Robot walking device
Home services type anthropomorphic robot initially enters daily life.Anthropomorphic robot all has walking mechanism,
Robot walking device is that common, different walking mode adapts to different use rings with wheeled, crawler type and bipedal walking type
Border.China's application number be 201510352997.1 application for a patent for invention disclosed in a kind of Humanoid Robot Based on Walking device, including
Waist assembly, thigh assembly, shank assembly, four parts of sole assembly, waist assembly and thigh assembly connecting portion are as hip
Joint, thigh assembly closes as ankle with sole assembly connecting portion as knee joint, shank assembly with shank assembly connecting portion
Joint, each joint has one degree of freedom, and moving in each position simultaneously, completes walking motion before and after robot.Above-mentioned robot has
Standby biped is walked this kind of pattern, and obstacle performance is good, but the efficiency not possessing running on wheels when level walking is high, motion is flat
Surely, the advantage such as speed is fast, and each joint only one of which degree of freedom of above-mentioned anthropomorphic robot, action is owed flexibly.
China's application number be 201510187777.8 application for a patent for invention disclosed wheel foot change type move system of robot
Four wheel foot shifters are arranged on vehicle body frame thus form wheel foot change type and move robot by system.Wheel foot change type
Mobile robot can roll with four-wheel, steadily can creep as quadruped on out-of-flatness ground, and it takes turns foot conversion relatively
Complexity, and be not suitable for using in service type robot of family.
Summary of the invention
It is an object of the invention to propose a kind of simple in construction, flexible movements and there is the machine People's Bank of China of three kinds of Move Modes
For reaching above-mentioned purpose, the present invention adopts the following technical scheme that: a kind of robot walking device, total including waist
One-tenth, two huckles, two calf and Liang Ge foot assembly, described waist assembly has waist body frame, two hips reverse and prop up
Frame and two hip beat supports, huckle has thigh support frame, and calf has little leg support；Two hip torsional brace are solid respectively
Being scheduled on the left and right side of waist body frame bottom surface, two hip torsional brace are respectively made around upward and downward under reversing motor transmission mechanism driving
The rotation of axis, two hip beat supports are respectively hinged at the bottom of two hip torsional brace, and two hip beat supports are respectively partially
Pendulum motor drive mechanism drives lower work around front and back to the rotation of axis；The upper end of two thigh support frames is each and two hip beat supports
Front side is hinged, and the lower end of two thigh support frames is the most hinged on rear side of the upper end of little leg support with described in one, after every hip beat support
Hip joint pitching electric pushrod, the front side of every hip beat support it is hinged with between side and the lower side portion position of corresponding thigh support frame
And it is hinged with knee joint pitching electric pushrod between on front side of the upper end of little leg support；Described foot assembly have drive wheel assemblies and
Walking assembly, drive wheel assemblies is connected to the bottom of little leg support, and walking assembly is connected in drive wheel assemblies.
It is respectively provided with guide post on four angles of described shank frame bottom.
Described drive wheel assemblies include left and right to drive sprocket axle, the drivewheel being fixed on drive sprocket axle, support actively
The slip wheel carrier of wheel shaft and drive the driver motor that drive sprocket axle rotates, be in little leg support four lead described slip wheel carrier
Between bar, it is connected between the top of slip wheel carrier and the bottom of little leg support and has amortisseur.
Described walking assembly has shaped as frame underframe, is hinged with a pair sagittal connecting rod, Mei Yilian on underframe and in front end
Being hinged with air spring between rear end and the rear end of underframe of bar, connecting rod is by the hinge hole of rear end, the air spring hinge by front end
Connect Kong Jundong engagement sleeves on drive sprocket axle.
By the second hinge between on front side of every lower end of knee joint pitching electric pushrod and the upper end of little leg support, every the
The two ends, left and right of two bearing pins are respectively hinged with follower, and two followers partner.
Being connected by the first bearing pin between described hip torsional brace with hip beat support, the middle part of the first bearing pin is placed in hip
In the pin shaft hole of portion's beat support and be tight fit, the front and back ends of the first bearing pin is respectively placed in the forward and backward pin of hip torsional brace
Coordinating in axis hole and for dynamic, the head of the first bearing pin front end stretches out hip torsional brace.
Described torsion motor transmission mechanism, by reversing motor and the first synchronous belt drive mechanism forms, reverses motor and is fixed on
On the bottom surface of waist body frame, the fixing axle of the output shaft and hip torsional brace top that reverse motor is all inserted upwardly into waist body frame
Inner chamber in, the active and passive synchronous pulley of the first synchronous belt drive mechanism is separately fixed at and reverses the output shaft of motor and fixing
Described beat motor transmission mechanism is made up of beat motor and the second synchronous belt drive mechanism, and beat motor is fixed on
On hip torsional brace, the output shaft of beat motor forward extends out hip beat support, the master of the second synchronous belt drive mechanism, quilt
Dynamic synchronous pulley is separately fixed on the output shaft of beat motor and the head of the first bearing pin.
