2022-04-15 | 德清县浙工大莫干山研究院 | Double-mode mobile robot capable of realizing pose stable operation |
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