CN106240669B - Robot walking device - Google Patents
Robot walking device Download PDFInfo
- Publication number
- CN106240669B CN106240669B CN201610603581.7A CN201610603581A CN106240669B CN 106240669 B CN106240669 B CN 106240669B CN 201610603581 A CN201610603581 A CN 201610603581A CN 106240669 B CN106240669 B CN 106240669B
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- Prior art keywords
- hip
- beat
- hinged
- motor
- small leg
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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
- B62D57/028—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 having wheels and mechanical legs
Abstract
A kind of robot walking device has waist body frame, two hip torsional braces, two hip beat stents, thigh support frame, small leg support；Two hip torsional braces are separately fixed at waist body frame bottom surface, and respectively can make the rotation around upward and downward axis, and two hip beat stents are respectively hinged at the lower part of two hip torsional braces and can respectively make around the front and rear rotation to axis；Front side of the upper end of two thigh support frames respectively with two hip beat stents is hinged, the lower end of two thigh support frames on rear side of the upper end of a small leg support respectively with being hinged, hip joint pitching electric pushrod is hinged with per between the rear side of hip beat stent and the lower part of thigh support frame, knee joint pitching electric pushrod is hinged between the upper end front side of front side and small leg support per hip beat stent；Foot's assembly has drive wheel assemblies and walking component.There are three types of Move Modes for the configuration of the present invention is simple, flexible movements and tool, can improve the adaptive capacity to environment, locomotivity and ability to work of robot to greatest extent by selecting different walking modes.
Description
Technical field
The present invention relates to robot walking devices.
Background technology
Home services type anthropomorphic robot initially enters daily life.Anthropomorphic robot all has walking mechanism,
Robot walking device adapts to different use rings as common, different walking mode using wheeled, crawler type and bipedal walking type
Border.Chinese 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 is with thigh assembly connecting portion as hip
Joint, with shank assembly connecting portion as knee joint, shank assembly closes thigh assembly with sole assembly connecting portion as ankle
Section, each joint have one degree of freedom, and each position moves simultaneously, complete walking motion before and after robot.Above-mentioned robot tool
Standby biped is walked this one mode, and obstacle performance is good, but the efficiency for not having in level walking running on wheels is high, movement is flat
Surely, the advantages that speed is fast, and each joint of above-mentioned anthropomorphic robot only has one degree of freedom, takes action and owes flexible.
Chinese application number is the 201510187777.8 sufficient change type mobile robot system of the disclosed wheel of application for a patent for invention
The sufficient switching mechanism of four wheels is mounted on vehicle body frame to form the sufficient change type mobile robot of wheel by system.The sufficient change type of wheel
Mobile robot can be rolled with four-wheel, can steadily be creeped on out-of-flatness ground as quadruped, take turns foot conversion compared with
Complexity, and be not suitable for using in service type robot of family.
Invention content
It is an object of the invention to propose a kind of simple in structure, flexible movements and tool there are three types of Move Mode robot row
Walking apparatus.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：A kind of robot walking device, it is total including waist
Into, two huckles, two calfs and Liang Ge foots assembly, the waist assembly has waist body frame, two hips torsion branch
Frame and two hip beat stents, huckle have thigh support frame, and calf has small leg support；Two hip torsional braces are solid respectively
The left and right side of waist body frame bottom surface is scheduled on, two hip torsional braces are respectively made under torsion motor transmission mechanism driving around upward and downward
The rotation of axis, two hip beat stents are respectively hinged at the lower part of two hip torsional braces, and two hip beat stents are respectively inclined
The driving of pendulum motor transmission mechanism is lower to be made around the front and rear rotation to axis；The upper end of two thigh support frames respectively with two hip beat stents
Front side is hinged, and the lower end of two thigh support frames is respectively with hinged on rear side of the upper end of a small leg support, after hip beat stent
Hip joint pitching electric pushrod is hinged between side and the lower side portion position of corresponding thigh support frame, per the front side of hip beat stent
Knee joint pitching electric pushrod is hinged between the upper end front side of small leg support；Foot's assembly have drive wheel assemblies and
Walking component, drive wheel assemblies are connected to the bottom of small leg support, and walking component is connected in drive wheel assemblies.