One end of the push rod of described hip joint pitching electric pushrod is hinged on thigh support frame.
One end of the push rod of described knee joint pitching electric pushrod is hinged on beat support.
The present invention has following good effect: 1. present configuration is simple, and the part used is few, for assembling, maintenance all
There is provided convenient.2. the hip joint of the present invention has three degree of freedom, can front and back reverse, deflect and pitch；Knee joint
There is one degree of freedom, can pitch；Ankle joint has two degree of freedom, so flexible movements.2. the present invention has three kinds
Move Mode, i.e. two-wheel walking mode, biped walking mode and four-wheel walking mode, the present invention in different application scenarios,
The adaptive capacity to environment of robot, locomotivity and work energy can be improved to greatest extent by selecting different walking modes
Accompanying drawing explanation
Fig. 1 is the overview of the present invention.
The connection figure of the suitable hip joint of Fig. 2.
Fig. 3 is the top view of Fig. 2.
Fig. 4 is the sectional view of the A-A of Fig. 3.
Fig. 5 is the view of hip torsional brace.
Fig. 6 is the view of hip beat support.
Fig. 7 is the view of thigh support frame.
Fig. 8 is thigh support frame and the connection view of hip joint pitching electric pushrod.
Fig. 9 is the view of little leg support.
Figure 10 is the view of drive wheel assemblies.
Figure 11 is the view of walking assembly.
Figure 12 is the view of biped walking mode.
Figure 13 is the view of two-wheel walking mode.
Figure 14 is the view of four-wheel walking mode.
Detailed description of the invention
See that Fig. 1 to Figure 11, the present embodiment include waist assembly, two huckles, two calf and Liang Ge foot assembly.Waist
Assembly has waist body frame 1, two hip torsional brace 4(and sees Fig. 5) and two hip beat support 5(see Fig. 6).Huckle has greatly
Leg support 7, calf has little leg support 10.Two hip torsional brace 4 are separately fixed on waist body frame 1 bottom surface and are in
Left and right side, hip torsional brace 4 has top board and front and back walls, and top board has the fixing axle 4-1 being integrated, and antetheca is provided with
Front pin shaft hole 4-a and motor axis hole 4-b, rear wall is provided with rear pin shaft hole 4-c.The top of hip beat support 5 is circular arc, and
Top have through before and after pin shaft hole 5-a, before and after bottom, side is respectively provided with hinged groove 5-d of left and right centering.Described hip is turned round
Turning and be connected by the first bearing pin 14 between support 4 with hip beat support 5, the middle part of the first bearing pin 14 is placed in hip beat support 5
Pin shaft hole 5-a in and be tight fit, the front and back ends of the first bearing pin 14 is respectively placed in the front pin shaft hole 4-a of hip torsional brace 4
With in the 4-b of rear pin shaft hole and for moving cooperation, the leading head 14-1 of the first bearing pin 14 stretches out the antetheca of hip torsional brace 4.
Two hip torsional brace 4 are respectively driven by torsion motor transmission mechanism 2, reverse motor transmission mechanism 2 and have torsion electricity
Machine 2-1 and the first synchronous belt drive mechanism, reverse motor 2-1 and be fixed on the bottom surface of waist body frame 1, reverse the defeated of motor 2-1
The fixing axle 4-1 at shaft and hip torsional brace 4 top is all inserted upwardly in waist body frame 1 inner chamber, the first toothed belt transmission machine
Active and passive synchronous pulley 2-2,2-3 of structure is separately fixed on the output shaft and the fixing axle 4-1 that reverse motor 2-1.Reverse motor
2-1 rotates, and drives hip torsional brace 4 to make the rotation around upward and downward axis.
Two hip beat supports 5 are respectively driven by beat motor transmission mechanism 3, and beat motor transmission mechanism 3 has beat electricity
Machine 3-1 and the second synchronous belt drive mechanism composition, beat motor 3-1 is fixed on hip torsional brace 4, beat motor 3-1's
Output shaft forward extends out the antetheca of hip beat support 5, active and passive synchronous pulley 3-2,3-3 of the second synchronous belt drive mechanism
It is separately fixed on the output shaft of beat motor 3-1 and the head 14-1 of the first bearing pin 14.Beat motor 3-1 rotates, and drives hip
Portion's beat support 5 is made around front and back to the rotation of axis.
Thigh support frame 7 is a pair clamping plate 7-1.It is respectively provided with guide post 10-1 on four angles bottom little leg support 10.
