CN106379437B - A kind of walking transportation robot - Google Patents

A kind of walking transportation robot Download PDF

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Publication number
CN106379437B
CN106379437B CN201610830229.7A CN201610830229A CN106379437B CN 106379437 B CN106379437 B CN 106379437B CN 201610830229 A CN201610830229 A CN 201610830229A CN 106379437 B CN106379437 B CN 106379437B
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CN
China
Prior art keywords
shank
rod
power source
thigh
revolute pair
Prior art date
Application number
CN201610830229.7A
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Chinese (zh)
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CN106379437A (en
Inventor
陈瑞姣
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绍兴龙飞针织有限公司
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Priority to CN201610830229.7A priority Critical patent/CN106379437B/en
Publication of CN106379437A publication Critical patent/CN106379437A/en
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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

A kind of walking transportation robot, including power source mechanism, small leg mechanism, big leg mechanism and Sole mechanism, the guide rod of the small leg mechanism is connected to the other end on the first shank sliding sleeve and is fixedly connected on shank guide-track groove, shank second support bar one end is fixed on the other end on fuselage and is connected to shank lever middle, shank lever one end is connected to the other end on shank sliding block and is connected on the second shank sliding sleeve, shank sliding sleeve is sleeved on shank link, shank link one end is connected to the other end on sole part and connect with thick link one end, the first lever of thigh one end of the big leg mechanism is connected to the other end on thigh sliding block and connect with thigh branch connecting rod one end, the thigh branch connecting rod other end is connected on thigh sliding sleeve, thigh sliding sleeve is sleeved on thick link, thick link one end is connected on fuselage, the thick link other end is connected to 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 walking transportation robot

Technical field

The present invention relates to machinery field, specifically a kind of walking transportation robot.

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 walking transportation robots.

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

A kind of walking transportation robot, including power source mechanism, small leg mechanism, big leg mechanism, Sole mechanism and list Piece machine,

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,

Above-mentioned small leg mechanism includes shank guide-track groove, shank first support bar, guide rail sleeve, guide rod, the first shank sliding sleeve, Two shank sliding sleeves, shank sliding block, shank link, shank lever and shank second support bar, shank first support bar one end are 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 In parallel, guide rod is connected on the first shank sliding sleeve by revolute pair one, 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 sliding 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 is connected to shank lever middle, shank lever one by revolute pair two End is connected on shank sliding block by revolute pair three, and the shank lever other end is connected to the second shank sliding sleeve by revolute pair four On, shank sliding sleeve is sleeved on shank link, and shank link one end is connected on sole part by revolute pair five, and shank link is another One end is connect by revolute pair eight with thick link one end, and the thick link other end is connected on fuselage by revolute pair 15,

Big leg mechanism include thigh first support bar, thigh sliding sleeve, thick link, thigh sliding block, the first lever of thigh with And thigh branch connecting rod, thigh first support bar one end are fixed on fuselage, the thigh first support bar other end passes through revolute pair ten One is connected to the first lever middle of thigh, and thigh the first lever one end is connected on thigh sliding block by revolute pair 12, thigh Sliding block is mounted in power source guide-track groove, and thigh the first lever other end is connected by revolute pair 13 and thigh branch connecting rod one end It connecing, the thigh branch connecting rod other end is connected on thigh sliding sleeve by revolute pair 14, and thigh sliding sleeve is sleeved on thick link,

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 walking transportation robot of the present invention.