Guide rod is respectively provided on four angles of the shank frame bottom.
The drive wheel assemblies include left and right to drive sprocket axle, be fixed on drive sprocket axle driving wheel, support actively
The driver motor for sliding wheel carrier and driving drive sprocket axle rotation of wheel shaft, it is described slide wheel carrier and be in four of small leg support lead
Between bar, slide and be connected with damper between the top of wheel carrier and the bottom of small leg support.
The walking component has frame shape chassis, and a pair of sagittal connecting rod, Mei Yilian are hinged on chassis and in front end
It is hinged with gas spring between the rear end of bar and the rear end of chassis, the hinge that connecting rod passes through front end by the hinge hole of rear end, gas spring
Kong Jundong engagement sleeves are connect on drive sprocket axle.
Lower end per knee joint pitching electric pushrod and on front side of the upper end of small leg support between be hinged by the second axis pin, every the
The left and right ends of two axis pins are respectively hinged with follower, and two followers partner.
It is connected between the hip torsional brace and hip beat stent by the first axis pin, hip is placed in the middle part of the first axis pin
In the pin shaft hole of portion's beat stent and it is tight fit, the front and back ends of the first axis pin are respectively placed in the forward and backward pin of hip torsional brace
In axis hole and it is dynamic cooperation, hip torsional brace is stretched out on the head of the first axis pin front end.
The torsion motor transmission mechanism is made of torsion motor and the first synchronous belt drive mechanism, and torsion motor is fixed on
On the bottom surface of waist body frame, reverse the fixing axle at the top of the output shaft and hip torsional brace of motor and be inserted upwardly into waist body frame
Inner cavity in, the active and passive synchronous pulley of the first synchronous belt drive mechanism is separately fixed at output shaft and the fixation of torsion motor
On axis.
The beat motor transmission mechanism is made 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 stent, 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 axis pin.
One end of the push rod of the hip joint pitching electric pushrod is hinged on thigh support frame.
One end of the push rod of the knee joint pitching electric pushrod is hinged on beat stent.
The present invention has following good effect：1. the configuration of the present invention is simple, used part is few, to assemble, repairing all
It is convenient to provide.2. the hip joint of the present invention has three degree of freedom, can front and rear torsion, deflect and pitch；Knee joint
It, can pitch with one degree of freedom；Ankle-joint has two degree of freedom, so flexible movements.2. there are three types of present invention tools
Move Mode, i.e. two-wheel walking mode, biped walking mode and four-wheel walking mode, it is of the 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
Power.
Description of the drawings
Fig. 1 is the overview of the present invention.
The connection figure of the suitable hip joints of Fig. 2.
Fig. 3 is the vertical 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 stent.
Fig. 7 is the view of thigh support frame.
Fig. 8 is the connection view of thigh support frame and hip joint pitching electric pushrod.
Fig. 9 is the view of small leg support.
Figure 10 is the view of drive wheel assemblies.
Figure 11 is the view of walking component.
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.
Specific embodiment
Embodiment 1
See Fig. 1 to Figure 11, the present embodiment includes waist assembly, two huckles, two calfs and Liang Ge foots assembly.
Waist assembly has waist body frame 1, two hip torsional braces 4（See Fig. 5）With two hip beat stents 5（See Fig. 6）.Huckle has
There is thigh support frame 7, calf has small leg support 10.Two hip torsional braces 4 are separately fixed on 1 bottom surface of waist body frame and locate
In left and right side, hip torsional brace 4 has top plate and front and back walls, has the fixing axle 4-1 being integrated on top plate, is set on antetheca
There is preceding pin shaft hole 4-a and motor axis hole 4-b, rear wall is equipped with rear pin shaft hole 4-c.The top of hip beat stent 5 to be arc-shaped,
And top has the front and rear pin shaft hole 5-a of perforation, the front and rear side of lower part is respectively provided with the hinged groove 5-d of left and right centering.The hip
It is connected between torsional brace 4 and hip beat stent 5 by the first axis pin 14, the middle part of the first axis pin 14 is placed in hip beat stent
In 5 pin shaft hole 5-a and it is tight fit, the front and back ends of the first axis pin 14 are respectively placed in the preceding pin shaft hole 4- of hip torsional brace 4
In a and rear pin shaft hole 4-b and it is dynamic cooperation, the leading head 14-1 of the first axis pin 14 stretches out the antetheca of hip torsional brace 4.