Between the upper end of a pair clamping plate 7-1 that corresponding thigh support frame 7 is respectively inserted in the front side of two hip beat supports 5, pass through
Bearing pin is hinged with the front side of hip beat support 5 by the upper end of thigh support frame 7.
On rear side of the upper end of two little leg supports 10 between each lower end inserting corresponding a pair clamping plate 7-1 of thigh support frame 7, by pin
Axle is by hinged on rear side of the lower end of thigh support frame 7 and the upper end of little leg support 10.
It is provided with between rear side and the lower side portion position of thigh support frame 7 of every hip beat support 5 that hip joint pitching is electronic to be pushed away
Bar 6.One end of the push rod 6-1 of hip joint pitching electric pushrod 6 is downward, and hip is inserted in the upper end of hip joint pitching electric pushrod 6
In hinged groove 5-d on rear side of beat support 5, and by bearing pin by inclined at hip for the upper end thereof of hip joint pitching electric pushrod 6
The rear side of swinging rack 5.The lower end of hip joint pitching electric pushrod 6 i.e. push rod 6-1 end is hinged on thigh by the 3rd bearing pin 16 and props up
(see figure 8) between the middle part lower portion of a pair clamping plate 7-1 of frame 7.
It is provided with knee joint pitching electric pushrod between on front side of every front side of hip beat support 5 and the upper end of little leg support 10
8.One end of the push rod 8-1 of knee joint pitching electric pushrod 8 upwards, the i.e. push rod 8-1's in the upper end of knee joint pitching electric pushrod 8
One end is inserted in hinged groove 5-d on front side of hip beat support 5, and by hinge at the front side of hip beat support 5, knee joint
The lower end of joint pitching electric pushrod 8 is inserted in the left and right centering groove 10-d on front side of the upper end of little leg support 10, and by second
Bearing pin 15 is hinged on front side of the upper end of little leg support 10.
The two ends, left and right of every second bearing pin 15 are hinged with follower 9, and two followers 9 partner.
Described foot assembly has drive wheel assemblies 12 and walking assembly 13.
Described drive wheel assemblies 12 include left and right to drive sprocket axle 12-1, the drivewheel that is fixed on drive sprocket axle 12-1
12-3, the slip wheel carrier 12-3 supporting drive sprocket axle 12-1 and the driver motor 12-2 driving drive sprocket axle 12-1 to rotate, institute
State between four guide post 10-1 that slip wheel carrier 12-3 is in little leg support 10, the top of slip wheel carrier 12-3 and little leg support
Connecting between the bottom of 10 and have amortisseur 11, drive wheel assemblies 12 is connected with little leg support 10 by amortisseur 11, makes movable pulley
Frame 12-3 can slide up and down along guide post.The amortisseur 11 of the present embodiment uses spring, fixing on the top of slip wheel carrier 12-3
Having location bar 12-5, spring housing is on the bar 12-5 of location, and the upper end of spring is fixed on the bottom of little leg support 10, the lower end of spring
It is fixed on the top of slip wheel carrier 12-3.
Described walking assembly 13 has shaped as frame underframe 13-1, is hinged with a pair sagittal company on underframe 13-1 and in front end
It is hinged with air spring 13-3, after connecting rod 13-2 passes through between rear end and the rear end of underframe 13-1 of bar 13-2, each connecting rod 13-2
Hinge hole 13-2-a, the air spring 13-3 of end all moves engagement sleeves on drive sprocket axle 12-1 by the hinge hole 13-3-a of front end,
Walking assembly 13 is made to be connected in drive wheel assemblies 12.The exchange of drive wheel assemblies 12 and walking assembly 13 is very convenient, as long as pulling
The underframe 13-1, connecting rod 13-2 of dynamic walking assembly 13 rotates, and air spring 13-3 stretches, can be achieved with walking assembly 13 open and
Draw in, open and be use state.
Figure 12 to Figure 14 is biped walking, two-wheel walking and the view of pattern four-wheel walking mode respectively.Two-wheel walking mould
Formula and four-wheel walking mode are suitable for smooth structured environment, and four-wheel walking mode is more stable, and load capacity is strong, biped
Walking mode is adapted to irregular, to have barrier ground, and environmental suitability is preferable.In different application scenarios, permissible
Select different walking modes.
When enabling two-wheel or four-wheel rolling walking mode, the driver motor 12-2 on two foot's assemblies the most just or inverts
And rotating speed the same time, robot realizes advancing or retreating, and when two of foot driving motor steerings are contrary, robot realizes turning
Curved.The control of biped walking mode is more complicated, by controlling torsion motor transmission mechanism 2, beat motor transmission mechanism 3, hip pass
Joint pitching electric pushrod 6, the synthetic operation of knee joint pitching electric pushrod 8, it is achieved imitate the walking movement of the mankind.