CN106314589B - A kind of motor drive mechanism formula intelligent walking pedipulator - Google Patents
A kind of motor drive mechanism formula intelligent walking pedipulator Download PDFInfo
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- CN106314589B CN106314589B CN201610829439.4A CN201610829439A CN106314589B CN 106314589 B CN106314589 B CN 106314589B CN 201610829439 A CN201610829439 A CN 201610829439A CN 106314589 B CN106314589 B CN 106314589B
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- China
- Prior art keywords
- thigh
- shank
- power source
- connecting rod
- revolute pair
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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
Abstract
A kind of motor drive mechanism formula intelligent walking pedipulator, including power source mechanism, small leg mechanism, big leg mechanism and Sole mechanism, the guide rail sleeve of the small leg mechanism is sleeved on guide rod, guide rod is connected on the first shank sliding sleeve, first shank sliding sleeve is sleeved on power source connecting rod, the guide rod other end is fixedly connected on shank guide-track groove, shank link one end is connected on sole part, the shank link other end is connected on shank sliding block, shank sliding sleeve is mounted in shank guide-track groove, the first lever of thigh one end of the big leg mechanism is connected on thigh sliding block, the other end is connect with the second lever of thigh one end, thigh the second lever other end is connect with thigh branch connecting rod one end, the thigh branch connecting rod other end is connected on thigh sliding sleeve, thick link one end six is connected to the other end on fuselage and is connected in the middle part of shank link.The configuration of the present invention is simple, rationally distributed, bearing capacity is strong, convenient for assembly.
Description
Technical field
The present invention relates to machinery field, specifically a kind of motor drive mechanism formula intelligent walking pedipulator.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory 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 flexibly, but the ability of leaping over obstacles is limited；
Robot of Tui Shi mechanism is adaptable, and control is complicated, and energy consumption is high；Caterpillar mobile robot weight is big, and energy consumption is high.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of motor drive mechanism formula intelligent walking pedipulators.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of motor drive mechanism formula intelligent walking pedipulator, including power source mechanism, small leg mechanism, big leg mechanism, sole machine
Structure and single-chip microcontroller,
The power source mechanism include motor, fuselage, diagonal control arm, power source sliding sleeve, power source telescopic rod, telescopic rod with turn
Lantern ring, power source connecting rod and power source guide-track groove, motor are fixed on fuselage, and diagonal control arm one end is fixedly connected with motor shaft,
Not point-blank, power source sliding sleeve is sleeved on diagonal control arm, and power source telescopic rod one end is fixed on for diagonal control arm and motor shaft
Telescopic rod is on pivoted housing ring, and telescopic rod is mounted between two limited blocks of diagonal control arm end with pivoted housing ring set, power source telescopic rod
The other end is fixed on power source sliding sleeve, and power source connecting rod is vertical with motor shaft, and it is sliding that power source connecting rod one end is fixed on power source
It putting on, the power source connecting rod other end is connected on power source guide-track groove,
Small leg mechanism includes shank first support bar, guide rail sleeve, guide rod, the first shank sliding sleeve, shank guide-track groove, shank cunning
Block and shank link, shank first support bar one end are fixed on fuselage, and the shank first support bar other end is fixed on guide rail
It puts on, guide rail sleeve is sleeved on guide rod, and guide rod is parallel with motor shaft, and guide rod is connected to the first shank by revolute pair one and slides
It puts on, the first shank sliding sleeve is sleeved on power source connecting rod, and the guide rod other end is fixedly connected on shank guide-track groove, shank link
One end is connected on sole part by revolute pair five, and the shank link other end is connected on shank sliding block by revolute pair four, small
Leg sliding sleeve is mounted in shank guide-track groove,
Above-mentioned big leg mechanism includes thigh first support bar, thigh sliding sleeve, thick link, thigh sliding block, the first thick stick of thigh
Bar, the second lever of thigh branch connecting rod, thigh second support bar and thigh, thigh first support bar one end are fixed on fuselage,
