CN106379437A - Walking type transport robot - Google Patents

Walking type transport robot Download PDF

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Publication number
CN106379437A
CN106379437A CN201610830229.7A CN201610830229A CN106379437A CN 106379437 A CN106379437 A CN 106379437A CN 201610830229 A CN201610830229 A CN 201610830229A CN 106379437 A CN106379437 A CN 106379437A
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CN
China
Prior art keywords
shank
rod
thigh
power source
link
Prior art date
Application number
CN201610830229.7A
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Chinese (zh)
Other versions
CN106379437B (en
Inventor
陈瑞姣
Original Assignee
南宁邃丛赋语科技开发有限责任公司
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Priority to CN201610830229.7A priority Critical patent/CN106379437B/en
Publication of CN106379437A publication Critical patent/CN106379437A/en
Application granted granted Critical
Publication of CN106379437B publication Critical patent/CN106379437B/en

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Classifications

    • 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00Arrangement or mounting of electrical propulsion units

Abstract

The invention discloses a walking type transport robot which comprises a power source mechanism, a calf mechanism, a thigh mechanism and a sole mechanism, wherein one end of a guide rod of the calf mechanism is connected with a first calf slide bushing, and the other end is fixedly connected with a calf guide rail groove; one end of a calf second support rod is fixed on the body, and the other end is connected with the middle of a calf lever; one end of the calf lever is connected with a calf slider, and the other end is connected with a second calf slide bushing; the calf slide bushing is sleeved on a calf connecting rod; one end of the calf connecting rod is connected with a sole member, and the other end is connected with one end of a thigh connecting rod; one end of a thigh first lever of the thigh mechanism is connected with a thigh slider, and the other end is connected with one end of a thigh support connecting rod; the other end of the thigh support connecting rod is connected with a thigh slide bushing; the thigh slide bushing is sleeved on the thigh connecting rod; one end of the thigh connecting rod is connected with the body; and the other end of the thigh connecting rod is connected with the middle of the calf connecting rod. The walking type transport robot disclosed by the invention has the advantages of simple structure, reasonable layout, strong bearing ability and convenience in assembly.