Two hip torsional braces 4 are respectively driven by torsion motor transmission mechanism 2, and torsion motor transmission mechanism 2 has torsion electricity
Machine 2-1 and the first synchronous belt drive mechanism, torsion motor 2-1 are fixed on the bottom surface of waist body frame 1, and torsion motor 2-1's is defeated
The fixing axle 4-1 at 4 top of shaft and hip torsional brace is inserted upwardly into 1 inner cavity of waist body frame, the first toothed belt transmission machine
Active and passive synchronous pulley 2-2,2-3 of structure are separately fixed on the output shaft and fixing axle 4-1 of torsion motor 2-1.Reverse motor
2-1 rotates, and hip torsional brace 4 is driven to make the rotation around upward and downward axis.
Two hip beat stents 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 are fixed on hip torsional brace 4, beat motor 3-1's
Output shaft forward extends out the antetheca of hip beat stent 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 axis pin 14.Beat motor 3-1 rotates, and drives hip
Portion's beat stent 5 is made around the front and rear rotation to axis.
Thigh support frame 7 is a pair of of clamping plate 7-1.Guide rod 10-1 is respectively provided on four angles of small 10 bottom of leg support.
The front side of two hip beat stents 5 is respectively inserted between the upper end of a pair of of clamping plate 7-1 of corresponding thigh support frame 7, is passed through
The upper end of thigh support frame 7 and the front side of hip beat stent 5 are hinged by axis pin.
It is each on rear side of the upper end of two small leg supports 10 to be inserted between the lower end of a pair of of clamping plate 7-1 of corresponding thigh support frame 7, pass through pin
Axis will be hinged on rear side of the lower end of thigh support frame 7 and the upper end of small leg support 10.
Per being equipped between the rear side of hip beat stent 5 and the lower side portion position of thigh support frame 7, 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 into the upper end of hip joint pitching electric pushrod 6
In the hinged groove 5-d of the rear side of beat stent 5, and pass through axis pin that the upper end of hip joint pitching electric pushrod 6 is hinged on hip is inclined
The rear side of swinging rack 5.The lower end of hip joint pitching electric pushrod 6, that is, push rod 6-1 ends are hinged on thigh branch by third axis pin 16
Between the middle part lower portion of a pair of of clamping plate 7-1 of frame 7（See Fig. 8）.
Knee joint pitching electric pushrod is equipped between per the front side of hip beat stent 5 and on front side of the upper end of small leg support 10
8.One end of the push rod 8-1 of knee joint pitching electric pushrod 8 is upward, upper end, that is, push rod 8-1's of knee joint pitching electric pushrod 8
One end is inserted into the hinged groove 5-d of 5 front side of hip beat stent, and passes through the front side that axis pin is hinged on hip beat stent 5, knee
The left and right on front side of the upper end of small leg support 10 is inserted into in bracket groove 10-d in the lower end of joint pitching electric pushrod 8, and passes through second
Axis pin 15 is hinged on front side of the upper end of small leg support 10.
The left and right ends of every second axis pin 15 are hinged with follower 9, and two followers 9 partner.
Foot's assembly has drive wheel assemblies 12 and walking component 13.