The thigh first support bar other end is connected to the first lever middle of thigh by revolute pair 11, and the first lever of thigh one end passes through
Revolute pair 12 is connected on thigh sliding block, and thigh sliding block is mounted in power source guide-track groove, and thigh the first lever other end is logical
It crosses revolute pair 13 to connect with the second lever of thigh one end, thigh the second lever other end passes through revolute pair 14 and thigh Zhi Lian
The connection of bar one end, the thigh branch connecting rod other end are connected on thigh sliding sleeve by revolute pair 15, and thigh sliding sleeve is sleeved on thigh
On connecting rod, thick link one end is connected on fuselage by revolute pair 16, and the thick link other end is connected by revolute pair eight
In the middle part of shank link, thigh second support bar one end is fixed on fuselage, and the thigh second support bar other end passes through revolute pair
17 are connected to the second lever middle of thigh,
The Sole mechanism includes arc guide rail, the first tiptoe connecting rod, the second tiptoe connecting rod, sole part, tiptoe telescopic rod
And boss slider, arc guide rail one end are fixed on the position that on the thick link and center of circle of arc guide rail is in revolute pair eight
On, first tiptoe connecting rod one end is connected on arc guide rail by revolute pair nine, and the first tiptoe connecting rod other end passes through revolute pair
Ten connect with second tiptoe connecting rod one end, and the second tiptoe connecting rod other end is connected on sole part by revolute pair six, and tiptoe is stretched
Contracting bar one end is connected on shank link by revolute pair seven, and the tiptoe telescopic rod other end is connected by revolute pair ten and the first tiptoe
Bar and the second tiptoe connecting rod connect simultaneously, boss slider are fixed on shank link, boss slider is inlaid in arc guide rail, convex
The radius that sliding block is equal to arc guide rail to the distance of revolute pair eight is played,
Single-chip microcontroller connect with motor, power source telescopic rod and tiptoe telescopic rod and control motor revolving speed and power source it is flexible
The length of bar and tiptoe telescopic rod.
Compared with prior art, the present invention have the utility model has the advantages that
Movement, as power source, is divided into two-way by link mechanism only with a servo motor by the present invention, respectively
The reciprocating motion of thigh and shank is driven, structure is simple, rationally distributed, so that the scope of activities of robot leg is big, carrying energy
Power is strong, while convenient for assembly.
Detailed description of the invention
Fig. 1 is the markd structural schematic diagram of motor drive mechanism formula intelligent walking pedipulator of the present invention.
Fig. 2 is the unmarked structural schematic diagram of motor drive mechanism formula intelligent walking pedipulator of the present invention.
Fig. 3 is the structural schematic diagram of power source mechanism of the present invention.
Specific embodiment
Technical solution of the present invention is further elaborated below by embodiment.
Embodiment 1
Motor drive mechanism formula intelligent walking pedipulator, including power source mechanism, small leg mechanism, big leg mechanism, Sole mechanism with
And single-chip microcontroller,
The power source mechanism includes motor 1, fuselage 2, diagonal control arm 3, power source sliding sleeve 4, power source telescopic rod 5, stretches
Bar is fixed on fuselage 2 with pivoted housing ring 51, power source connecting rod 6 and power source guide-track groove 7, motor 1,3 one end of diagonal control arm and electricity
Arbor 8 is fixedly connected, and not point-blank, power source sliding sleeve 4 is sleeved on diagonal control arm 3, power for diagonal control arm 3 and motor shaft 8
Telescopic rod 5 one end in source is fixed on telescopic rod on pivoted housing ring 51, and telescopic rod is sleeved on two of 3 end of diagonal control arm with pivoted housing ring 51
Between limited block 52,5 other end of power source telescopic rod is fixed on power source sliding sleeve 4, and power source connecting rod 6 is vertical with motor shaft 8,
6 one end of power source connecting rod is fixed on power source sliding sleeve 4, and 6 other end of power source connecting rod is connected on power source guide-track groove 7,
Small leg mechanism includes shank first support bar 11, guide rail sleeve 12, guide rod 13, the first shank sliding sleeve 14, shank guide rail
Slot 10, shank sliding block 16 and shank link 17,11 one end of shank first support bar are fixed on fuselage 2, and shank first supports
11 other end of bar is fixed on guide rail sleeve 12, and guide rail sleeve 12 is sleeved on guide rod 13, and guide rod 13 is parallel with motor shaft 8, guide rod 13