Description

A kind of walking transportation robot
Technical field
The present invention relates to mechanical field, specifically a kind of walking transportation robot.
Background technology
Robot is the installations automatically executing work.It both can accept mankind commander, can run again and compile in advance The program of row is it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the mankind The work of work, for example, produce industry, building industry, or the work of danger.Walking robot is that have humanoid machine anthropomorphous People is also referred to as nature walking robot.The walking mechanism of robot is divided into wheeled, lower limb formula, crawler type etc. by move mode.But, it Each there is corresponding defect, wheeled construction robot speed is fast, control flexibly, but leaping over obstacles is limited in one's ability; Robot of Tui Shi mechanism is adaptable, controls complicated, energy consumption is big;Caterpillar mobile robot weight is big, high energy consumption.
Content of the invention
The present invention is directed to the deficiencies in the prior art, provides a kind of walking transportation robot.
To achieve these goals, present invention employs technical scheme below:
A kind of walking transportation robot, including power source mechanism, little leg mechanism, big leg mechanism, Sole mechanism and list Piece machine,
Described power source mechanism include motor, fuselage, diagonal control arm, power source sliding sleeve, power source expansion link, expansion link with turn The collar, power source connecting rod and power source guide-track groove, motor is fixed on fuselage, and diagonal control arm one end is fixedly connected with motor shaft, With motor shaft not point-blank, power source sliding sleeve is sleeved on diagonal control arm diagonal control arm, and power source expansion link one end is fixed on With on pivoted housing ring, expansion link is contained between two limited blocks of diagonal control arm end expansion link with pivoted housing ring set, power source expansion link The other 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 and slides Put, the power source connecting rod other end is connected on power source guide-track groove,
Above-mentioned little leg mechanism include shank guide-track groove, shank first support bar, guide rail sleeve, guide rod, the first shank sliding sleeve, Two shank sliding sleeves, shank slide block, shank link, shank lever and shank second support bar, shank first support bar one end is solid It is scheduled on fuselage, the shank first support bar other end is fixed on guide rail sleeve, and guide rail sleeve is sleeved on guide rod, guide rod and motor shaft Parallel, guide rod is passed through rotation secondary and is connected on the first shank sliding sleeve, and the first shank sliding sleeve is sleeved on power source connecting rod, The guide rod other end is fixedly connected on shank guide-track groove, and shank slide block is inlaid in shank guide-track groove, shank second support bar one End is fixed on fuselage, and the shank second support bar other end passes through rotation secondary two and is connected to shank its intermediate part, shank lever one End is connected on shank slide block by rotating secondary three, and the shank lever other end is connected to the second shank sliding sleeve by rotating secondary four On, shank sliding sleeve is sleeved on shank link, and shank link one end is passed through rotation secondary five and is connected on sole part, and shank link is another One end is passed through rotation secondary eight and is connected with thick link one end,
Big leg mechanism include thigh first support bar, thigh sliding sleeve, thick link, thigh slide block, thigh first lever with And thigh props up connecting rod, thigh first support bar one end is fixed on fuselage, and the thigh first support bar other end passes through to rotate secondary ten One is connected to thigh first its intermediate part, and thigh the first lever one end is passed through rotation secondary 12 and is connected on thigh slide block, thigh Slide block is arranged in power source guide-track groove, and thigh the first lever other end props up connecting rod one end even by rotating secondary 13 with thigh Connect, thigh props up the connecting rod other end and is connected on thigh sliding sleeve by rotating secondary 14, and thigh sliding sleeve is sleeved on thick link, greatly Leg connecting rod one end is passed through rotation secondary 15 and is connected on fuselage, and the thick link other end passes through rotation secondary eight and is connected to shank link Middle part,
Described Sole mechanism includes arc guide rail, the first tiptoe connecting rod, the second tiptoe connecting rod, sole part, tiptoe expansion link And boss slider, arc guide rail one end is fixed on thick link and the center of circle of arc guide rail is in the position rotating secondary eight On, first tiptoe connecting rod one end is passed through rotation secondary nine and is connected on arc guide rail, and it is secondary that the first tiptoe connecting rod other end passes through rotation Ten are connected with second tiptoe connecting rod one end, and the second tiptoe connecting rod other end passes through rotation secondary 21 and is connected on sole part, foot Sharp expansion link one end is passed through to rotate secondary 22 and is connected on shank link, and the tiptoe expansion link other end passes through to rotate secondary ten and the One tiptoe connecting rod and the second tiptoe connecting rod are simultaneously connected with, and shank link are fixed with boss slider, boss slider is inlaid in circular arc In guide rail, boss slider is equal to the radius of arc guide rail to the distance rotating secondary eight,
Single-chip microcomputer is connected with motor, power source expansion link and tiptoe expansion link and the rotating speed of controlled motor and power source stretch Bar and the length of tiptoe expansion link.
Compared with prior art, the beneficial effect that the present invention possesses:
