CN106379438B - A kind of movement mechanism of single servo motor driving - Google Patents

A kind of movement mechanism of single servo motor driving Download PDF

Info

Publication number
CN106379438B
CN106379438B CN201610830276.1A CN201610830276A CN106379438B CN 106379438 B CN106379438 B CN 106379438B CN 201610830276 A CN201610830276 A CN 201610830276A CN 106379438 B CN106379438 B CN 106379438B
Authority
CN
China
Prior art keywords
shank
thigh
rod
power source
revolute pair
Prior art date
Application number
CN201610830276.1A
Other languages
Chinese (zh)
Other versions
CN106379438A (en
Inventor
陈瑞姣
Original Assignee
江苏德瑞博新能源汽车制造有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 江苏德瑞博新能源汽车制造有限公司 filed Critical 江苏德瑞博新能源汽车制造有限公司
Priority to CN201610830276.1A priority Critical patent/CN106379438B/en
Publication of CN106379438A publication Critical patent/CN106379438A/en
Application granted granted Critical
Publication of CN106379438B publication Critical patent/CN106379438B/en

Links

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 movement mechanism of single servo motor driving, 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 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 is connected in the middle part of shank link on fuselage.The configuration of the present invention is simple, rationally distributed, bearing capacity is strong, convenient for assembly.

Description

A kind of movement mechanism of single servo motor driving

Technical field

The present invention relates to machinery field, the movement mechanism of specifically a kind of single servo motor driving.

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 movement mechanisms of single servo motor driving.

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

A kind of movement mechanism of single servo motor driving, 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,

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 16,

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, 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 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 the movement mechanism of single servo motor of the present invention driving.

Fig. 2 is the unmarked structural schematic diagram of the movement mechanism of single servo motor of the present invention driving.

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

Single servo motor driving movement mechanism, 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,

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 16 is connected on fuselage 2,

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, and second, thigh 26 one end of strut is fixed on fuselage 2, and 26 other end of thigh second support bar is connected to thigh second by revolute pair 17 27 middle part of lever,

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 movement mechanism of single servo motor driving, 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,
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 16,
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, Thigh second support bar one end is fixed on fuselage, and the thigh second support bar other end is connected to thigh the by revolute pair 17 Two lever middles,
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.
CN201610830276.1A 2016-09-19 2016-09-19 A kind of movement mechanism of single servo motor driving CN106379438B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610830276.1A CN106379438B (en) 2016-09-19 2016-09-19 A kind of movement mechanism of single servo motor driving

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610830276.1A CN106379438B (en) 2016-09-19 2016-09-19 A kind of movement mechanism of single servo motor driving

Publications (2)

Publication Number Publication Date
CN106379438A CN106379438A (en) 2017-02-08
CN106379438B true CN106379438B (en) 2019-01-01

Family

ID=57936635

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610830276.1A CN106379438B (en) 2016-09-19 2016-09-19 A kind of movement mechanism of single servo motor driving

Country Status (1)

Country Link
CN (1) CN106379438B (en)

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

Also Published As

Publication number Publication date
CN106379438A (en) 2017-02-08

Similar Documents

Publication Publication Date Title
CN103737578B (en) A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot
CN105252521B (en) Multiple degrees of freedom industrial robot manipulator
CN202952270U (en) Cylindrical special mechanical hand
CN103565562B (en) Under-actuated artificial limb hand
CN104760054B (en) The orthogonal Three Degree Of Freedom joint that Pneumatic artificial muscle drives
CN203331021U (en) Household carrying robot
CN104440866B (en) A kind of controlled mobile manipulator mechanical arm of Three Degree Of Freedom nine connecting rod of Tape movement pair
CN101085521B (en) Simple three freedom degree manipulator
CN104369790B (en) A kind of biped robot's walking mechanism
CN103612681B (en) A kind of Form of Bionics Mechanical Legs
CN201922247U (en) Automated assembly line
CN104096998A (en) Multi-degree of freedom parallel mechanism type spot welding robot
CN204248331U (en) Novel power assisting manipulator
CN203818136U (en) Three-degree-of-freedom high-speed parallel-connection robot
CN101898357A (en) Modularized bionic wall climbing robot
CN105291097B (en) Three Degree Of Freedom turning robot
CN104552294B (en) A kind of large space six degree of freedom controllable-mechanism type manipulator
CN103737207A (en) Parallel-serial welding robot mechanism with six degrees of freedom
CN205148344U (en) Self -interacting mechanical gripper
CN202665434U (en) Glass-wiping robot
CN203266634U (en) Plane joint type simple manipulator
CN103192366B (en) Manipulator capable of rotating continuously
CN201776752U (en) Six-degree-of-freedom precise heavy-duty manipulator
CN105269563A (en) Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions
CN202318318U (en) Planar 3-degree-of-freedom parallel robot comprising supple joints

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20181114

Address after: 221000 Jiangsu Xuzhou Pizhou high tech Industrial Development Zone north of Binhu Avenue, west side of Taihu road.

Applicant after: Jiangsu de Rubo new energy automobile manufacturing 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.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20190515

Address after: 221000 Binhu Avenue 014, Pizhou High-tech Industrial Development Zone, Xuzhou City, Jiangsu Province

Patentee after: Friends of Acer new energy (Xuzhou) Co., Ltd.

Address before: 221000 Jiangsu Xuzhou Pizhou high tech Industrial Development Zone north of Binhu Avenue, west side of Taihu road.

Patentee before: Jiangsu de Rubo new energy automobile manufacturing Co., Ltd.

TR01 Transfer of patent right