CN106272402B - A kind of intelligent control walks upright robot - Google Patents
A kind of intelligent control walks upright robot Download PDFInfo
- Publication number
- CN106272402B CN106272402B CN201610830277.6A CN201610830277A CN106272402B CN 106272402 B CN106272402 B CN 106272402B CN 201610830277 A CN201610830277 A CN 201610830277A CN 106272402 B CN106272402 B CN 106272402B
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- CN
- China
- Prior art keywords
- connecting rod
- guide rail
- revolute pair
- rod
- connect
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Abstract
A kind of intelligent control walks upright robot, it is connect with first support bar one end in the middle part of first connecting rod, the first support bar other end is fixed on the rack, first connecting rod one end is connected on the first sliding block, the first connecting rod other end is connect with second connecting rod one end, the second connecting rod other end is connected in the middle part of third connecting rod, third connecting rod one end is connect with second support bar one end, the second support bar other end is fixed on the rack, the third connecting rod other end is connected in the middle part of fourth link, fourth link one end is connected on the second sliding block, and the fourth link other end is connected on sole part.The present invention is only with a servo motor as power source, movement is divided into two-way by chain-drive mechanism, respectively drives the reciprocating motion of thigh and shank, it is simple in structure, rationally distributed, so that the scope of activities of robot leg is big, bearing capacity is strong while convenient for assembly.
Description
Technical field
The present invention relates to machinery field, specifically a kind of intelligent control walks upright robot.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.Walking robot is tool humanoid machine anthropomorphous
People is also referred to as nature walking robot.The walking mechanism of robot is divided into wheeled, leg formula, crawler type etc. by move mode.But it
Each there is corresponding defect, wheeled construction robot speed is fast, control is flexible, but the ability of leaping over obstacles is limited；
Robot of Tui Shi mechanisms is adaptable, and control is complicated, and energy consumption is big；Caterpillar mobile robot weight is big, high energy consumption.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of intelligent control walks upright robot.
To achieve the goals above, present invention employs following technical schemes：
A kind of intelligent control walks upright robot, including rack, servo motor, chain, the first sprocket wheel, the first crank,
First drive link, the first guide rod, the first guide rail, the first frame guide rail, the first sliding block, the second sprocket wheel, the second crank, second drive
Dynamic connecting rod, the second guide rod, the second guide rail, the second frame guide rail, the second sliding block, first connecting rod, second connecting rod, third connecting rod, the
Double leval jib, the 5th connecting rod, six-bar linkage, first support bar, second support bar, arc guide rail, sole part, telescopic rod and monolithic
Machine,
Servo motor is mounted in rack, and the first sprocket wheel is mounted on the output shaft of servo motor, and first crank one end is solid
It being scheduled on the output shaft of servo motor, the first crank other end is connect by revolute pair one with first drive link one end, and first
The drive link other end is connect by revolute pair two with the first guide rod, and the first guide rod is mounted on the first guide rail, and first leads
Bar is fixed on the rack, and the first guide rod other end is fixed with the first frame guide rail, and the first sliding block is mounted in the first frame guide rail,
It is connect with first support bar one end by revolute pair three in the middle part of first connecting rod, the first support bar other end is fixed on machine
On frame, first connecting rod one end is connected to by revolute pair four on the first sliding block, and the first connecting rod other end passes through revolute pair five and
Two connecting rod one end connect, and the second connecting rod other end is connected to by revolute pair six in the middle part of third connecting rod, and third connecting rod one end passes through
Revolute pair seven is connect with second support bar one end, and the second support bar other end is fixed on the rack, and the third connecting rod other end passes through
Revolute pair eight is connected in the middle part of fourth link, and fourth link one end is connected to by revolute pair 11 on the second sliding block, and the 4th connects
The bar other end is connected to by revolute pair 12 on sole part,
Second crank one end and the second sprocket coaxiality are fixed and are mounted in rack, and the second crank other end passes through revolute pair
Nine connect with second drive link one end, and the second drive link other end is connect by revolute pair ten with the second guide rod, the
Two guide rods are mounted on the second guide rail, and the second guide rail is fixed on the rack, and the second guide rod other end is fixed with the second frame guide rail,
Second sliding block is mounted in the second frame guide rail,
Arc guide rail one end is fixed on the third connecting rod and center of circle of arc guide rail and is on the position of revolute pair eight, the
Five connecting rod one end are connected to by revolute pair 13 on arc guide rail, and the other end is connected by revolute pair 14 and six-bar linkage one end
It connects, the six-bar linkage other end is connected to by revolute pair 15 on sole part, and telescopic rod one end is connected to by revolute pair 16
In fourth link, the other end is connect by revolute pair 14 with the 5th connecting rod and six-bar linkage simultaneously, solid in the fourth link
There are boss slider, boss slider to be inlaid in arc guide rail, the distance of boss slider to revolute pair eight is equal to arc guide rail surely
Radius, chain are mounted on the first sprocket wheel and the second sprocket wheel, and microcontroller connect with servo motor and telescopic rod and controls servo electricity
The rotating speed of machine and the length of telescopic rod.