Motion is divided into two-way by linkage only with a servomotor as power source by the present invention, respectively Drive the reciprocating motion of thigh and shank, structure is simple, rationally distributed so that the range of activity of robot leg is big, carry energy Power is strong, simultaneously convenient for assembly.
Brief description
Fig. 1 is the markd structural representation of walking transportation robot of the present invention.
Fig. 2 is the unmarked structural representation of walking transportation robot of the present invention.
Fig. 3 is the structural representation of power source mechanism of the present invention.
Specific embodiment
Below by embodiment, technical scheme is further elaborated.
Embodiment 1
Walking transportation robot, including power source mechanism, little leg mechanism, big leg mechanism, Sole mechanism and single-chip microcomputer,
Described power source mechanism includes motor 1, fuselage 2, diagonal control arm 3, power source sliding sleeve 4, power source expansion link 5, stretches With pivoted housing ring 51, power source connecting rod 6 and power source guide-track groove 7, motor 1 is fixed on fuselage 2 bar, diagonal control arm 3 one end with electricity Arbor 8 is fixedly connected, and with motor shaft 8 not point-blank, power source sliding sleeve 4 is sleeved on diagonal control arm 3 diagonal control arm 3, power Source expansion link 5 one end is fixed on expansion link with pivoted housing ring 51, and expansion link is sleeved on two of diagonal control arm 3 end with pivoted housing ring 51 Between limited block 52, power source expansion link 5 other end is fixed on power source sliding sleeve 4, and power source connecting rod 6 is vertical with motor shaft 8, Power source connecting rod 6 one end is fixed on power source sliding sleeve 4, and power source connecting rod 6 other end is connected on power source guide-track groove 7,
It is little that above-mentioned little leg mechanism includes shank guide-track groove 10, shank first support bar 11, guide rail sleeve 12, guide rod 13, first Lower limb sliding sleeve 14, the second shank sliding sleeve 15, shank slide block 16, shank link 17, shank lever 18 and shank second support bar 19, Shank first support bar 11 one end is fixed on fuselage 2, and shank first support bar 11 other end is fixed on guide rail sleeve 12, guide rail Set 12 is sleeved on guide rod 13, and guide rod 13 is parallel with motor shaft 8, and it is little that guide rod 13 one end is connected to first by rotation secondary 1 On lower limb sliding sleeve 14, the first shank sliding sleeve 14 is sleeved on power source connecting rod 6, and guide rod 13 other end is fixedly connected on shank guide-track groove On 10, shank slide block 16 is inlaid in shank guide-track groove 10, and shank second support bar 19 one end is fixed on fuselage 2, shank Two support bar 19 other end passes through rotation secondary 2 102 and is connected in the middle part of shank lever 18, and it is secondary that rotation is passed through in shank lever 18 one end 3 103 are connected on shank slide block 16, and shank lever 18 other end passes through rotation secondary 4 104 and is connected to the second shank sliding sleeve 15 On, shank sliding sleeve is sleeved on shank link 17, and shank link 17 one end is passed through rotation secondary 5 105 and is connected on sole part 33, Shank link 17 other end is passed through rotation secondary 8 108 and is connected with thick link 22 one end,
Big leg mechanism includes thigh first support bar 20, thigh sliding sleeve 21, thick link 22, thigh slide block 23, thigh the One lever 24 and thigh prop up connecting rod 25, and thigh first support bar 20 one end is fixed on fuselage 2, and thigh first support bar 20 is another One end is passed through rotation secondary 11 and is connected in the middle part of thigh the first lever 24, and thigh the first lever 24 one end is passed through to rotate secondary ten 2 112 are connected on thigh slide block 23, and thigh slide block 23 is arranged in power source guide-track groove 7, thigh the first lever 24 other end Prop up connecting rod 25 one end by rotation secondary 13 with thigh to be connected, thigh props up connecting rod 25 other end and connects by rotating secondary 14 It is connected on thigh sliding sleeve 21, thigh sliding sleeve 21 is sleeved on thick link 22, thick link 22 one end is passed through to rotate secondary 15 It is connected on fuselage 2, thick link 22 other end passes through rotation secondary 8 108 and is connected in the middle part of shank link 17,
Described Sole mechanism includes arc guide rail 30, the first tiptoe connecting rod 31, the second tiptoe connecting rod 32, sole part 33, foot Sharp expansion link 34 and boss slider 35, arc guide rail 30 one end be fixed on thick link 22 and arc guide rail 30 the center of circle It is on the position rotating secondary 8 108, the first tiptoe connecting rod 31 one end is passed through rotation secondary 9 109 and is connected on arc guide rail 30, First tiptoe connecting rod 31 other end is passed through rotation secondary 10 and is connected with the second tiptoe connecting rod 32 one end, and the second tiptoe connecting rod 32 is another One end is passed through rotation secondary 21 and is connected on sole part 33, and tiptoe expansion link 34 one end is passed through rotation secondary 22 and connected It is connected on shank link 17, tiptoe expansion link 34 other end passes through to rotate pair 10 and the first tiptoe connecting rod 31 and the second tiptoe Connecting rod 32 is simultaneously connected with, and shank link 17 is fixed with boss slider 35, and boss slider 35 is inlaid in arc guide rail 30, raised Slide block 35 arrives the radius rotating the distance of pair 8 108 equal to arc guide rail 30,
Single-chip microcomputer is connected with motor 1, power source expansion link 5 and tiptoe expansion link 34 and the rotating speed of controlled motor 1 and power Source expansion link 5 and the length of tiptoe expansion link 34.

