CN106314591B - A kind of multi-modal intelligent apery movement mechanism - Google Patents

A kind of multi-modal intelligent apery movement mechanism Download PDF

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Publication number
CN106314591B
CN106314591B CN201610831823.8A CN201610831823A CN106314591B CN 106314591 B CN106314591 B CN 106314591B CN 201610831823 A CN201610831823 A CN 201610831823A CN 106314591 B CN106314591 B CN 106314591B
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CN
China
Prior art keywords
rod
shank
power source
tiptoe
revolute pair
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CN201610831823.8A
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Chinese (zh)
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CN106314591A (en
Inventor
陈瑞姣
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泾县麦蓝网络技术服务有限公司
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Priority to CN201610831823.8A priority Critical patent/CN106314591B/en
Publication of CN106314591A publication Critical patent/CN106314591A/en
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Publication of CN106314591B publication Critical patent/CN106314591B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/032Vehicles 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 multi-modal intelligent apery movement mechanism, 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, thigh first support bar one end of the big leg mechanism is fixed on the other end on fuselage and is connected on thigh sliding sleeve, thigh sliding sleeve is sleeved on thick link, thick link one end is connected on thigh sliding block, thigh sliding block is mounted in power source guide-track groove, the thick link other end 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

A kind of multi-modal intelligent apery movement mechanism

Technical field

The present invention relates to machinery field, specifically a kind of multi-modal intelligent apery movement mechanism.

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 multi-modal intelligent apery movement mechanisms.

To achieve the goals above, the invention adopts the following technical scheme:

A kind of multi-modal intelligent apery movement mechanism, including power source mechanism, small leg mechanism, big leg mechanism, Sole mechanism 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,

The big leg mechanism includes thigh first support bar, thigh sliding sleeve, thick link and thigh sliding block, thigh first Support rod one end is fixed on fuselage, and the thigh first support bar other end is connected on thigh sliding sleeve by revolute pair 11, greatly Leg sliding sleeve is sleeved on thick link, and thick link one end is connected on thigh sliding block by revolute pair 12, thigh sliding block peace In power source guide-track groove, the thick link other end is connected in the middle part of shank link by revolute pair six,

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 two, and tiptoe is stretched Contracting bar one end is connected on shank link by revolute pair three, 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 multi-modal intelligent apery movement mechanism of the present invention.

Fig. 2 is the unmarked structural schematic diagram of multi-modal intelligent apery movement mechanism 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

Multi-modal intelligence apery movement mechanism, including power source mechanism, small leg mechanism, big leg mechanism, Sole mechanism 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,

The big leg mechanism includes thigh first support bar 20, thigh sliding sleeve 21, thick link 22 and thigh sliding block 23, 20 one end of thigh first support bar is fixed on fuselage 2, and 20 other end of thigh first support bar is connected by revolute pair 11 On thigh sliding sleeve 21, thigh sliding sleeve 21 is sleeved on thick link 22, and 22 one end of thick link is connected by revolute pair 12 It connects on thigh sliding block 23, thigh sliding block 23 is mounted in power source guide-track groove 7, and 22 other end of thick link passes through revolute pair six 108 are connected to 17 middle part of shank link,

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 2 121, and 34 one end of tiptoe telescopic rod is connected to shank by revolute pair 3 122 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 multi-modal intelligent apery movement mechanism, which is characterized in that including power source mechanism, small leg mechanism, big leg mechanism, 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,
Big leg mechanism includes thigh first support bar, thigh sliding sleeve, thick link and thigh sliding block, thigh first support bar one End is fixed on fuselage, and the thigh first support bar other end is connected on thigh sliding sleeve by revolute pair 11, thigh sliding sleeve set On thick link, thick link one end is connected on thigh sliding block by revolute pair 12, and thigh sliding block is mounted on power In the guide-track groove of source, the thick link other end is connected in the middle part of shank link by revolute pair 13,
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 two, tiptoe telescopic rod One end is connected on shank link by revolute pair three, 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.
CN201610831823.8A 2016-09-19 2016-09-19 A kind of multi-modal intelligent apery movement mechanism CN106314591B (en)

Priority Applications (1)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN106314591B true CN106314591B (en) 2018-12-25

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102285390A (en) * 2011-06-03 2011-12-21 哈尔滨工程大学 Elastically driven walking leg in hybrid connection for walking robot
CN103569235A (en) * 2013-11-11 2014-02-12 哈尔滨工程大学 Five-joint robot imitating frog to jump
CN204750348U (en) * 2015-07-10 2015-11-11 陕西九立机器人制造有限公司 Imitative dinosaur robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102285390A (en) * 2011-06-03 2011-12-21 哈尔滨工程大学 Elastically driven walking leg in hybrid connection for walking robot
CN103569235A (en) * 2013-11-11 2014-02-12 哈尔滨工程大学 Five-joint robot imitating frog to jump
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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