Compared with prior art, the advantageous effect that the present invention has：
Movement, as power source, is divided into two-way by the present invention only with a servo motor by chain-drive mechanism, point
Not Qu Dong thigh and shank reciprocating motion, it is simple in structure, rationally distributed so that the scope of activities of robot leg is big, carrying
Ability is strong, while convenient for assembly.
Description of the drawings
Fig. 1 is that intelligent control of the present invention walks upright the markd structural schematic diagram of robot.
Fig. 2 is that intelligent control of the present invention walks upright the unmarked structural schematic diagram of robot.
Specific implementation mode
Technical scheme of the present invention is further elaborated below by embodiment.
Embodiment 1
A kind of intelligent control walks upright robot, including rack 9, servo motor 18, chain 19, the first sprocket wheel 11,
One crank 12, the first drive link 13, the first guide rod 14, the first guide rail 15, the first frame guide rail 16, the first sliding block 17, second
Sprocket wheel 21, the second crank 22, the second drive link 23, the second guide rod 24, the second guide rail 25, the second frame guide rail 26, second are slided
Block 27, first connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4, the 5th connecting rod 5, six-bar linkage 6, first support bar 7,
Second support bar 8, arc guide rail 28, sole part 29, telescopic rod 30 and microcontroller,
Servo motor 18 is mounted in rack 9, and the first sprocket wheel 11 is mounted on the output shaft of servo motor 18, the first crank
12 one end are fixed on the output shaft of servo motor 18, and 12 other end of the first crank is driven by revolute pair one 101 and first to be connected
13 one end of bar connects, and 13 other end of the first drive link is connect by revolute pair 2 102 with 14 one end of the first guide rod, the first guide rod
14 are mounted on the first guide rail 15, and the first guide rod 14 is fixed in rack 9, and 14 other end of the first guide rod is fixed with the first frame and leads
Rail 16, the first sliding block 17 are mounted in the first frame guide rail 16,
1 middle part of first connecting rod is connect by revolute pair 3 103 with 7 one end of first support bar, and 7 other end of first support bar is solid
It is scheduled in rack 9,1 one end of first connecting rod is connected to by revolute pair 4 104 on the first sliding block 17, and 1 other end of first connecting rod is logical
It crosses revolute pair 5 105 to connect with 2 one end of second connecting rod, 2 other end of second connecting rod is connected to third connecting rod by revolute pair 6 106
3 middle parts, 3 one end of third connecting rod are connect by revolute pair 7 107 with 8 one end of second support bar, and 8 other end of second support bar is fixed
In rack 9,3 other end of third connecting rod is connected to 4 middle part of fourth link by revolute pair 8 108, and 4 one end of fourth link passes through
Revolute pair 11 is connected on the second sliding block 27, and 4 other end of fourth link is connected to sole part by revolute pair 12
On 29,
Second crank, 22 one end and the second sprocket wheel 21 are coaxially fixed and are mounted in rack 9, and 22 other end of the second crank is logical
It crosses revolute pair 9 109 to connect with 23 one end of the second drive link, 23 other end of the second drive link passes through revolute pair ten and second
24 one end of guide rod connects, and the second guide rod 24 is mounted on the second guide rail 25, and the second guide rail 25 is fixed in rack 9, the second guide rod
24 other ends are fixed with the second frame guide rail 26, and the second sliding block 27 is mounted in the second frame guide rail 26,
28 one end of arc guide rail is fixed on the third connecting rod 3 and center of circle of arc guide rail 28 and is in revolute pair 8 108
On position, 5 one end of the 5th connecting rod is connected to by revolute pair 13 on arc guide rail 28, and the other end passes through revolute pair 14
114 connect with 6 one end of six-bar linkage, and 6 other end of six-bar linkage is connected to by revolute pair 15 on sole part 29, stretch
30 one end of bar is connected to by revolute pair 16 in fourth link 4, and the other end passes through revolute pair 14 and the 5th connecting rod 5
It is connected simultaneously with six-bar linkage 6, boss slider 31 is fixed in the fourth link 4, boss slider 31 is inlaid in arc guide rail
In 28, the distance of boss slider 31 to revolute pair 8 108 is equal to the radius of arc guide rail 28, and chain 19 is mounted on the first sprocket wheel 11
On the second sprocket wheel 21, microcontroller is connect with servo motor 18 and telescopic rod 30 and the rotating speed and telescopic rod of control servomotor 18
30 length.