One end is connected on the first shank sliding sleeve 14 by revolute pair 1, and the first shank sliding sleeve 14 is sleeved on power source connecting rod 6,
13 other end of guide rod is fixedly connected on shank guide-track groove 10, and 17 one end of shank link is connected to sole by revolute pair 5 105
On part 33,17 other end of shank link is connected on shank sliding block 16 by revolute pair 4 104, and shank sliding sleeve is mounted on shank and leads
In track slot 10,
Above-mentioned big leg mechanism includes thigh first support bar 20, thigh sliding sleeve 21, thick link 22, thigh sliding block 23, big
The first lever of leg 24, thigh branch connecting rod 25, thigh second support bar 26 and the second lever of thigh 27, thigh first support bar 20
One end is fixed on fuselage 2, and 20 other end of thigh first support bar is connected to the first lever of thigh 24 by revolute pair 11
Middle part, 24 one end of the first lever of thigh are connected on thigh sliding block 23 by revolute pair 12, and thigh sliding block 23 is mounted on dynamic
In power source guide-track groove 7,24 other end of the first lever of thigh is connect by revolute pair 13 with 27 one end of the second lever of thigh,
27 other end of the second lever of thigh is connect by revolute pair 14 with 25 one end of thigh branch connecting rod, and thigh branch connecting rod 25 is another
End is connected on thigh sliding sleeve 21 by revolute pair 15, and thigh sliding sleeve 21 is sleeved on thick link 22, thick link 22
One end is connected on fuselage 2 by revolute pair 16, and 22 other end of thick link is connected to shank by revolute pair 8 108
17 middle part of connecting rod, 26 one end of thigh second support bar are fixed on fuselage 2, and 26 other end of thigh second support bar passes through revolute pair
17 are connected to 27 middle part of the second lever of thigh,
The Sole mechanism includes arc guide rail 30, the first tiptoe connecting rod 31, the second tiptoe connecting rod 32, sole part 33, foot
Sharp telescopic rod 34 and boss slider 35,30 one end of arc guide rail is fixed on thick link 22 and the center of circle of arc guide rail 30
On position in revolute pair 8 108,31 one end of the first tiptoe connecting rod is connected on arc guide rail 30 by revolute pair 9 109,
First tiptoe connecting rod, 31 other end is connect by revolute pair 10 with 32 one end of the second tiptoe connecting rod, and the second tiptoe connecting rod 32 is another
One end is connected on sole part 33 by revolute pair 6 121, and 34 one end of tiptoe telescopic rod is connected to shank by revolute pair 7 122
On connecting rod 17,34 other end of tiptoe telescopic rod is same by revolute pair 10 and the first tiptoe connecting rod 31 and the second tiptoe connecting rod 32
When connect, boss slider 35 is fixed on shank link 17, boss slider 35 is inlaid in arc guide rail 30, and boss slider 35 arrives
The distance of revolute pair 8 108 is equal to the radius of arc guide rail 30,
Single-chip microcontroller connect with motor 1, power source telescopic rod 5 and tiptoe telescopic rod 34 and controls the revolving speed and power of motor 1
The length of source telescopic rod 5 and tiptoe telescopic rod 34.
Claims (1)
1. a kind of motor drive mechanism formula intelligent walking pedipulator, which is characterized in that including power source mechanism, small leg mechanism, thigh machine
Structure, Sole mechanism and single-chip microcontroller,
The power source mechanism includes motor, fuselage, diagonal control arm, power source sliding sleeve, power source telescopic rod, telescopic rod with pivoted housing
Ring, power source connecting rod and power source guide-track groove, motor are fixed on fuselage, and diagonal control arm one end is fixedly connected with motor shaft, tiltedly
Not point-blank, power source sliding sleeve is sleeved on diagonal control arm, and power source telescopic rod one end, which is fixed on, stretches for connecting rod and motor shaft
Contracting bar is on pivoted housing ring, and for telescopic rod with pivoted housing ring set between two limited blocks of diagonal control arm end, power source telescopic rod is another
One end is fixed on power source sliding sleeve, and power source connecting rod is vertical with motor shaft, and power source connecting rod one end is fixed on power source sliding sleeve
On, the power source connecting rod other end is connected on power source guide-track groove,
Small leg mechanism include shank first support bar, guide rail sleeve, guide rod, the first shank sliding sleeve, shank guide-track groove, shank sliding block with
And shank link, shank first support bar one end are fixed on fuselage, the shank first support bar other end is fixed on guide rail sleeve,
Guide rail sleeve is sleeved on guide rod, and guide rod is parallel with motor shaft, and guide rod is connected on the first shank sliding sleeve by revolute pair one,