Fig. 2 is the unmarked structural schematic diagram of walking transportation robot 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

Walking transportation robot, 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,

Above-mentioned small leg mechanism includes that shank guide-track groove 10, shank first support bar 11, guide rail sleeve 12, guide rod 13, first are small Leg sliding sleeve 14, the second shank sliding sleeve 15, shank sliding block 16, shank link 17, shank lever 18 and shank second support bar 19, 11 one end of shank first support bar is fixed on fuselage 2, and 11 other end of shank first support bar 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 13 one end of guide rod passes through revolute pair 1, and to be connected to first small On leg sliding sleeve 14, the first shank sliding sleeve 14 is sleeved on power source connecting rod 6, and 13 other end of guide rod is fixedly connected on shank guide-track groove On 10, shank sliding block 16 is inlaid in shank guide-track groove 10, and 19 one end of shank second support bar is fixed on fuselage 2, shank Two support rods, 19 other end is connected to 18 middle part of shank lever by revolute pair 2 102, and 18 one end of shank lever passes through revolute pair 3 103 are connected on shank sliding block 16, and 18 other end of shank lever is connected to the second shank sliding sleeve 15 by revolute pair 4 104 On, shank sliding sleeve is sleeved on shank link 17, and 17 one end of shank link is connected on sole part 33 by revolute pair 5 105, 17 other end of shank link is connect by revolute pair 8 108 with 22 one end of thick link, and 22 other end of thick link passes through rotation Pair 15 is connected on fuselage 2,

Big leg mechanism includes thigh first support bar 20, thigh sliding sleeve 21, thick link 22, thigh sliding block 23, thigh the One lever 24 and thigh branch connecting rod 25,20 one end of thigh first support bar are fixed on fuselage 2, and thigh first support bar 20 is another One end is connected to 24 middle part of the first lever of thigh by revolute pair 11, and 24 one end of the first lever of thigh passes through revolute pair ten 2 112 are connected on thigh sliding block 23, and thigh sliding block 23 is mounted in power source guide-track groove 7,24 other end of the first lever of thigh It is connect by revolute pair 13 with 25 one end of thigh branch connecting rod, 25 other end of thigh branch connecting rod is connected by revolute pair 14 It connecing on thigh sliding sleeve 21, thigh sliding sleeve 21 is sleeved on thick link 22,

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 walking transportation robot, which is characterized in that including power source mechanism, small leg mechanism, big leg mechanism, sole machine Structure 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,
Above-mentioned small leg mechanism includes shank guide-track groove, shank first support bar, guide rail sleeve, guide rod, the first shank sliding sleeve, second small Leg sliding sleeve, shank sliding block, shank link, shank lever and shank second support bar, shank first support bar one end are 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 and motor shaft are flat Row, guide rod are connected on the first shank sliding sleeve by revolute pair one, and the first shank sliding sleeve is sleeved on power source connecting rod, is led The bar other end is fixedly connected on shank guide-track groove, and shank sliding 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 is connected to shank lever middle, shank lever one end by revolute pair two It being connected on shank sliding block by revolute pair three, the shank lever other end is connected on the second shank sliding sleeve by revolute pair four, Shank sliding sleeve is sleeved on shank link, and shank link one end is connected on sole part by revolute pair five, and shank link is another End is connect by revolute pair eight with thick link one end, and the thick link other end is connected on fuselage by revolute pair 15,
Big leg mechanism includes thigh first support bar, thigh sliding sleeve, thick link, thigh sliding block, the first lever of thigh and big Leg branch connecting rod, thigh first support bar one end are fixed on fuselage, and the thigh first support bar other end is connected by revolute pair 11 It connects in the first lever middle of thigh, thigh the first lever one end is connected on thigh sliding block by revolute pair 12, thigh sliding block It is mounted in power source guide-track groove, thigh the first lever other end is connect by revolute pair 13 with thigh branch connecting rod one end, greatly The leg branch connecting rod other end is connected on thigh sliding sleeve by revolute pair 14, and thigh sliding sleeve is sleeved on thick link,
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.
CN201610830229.7A 2016-09-19 2016-09-19 A kind of walking transportation robot CN106379437B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610830229.7A CN106379437B (en) 2016-09-19 2016-09-19 A kind of walking transportation robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610830229.7A CN106379437B (en) 2016-09-19 2016-09-19 A kind of walking transportation robot

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CN106379437A CN106379437A (en) 2017-02-08
CN106379437B true CN106379437B (en) 2019-01-04

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Families Citing this family (1)

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

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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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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