Claims (1)

1. a kind of walking transportation robot is it is characterised in that include power source mechanism, little leg mechanism, big leg mechanism, sole machine Structure and single-chip microcomputer,
Described power source mechanism includes motor, fuselage, diagonal control arm, power source sliding sleeve, power source expansion link, expansion link with pivoted housing Ring, power source connecting rod and power source guide-track groove, motor is fixed on fuselage, and diagonal control arm one end is fixedly connected with motor shaft, tiltedly With motor shaft not point-blank, power source sliding sleeve is sleeved on diagonal control arm connecting rod, and power source expansion link one end is fixed on stretches With on pivoted housing ring, expansion link is contained between two limited blocks of diagonal control arm end contracting bar with pivoted housing ring set, and power source expansion link 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,
Above-mentioned little leg mechanism includes shank guide-track groove, shank first support bar, guide rail sleeve, guide rod, the first shank sliding sleeve, second little Lower limb sliding sleeve, shank slide block, shank link, shank lever and shank second support bar, shank first support bar one end is fixed on On fuselage, the shank first support bar other end is fixed on guide rail sleeve, and guide rail sleeve is sleeved on guide rod, and guide rod is put down with motor shaft OK, guide rod is connected on the first shank sliding sleeve by rotating secondary one, and the first shank sliding sleeve is sleeved on power source connecting rod, leads The bar other end is fixedly connected on shank guide-track groove, and shank slide block is inlaid in shank guide-track groove, shank second support bar one end It is fixed on fuselage, the shank second support bar other end passes through rotation secondary two and is connected to shank its intermediate part, shank lever one end It is connected on shank slide block by rotating secondary three, the shank lever other end passes through rotation secondary four and is connected on the second shank sliding sleeve, Shank sliding sleeve is sleeved on shank link, and shank link one end is passed through rotation secondary five and is connected on sole part, and shank link is another End is connected with thick link one end by rotating secondary eight,
Big leg mechanism includes thigh first support bar, thigh sliding sleeve, thick link, thigh slide block, thigh first lever and big Lower limb props up connecting rod, and thigh first support bar one end is fixed on fuselage, and the thigh first support bar other end passes through to rotate secondary 11 even It is connected on thigh first its intermediate part, thigh the first lever one end is passed through rotation secondary 12 and is connected on thigh slide block, thigh slide block It is arranged in power source guide-track groove, thigh the first lever other end props up connecting rod one end by rotation secondary 13 with thigh and is connected, greatly Lower limb props up the connecting rod other end and is connected on thigh sliding sleeve by rotating secondary 14, and thigh sliding sleeve is sleeved on thick link, and thigh is even Bar one end is passed through rotation secondary 15 and is connected on fuselage, and the thick link other end passes through rotation secondary eight and is connected in shank link Portion,
Described Sole mechanism include arc guide rail, the first tiptoe connecting rod, the second tiptoe connecting rod, sole part, tiptoe expansion link and Boss slider, arc guide rail one end is fixed on thick link and the center of circle of arc guide rail is on the position rotating secondary eight, First tiptoe connecting rod one end is passed through to rotate secondary nine and is connected on arc guide rail, the first tiptoe connecting rod other end pass through to rotate secondary ten with Second tiptoe connecting rod one end connects, and the second tiptoe connecting rod other end passes through rotation secondary 21 and is connected on sole part, and tiptoe is stretched Contracting bar one end is passed through rotation secondary 22 and is connected on shank link, and the tiptoe expansion link other end passes through rotation secondary ten and the first foot Sharp connecting rod and the second tiptoe connecting rod are simultaneously connected with, and shank link are fixed with boss slider, boss slider is inlaid in arc guide rail In, boss slider is equal to the radius of arc guide rail to the distance rotating secondary eight,
Single-chip microcomputer be connected with motor, power source expansion link and tiptoe expansion link and the rotating speed of controlled motor and power source expansion link and The length of tiptoe expansion link.
CN201610830229.7A 2016-09-19 2016-09-19 A kind of walking transportation robot CN106379437B (en)

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Application Number Priority Date Filing Date Title
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CN106379437B CN106379437B (en) 2019-01-04

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108216419A (en) * 2018-01-08 2018-06-29 吉林大学 A kind of foot formula walking robot leg structure

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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108216419A (en) * 2018-01-08 2018-06-29 吉林大学 A kind of foot formula walking robot leg structure
CN108216419B (en) * 2018-01-08 2020-01-07 吉林大学 Leg structure of foot type walking robot

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Effective date of registration: 20181116

Address after: 312000 Keqiao District, Shaoxing, Zhejiang Province, Yang Xun Qiao Town

Applicant after: Shaoxing Longfei Knitting 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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