The drive wheel assemblies 12 include left and right to drive sprocket axle 12-1, the driving wheel that is fixed on drive sprocket axle 12-1
The driver motor 12-2 for sliding wheel carrier 12-4 and driving drive sprocket axle 12-1 rotations of 12-3, support drive sprocket axle 12-1, institute
It states slip wheel carrier 12-4 to be between four guide rod 10-1 of small leg support 10, slides the top of wheel carrier 12-4 and small leg support
Damper 11 is connected between 10 bottom, drive wheel assemblies 12 are connect by damper 11 with small leg support 10, make movable pulley
Frame 12-4 can be slided up and down along guide rod.The damper 11 of the present embodiment uses spring, slides fixed on the top of wheel carrier 12-4
There is locating rod 12-5, for spring pocket on locating rod 12-5, the upper end of spring is fixed on the bottom of small leg support 10, the lower end of spring
It is fixed on the top for sliding wheel carrier 12-4.
The walking component 13 has on frame shape chassis 13-1, chassis 13-1 and a pair of sagittal company is hinged in front end
Bar 13-2, is hinged with gas spring 13-3 between the rear end of each connecting rod 13-2 and the rear end of chassis 13-1, connecting rod 13-2 passes through rear
Hinge hole 13-2-a, the gas spring 13-3 at end move engagement sleeves on drive sprocket axle 12-1 by the hinge hole 13-3-a of front end,
Walking component 13 is made to be connected in drive wheel assemblies 12.The exchange of drive wheel assemblies 12 and walking component 13 is very convenient, as long as pulling
The chassis 13-1 of dynamic walking component 13, connecting rod 13-2 rotation, gas spring 13-3 stretch, can be achieved with walking component 13 opening and
It collapses, it is use state to open.
Figure 12 to Figure 14 is the view of biped walking, two-wheel walking and pattern four-wheel walking mode respectively.Two-wheel walking mould
Formula and four-wheel walking mode are suitable for flat structured environment, and four-wheel walking mode is more stable, and load capacity is strong, biped
Ground that walking mode is adapted to out-of-flatness, having barrier, environmental suitability are preferable.It, can be in different application scenarios
Select different walking modes.
When the driver motor 12-2 on enabling two-wheel or four-wheel rolling walking mode, two foot's assemblies just or is inverted simultaneously
And rotating speed it is the same when, robot realize move forward or back, when foot two driving motors turn to it is opposite when, robot realize turn
It is curved.The control of biped walking mode is more complicated, and reversing motor transmission mechanism 2, beat motor transmission mechanism 3, hip by control closes
The synthetic operation of pitching electric pushrod 6, knee joint pitching electric pushrod 8 is saved, realizes the walking movement for imitating the mankind.
Claims (10)
1. a kind of robot walking device, including waist assembly, two huckles, two calfs and Liang Ge foots assembly,
It is characterized in that：Waist assembly has waist body frame（1）, two hip torsional braces（4）With two hip beat stents（5）, huckle
With thigh support frame（7）, calf is with small leg support（10）；Two hip torsional braces（4）It is separately fixed at waist body frame（1）
The left and right side of bottom surface, two hip torsional braces（4）Respectively in torsion motor transmission mechanism（2）Driving is lower to be made around upward and downward axis
Rotation, two hip beat stents（5）It is respectively hinged at two hip torsional braces（4）Lower part, two hip beat stents（5）Respectively exist
Beat motor transmission mechanism（3）Driving is lower to be made around the front and rear rotation to axis；Two thigh support frames（7）Upper end it is respectively inclined with two hips
Swinging rack（5）Front side be hinged, two thigh support frames（7）Lower end respectively with a small leg support（10）Upper end on rear side of it is hinged,
Per hip beat stent（5）Rear side and corresponding thigh support frame（7）Lower side portion position between to be hinged with hip joint pitching electronic
Push rod（6）, per hip beat stent（5）Front side and small leg support（10）Upper end on front side of between be hinged with knee joint pitching electricity
Dynamic push rod（8）；Foot's assembly has drive wheel assemblies（12）With walking component（13）, drive wheel assemblies（12）It is connected to small
Leg support（10）Bottom, walking component（13）It is connected to drive wheel assemblies（12）On.
2. robot walking device according to claim 1, it is characterised in that：The small leg support（10）Four of bottom
Guide rod is respectively provided on angle（10-1）.