Claims (1)
- The robot 1. a kind of intelligent control walks upright, which is characterized in that including rack, servo motor, chain, the first sprocket wheel, First crank, the first drive link, the first guide rod, the first guide rail, the first frame guide rail, the first sliding block, the second sprocket wheel, the second song Handle, the second drive link, the second guide rod, the second guide rail, the second frame guide rail, the second sliding block, first connecting rod, second connecting rod, Three-link, the 5th connecting rod, six-bar linkage, first support bar, second support bar, arc guide rail, sole part, is stretched at fourth link Bar and microcontroller,Servo motor is mounted in rack, and the first sprocket wheel is mounted on the output shaft of servo motor, and first crank one end is fixed on On the output shaft of servo motor, the first crank other end is connect by revolute pair one with first drive link one end, the first driving The connecting rod other end is connect by revolute pair two with the first guide rod, and the first guide rod is mounted on the first guide rail, and the first guide rod is solid It being scheduled in rack, the first guide rod other end is fixed with the first frame guide rail, and the first sliding block is mounted in the first frame guide rail,It is connect with first support bar one end by revolute pair three in the middle part of first connecting rod, the first support bar other end is fixed on rack On, first connecting rod one end is connected to by revolute pair four on the first sliding block, and the first connecting rod other end passes through revolute pair five and second Connecting rod one end connects, and the second connecting rod other end is connected to by revolute pair six in the middle part of third connecting rod, and third connecting rod one end is by turning Dynamic pair seven is connect with second support bar one end, and the second support bar other end is fixed on the rack, and the third connecting rod other end is by turning Dynamic pair eight is connected in the middle part of fourth link, and fourth link one end is connected to by revolute pair 11 on the second sliding block, fourth link The other end is connected to by revolute pair 12 on sole part,Second crank one end and the second sprocket coaxiality are fixed and are mounted in rack, the second crank other end by revolute pair nine with Second drive link one end connects, and the second drive link other end is connect by revolute pair ten with the second guide rod, and second leads Bar is mounted on the second guide rail, and the second guide rail is fixed on the rack, and the second guide rod other end is fixed with the second frame guide rail, and second Sliding block is mounted in the second frame guide rail,Arc guide rail one end is fixed on the third connecting rod and center of circle of arc guide rail and is on the position of revolute pair eight, and the 5th connects Bar one end is connected to by revolute pair 13 on arc guide rail, and the other end is connect by revolute pair 14 with six-bar linkage one end, The six-bar linkage other end is connected to by revolute pair 15 on sole part, and telescopic rod one end is connected to the 4th by revolute pair 16 On connecting rod, the other end is connect by revolute pair 14 with the 5th connecting rod and six-bar linkage simultaneously, is fixed in the fourth link Boss slider, boss slider are inlaid in arc guide rail, and the distance of boss slider to revolute pair eight is equal to the radius of arc guide rail, Chain is mounted on the first sprocket wheel and the second sprocket wheel, and microcontroller is connect with servo motor and telescopic rod and turn of control servomotor The length of speed and telescopic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610830277.6A CN106272402B (en) | 2016-09-19 | 2016-09-19 | A kind of intelligent control walks upright robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610830277.6A CN106272402B (en) | 2016-09-19 | 2016-09-19 | A kind of intelligent control walks upright robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272402A CN106272402A (en) | 2017-01-04 |
| CN106272402B true CN106272402B (en) | 2018-09-07 |
Family
ID=57712128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610830277.6A Active CN106272402B (en) | 2016-09-19 | 2016-09-19 | A kind of intelligent control walks upright robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106272402B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000508B (en) * | 2018-01-25 | 2024-01-26 | 西南石油大学 | Motion adjusting device |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5754089A (en) * | 1980-09-14 | 1982-03-31 | Dainichi Kiko Kk | |
| JPS6290703A (en) * | 1985-10-17 | 1987-04-25 | Nissan Motor Co Ltd | Robot controller |
| DE69317574T2 (en) * | 1993-09-01 | 1998-07-09 | Yaskawa Denki Kitakyushu Kk | JOINT ROBOT |
| JP2000202790A (en) * | 1999-01-14 | 2000-07-25 | Sharp Corp | Robot device |
| CN100582425C (en) * | 2007-12-16 | 2010-01-20 | 范文利 | Plane spray coating mechanical hand base on PLC |
| CN103723208A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Humanoid-leg robot walking mechanism |
| CN103753526B (en) * | 2013-12-30 | 2015-09-30 | 重庆交通大学 | Can the precise heavy-load manipulator of positioning compensation |
| CN104875814B (en) * | 2015-05-29 | 2017-07-11 | 上海交通大学 | Walking robot |
| CN105667630B (en) * | 2016-03-24 | 2017-12-05 | 重庆大学 | Robot leg walking mechanism and its quadruped robot |
| CN105856250B (en) * | 2016-05-20 | 2018-01-23 | 燕山大学 | A kind of four feet walking robot |
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2016
- 2016-09-19 CN CN201610830277.6A patent/CN106272402B/en active Active
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| CN106272402A (en) | 2017-01-04 |
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Effective date of registration: 20180725 Address after: 211409 Yang An Road 100, Daye Town Industrial Zone, Yizheng, Yangzhou, Jiangsu Applicant after: Jiangsu County special visual Polytron Technologies Inc Address before: 530105 Guangxi Nanning Guangxi-ASEAN Economic and Technological Development Zone No.98 Qiaoguang Road Da Mingzhu Residential Quarter 2 1 Unit 1001 Rooms Applicant before: NANNING SUICONG FUYU TECHNOLOGY DEVELOPMENT CO., LTD. |
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