CN106379438B - A kind of movement mechanism of single servo motor driving - Google Patents
A kind of movement mechanism of single servo motor driving Download PDFInfo
- 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
Links
- 210000001699 lower leg Anatomy 0.000 claims abstract description 93
- 210000000689 upper leg Anatomy 0.000 claims abstract description 77
- 210000002414 Leg Anatomy 0.000 claims abstract description 22
- 238000010586 diagrams Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 240000001307 Myosotis scorpioides Species 0.000 description 1
- 241001465382 Physalis alkekengi Species 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering processes Methods 0.000 description 1
- 238000000034 methods Methods 0.000 description 1
- 239000007787 solids Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
Abstract
Description
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)
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)
| 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 |
-
2016
- 2016-09-19 CN CN201610830276.1A patent/CN106379438B/en active IP Right Grant
Patent Citations (3)
| 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 |