3. robot walking device according to claim 2, it is characterised in that：The drive wheel assemblies（12）Including left and right
To drive sprocket axle（12-1）, be fixed on drive sprocket axle（12-1）On driving wheel（12-3）, support drive sprocket axle（12-1）'s
Slide wheel carrier（12-4）With driving drive sprocket axle（12-1）The driver motor of rotation（12-2）, the slip wheel carrier（12-4）Place
In small leg support（10）Four guide rods（10-1）Between, slide wheel carrier（12-4）Top and small leg support（10）Bottom
Between be connected with damper（11）.
4. robot walking device according to claim 3, it is characterised in that：The walking component（13）With frame shape bottom
Frame（13-1）, chassis（13-1）Above and in front end it is hinged with a pair of sagittal connecting rod（13-2）, each connecting rod（13-2）After
End and chassis（13-1）Rear end between be hinged with gas spring（13-3）, connecting rod（13-2）Pass through the hinge hole of rear end（13-2-
a）, gas spring（13-3）Pass through the hinge hole of front end（13-3-a）Dynamic engagement sleeves are in drive sprocket axle（12-1）On.
5. robot walking device according to claim 1, it is characterised in that：Per knee joint pitching electric pushrod（8）'s
Lower end and small leg support（10）Upper end on front side of between by the second axis pin（15）It is hinged, every second axis pin（15）Left and right ends it is each
It is hinged with follower（9）, two followers（9）It partners.
6. robot walking device according to claim 1, it is characterised in that：The hip torsional brace（4）With hip
Beat stent（5）Between by the first axis pin（14）Connection, the first axis pin（14）Middle part be placed in hip beat stent（5）Axis pin
In hole and for tight fit, the first axis pin（14）Front and back ends be respectively placed in hip torsional brace（4）Forward and backward pin shaft hole in and
For dynamic cooperation, the first axis pin（14）The head of front end（14-1）Stretch out hip torsional brace（4）.
7. robot walking device according to claim 1, it is characterised in that：The torsion motor transmission mechanism（2）By
Reverse motor（2-1）It is formed with the first synchronous belt drive mechanism, reverses motor（2-1）It is fixed on waist body frame（1）Bottom surface on,
Reverse motor（2-1）Output shaft and hip torsional brace（4）The fixing axle at top（4-1）It is inserted upwardly into waist body frame（1）
Inner cavity in, the active and passive synchronous pulley of the first synchronous belt drive mechanism（2-2、2-3）It is separately fixed at torsion motor（2-1）
Output shaft and fixing axle（4-1）On.
8. robot walking device according to claim 6, it is characterised in that：The beat motor transmission mechanism（3）By
Beat motor（3-1）It is formed with the second synchronous belt drive mechanism, beat motor（3-1）It is fixed on hip torsional brace（4）On, partially
Pendulum motor（3-1）Output shaft forward extend out hip beat stent（5）, the active and passive synchronous belt of the second synchronous belt drive mechanism
Wheel（3-2、3-3）It is separately fixed at beat motor（3-1）Output shaft and the first axis pin（14）Head（14-1）On.
9. robot walking device according to claim 1, it is characterised in that：The hip joint pitching electric pushrod（6）
Push rod（6-1）One end be hinged on thigh support frame（7）On.
10. robot walking device according to claim 1, it is characterised in that：The knee joint pitching electric pushrod（8）
Push rod（8-1）One end be hinged on beat stent（5）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610603581.7A CN106240669B (en) | 2016-07-27 | 2016-07-27 | Robot walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610603581.7A CN106240669B (en) | 2016-07-27 | 2016-07-27 | Robot walking device |
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| Publication Number | Publication Date |
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| CN106240669A CN106240669A (en) | 2016-12-21 |
| CN106240669B true CN106240669B (en) | 2018-06-26 |
Family
ID=57603751
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610603581.7A Active CN106240669B (en) | 2016-07-27 | 2016-07-27 | Robot walking device |
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| CN113548126B (en) * | 2021-08-09 | 2022-11-04 | Oppo广东移动通信有限公司 | Mechanical foot, mechanical leg and robot |
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