First shank sliding sleeve is sleeved on power source connecting rod, and the guide rod other end is fixedly connected on shank guide-track groove, shank link one end
It is connected on sole part by revolute pair five, the shank link other end is connected on shank sliding block by revolute pair four, and shank is sliding
Set is mounted in shank guide-track groove,
Above-mentioned big leg mechanism includes thigh first support bar, thigh sliding sleeve, thick link, thigh sliding block, the first lever of thigh, big
The second lever of leg branch connecting rod, thigh second support bar and thigh, thigh first support bar one end are fixed on fuselage, thigh
The one support rod other end is connected to the first lever middle of thigh by revolute pair 11, and the first lever of thigh one end passes through revolute pair
12 are connected on thigh sliding block, and thigh sliding block is mounted in power source guide-track groove, and thigh the first lever other end passes through rotation
Pair 13 is connect with the second lever of thigh one end, and thigh the second lever other end passes through revolute pair 14 and thigh branch connecting rod one end
Connection, the thigh branch connecting rod other end are connected on thigh sliding sleeve by revolute pair 15, and thigh sliding sleeve is sleeved on thick link,
Thick link one end is connected on fuselage by revolute pair 16, and the thick link other end is connected to shank company by revolute pair eight
In the middle part of bar, thigh second support bar one end is fixed on fuselage, and the thigh second support bar other end is connected by revolute pair 17
In the second lever middle of thigh,
The Sole mechanism include arc guide rail, the first tiptoe connecting rod, the second tiptoe connecting rod, sole part, tiptoe telescopic rod and
Boss slider, arc guide rail one end are fixed on the thick link and center of circle of arc guide rail and are on the position of revolute pair eight,
First tiptoe connecting rod one end is connected on arc guide rail by revolute pair nine, the first tiptoe connecting rod other end by revolute pair ten with
The connection of second tiptoe connecting rod one end, the second tiptoe connecting rod other end are connected on sole part by revolute pair six, tiptoe telescopic rod
One end is connected on shank link by revolute pair seven, the tiptoe telescopic rod other end by revolute pair ten and the first tiptoe connecting rod and
Second tiptoe connecting rod connects simultaneously, and boss slider is fixed on shank link, and boss slider is inlaid in arc guide rail, and protrusion is sliding
Block is equal to the radius of arc guide rail to the distance of revolute pair eight,
Single-chip microcontroller connect with motor, power source telescopic rod and tiptoe telescopic rod and control motor revolving speed and power source telescopic rod and
The length of tiptoe telescopic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610829439.4A CN106314589B (en) | 2016-09-19 | 2016-09-19 | A kind of motor drive mechanism formula intelligent walking pedipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610829439.4A CN106314589B (en) | 2016-09-19 | 2016-09-19 | A kind of motor drive mechanism formula intelligent walking pedipulator |
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| CN106314589A CN106314589A (en) | 2017-01-11 |
| CN106314589B true CN106314589B (en) | 2018-12-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102285390B (en) * | 2011-06-03 | 2012-09-26 | 哈尔滨工程大学 | Elastically driven walking leg in hybrid connection for walking robot |
| CN103569235B (en) * | 2013-11-11 | 2015-09-30 | 哈尔滨工程大学 | Frog hopping robot is imitated in five joints |
| CN204750348U (en) * | 2015-07-10 | 2015-11-11 | 陕西九立机器人制造有限公司 | Imitative dinosaur robot |
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Effective date of registration: 20181101 Address after: 225800 Jingan Xi Road, Jinghe Town, Baoying County, Yangzhou, Jiangsu Applicant after: YANGZHOU JUNRUI CHUANGZHI INDUSTRIAL DESIGN Co.,Ltd. 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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Address after: 225800, Jing Xi Road, Jinghe Town, Baoying County, Yangzhou, Jiangsu Patentee after: Yangzhou Junrui Enterprise Management Co.,Ltd. Address before: 225800, Jing Xi Road, Jinghe Town, Baoying County, Yangzhou, Jiangsu Patentee before: YANGZHOU JUNRUI CHUANGZHI INDUSTRIAL DESIGN Co.,Ltd. |
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Effective date of registration: 20191101 Address after: 314100 room 427, No.16 Fuxing Avenue, Xitang Town, Jiashan County, Jiaxing City, Zhejiang Province Patentee after: Zhejiang Xitang Industry Co.,Ltd. Address before: 225800, Jing Xi Road, Jinghe Town, Baoying County, Yangzhou, Jiangsu Patentee before: Yangzhou Junrui Enterprise Management Co.,Ltd. |
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