CN106394725B - Micro-stepping robot - Google Patents
Micro-stepping robot Download PDFInfo
- Publication number
- CN106394725B CN106394725B CN201611136622.2A CN201611136622A CN106394725B CN 106394725 B CN106394725 B CN 106394725B CN 201611136622 A CN201611136622 A CN 201611136622A CN 106394725 B CN106394725 B CN 106394725B
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- gear
- linkage
- chebyshev
- drive
- drive gear
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of micro-stepping robot, including housing, preceding stepper motor, walking mechanism and steering mechanism；Walking mechanism includes gear drive, Chebyshev's linkage and foot, gear drive includes front and rear front drive gear, idler gear and the rear drive gear engaged successively, preceding stepper motor is connected by shaft coupling with idler gear, front and rear drive gear is respectively provided with gear shaft, and Chebyshev's linkage is driven by said gear axle；Steering mechanism includes drive gear, tooth sector, thrust ball bearing, base and steering wheel, drive gear and tooth sector are arranged horizontally and are intermeshed, the gear axis connection of steering wheel and drive gear, the bottom connection thrust ball bearing of the gear shaft of tooth sector, thrust ball bearing is located in the bearing block below housing, and the gear shaft of tooth sector is connected by split pin with base.The present invention is less demanding to ground flat degree, can cross over compared with low obstacle, and have steering characteristic.
Description
Technical field
The present invention relates to a kind of micro-stepping robot, belong to robotic technology field.
Background technology
Robot is exactly used for the installations for replacing the mankind to be operated, some heavy bodies from the point of view of its definition
Power works, it is not necessary to the repetitive operation of complexity thinking, can substitute worker by the robot that specially designs, by people from low
Freed in level work, can both improve productivity ratio, while the quality of production can also be improved.Consider abroad even domestic
The situation that aging constantly aggravates, the application of some service robots can also alleviate the awkward situation of manpower shortage.It is existing on the market
Some robots having are not that complicated cost higher position is that roller sub-line is walked, higher to the flatness requirement on ground, are met not
Demand generally.
The content of the invention
The technical problems to be solved by the invention are：Overcome the deficiencies in the prior art, there is provided a kind of micro-stepping robot, it is right
Ground flat degree is less demanding, can cross over compared with low obstacle, and have steering characteristic.
In order to solve the above-mentioned technical problem, the technical scheme is that：A kind of micro-stepping robot, including housing, advance
Motor, walking mechanism and steering mechanism, preceding stepper motor are arranged on housing；The walking mechanism includes gear drive, cut
Than snow husband's linkage and foot, wherein, gear drive include the front and rear front drive gear engaged successively, idler gear and
Rear drive gear, preceding stepper motor are connected by shaft coupling with idler gear, and front and rear drive gear is respectively provided with gear shaft, Chebyshev
Linkage is arranged on housing both sides, and is driven by said gear axle；The foot is arranged on Chebyshev's linkage
Lower section；The steering mechanism includes drive gear, tooth sector, thrust ball bearing, base and steering wheel, drive gear and steering tooth
Wheel is arranged horizontally and is intermeshed, the gear axis connection of steering wheel and drive gear, and provides steering power to drive gear,
The bottom connection thrust ball bearing of the gear shaft of tooth sector, thrust ball bearing are located in the bearing block below housing, turn to tooth
The gear shaft of wheel is connected by split pin with base.
Further for the movement locus realized the approximate mankind and walked about, Chebyshev's linkage by former lever, follower lever,
Intermediate bar and extension intermediate bar, and three connecting rods compositions, each rod member drive it by packing ring and connecting rod pin connection by former lever
Remaining rod member motion, to realize movement locus during approximate mankind's normal ambulation as robot leg, and can be crossed over shorter
Barrier.
Further for impact when reducing robot ambulation to ground, the walking mechanism also includes damping, subtracted
Mechanism is shaken between Chebyshev's linkage and foot, and the damping includes foot connecting plate and spring, and foot connects
Fishplate bar is bolted to connection to be connected in the bottom of Chebyshev's linkage, foot connecting plate by spring with foot.
Further for increase stability, Chebyshev's linkage is provided with four groups, is evenly distributed in housing altogether
Both sides.
Further, the former lever of Chebyshev's linkage passes through split pin and front drive gear or rear drive gear
Gear shaft fix realize synchronous axial system, so as to drive the motion of Chebyshev's linkage.
Further, the gear drive at housing cooperation with being equipped with deep groove ball bearing.
Above-mentioned technical proposal is employed, micro-stepping robot of the invention has people to walk using Chebyshev's linkage
The movement locus of road mode, this micro-stepping robot is advanced more steady, and shorter barrier can be crossed over, to the smooth of ground
Degree requires relatively low, and the scope of application is more extensive；The gear drive of the present invention utilizes idler gear, so that front and rear sliding tooth
The rotation direction unification of wheel, make front and rear drive gear constant velocity rotation in the same direction；The present invention is also in Chebyshev's linkage and foot
Damping is set up between portion, impact during reducing robot ambulation to ground, plays a part of damping；The present invention also has
Turning function, and rotational power is provided by steering wheel, housing is produced rotary motion, change nyctitropic purpose so as to reach；This hair
Bright micro-stepping robot architecture is simple, and structural behaviour is good, and cost is low, easy to operate, easy driving and control, intelligent, motion
Stationarity is good, is adapted to wide popularization and application.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the partial enlarged drawing of the bottom of the present invention；
Fig. 3 is the structural representation of the walking mechanism of the present invention；
Fig. 4 is the schematic diagram of Chebyshev's linkage of the present invention；
Fig. 5 is the structural representation of the steering mechanism of the present invention；
In figure, 1, housing, 2, bearing (ball) cover, 3, gear shaft, 4, former lever, 5, connecting rod, 6, packing ring, 7, link pin, 8, foot
Portion's connecting plate, 9, split pin, 10, intermediate bar and extend intermediate bar, 11, follower lever, 12, preceding stepper motor, 13, spring, 14, foot
Portion, 15, bolt, 16, thrust ball bearing, 17, base, 18, steering wheel, 19, rear drive gear, 20, shaft coupling, 21, idler gear,
22nd, front drive gear, 23, deep groove ball bearing, 24, drive gear, 25, tooth sector.
Embodiment
In order that present disclosure is easier to be clearly understood, it is right below according to specific embodiment and with reference to accompanying drawing
The present invention is described in further detail.
As shown in Figures 1 to 5, a kind of micro-stepping robot, including housing 1, preceding stepper motor 12, walking mechanism and turning machine
Structure, steering mechanism can realize the overall rotation of robot, change the direction of advance, and preceding stepper motor 12 is arranged on housing 1；Institute
Stating walking mechanism includes gear drive, Chebyshev's linkage and foot 14；
Wherein, gear drive includes front and rear front drive gear 22, idler gear 21 and the rear sliding tooth engaged successively
Wheel 19, preceding stepper motor 12 is connected by shaft coupling 20 with idler gear 21, and preceding stepper motor 12 is delivered to centre by shaft coupling 20
Gear 21, then front and rear drive gear is transmitted rotary movement to by idler gear 21 and realizes constant velocity rotation in the same direction；
Front and rear drive gear is respectively provided with gear shaft 3, and the gear shaft is arranged on housing 1 by bearing, and bearing has bearing
End cap 2, Chebyshev's linkage is arranged on the both sides of housing 1, and is driven by said gear axle；The foot 14 is arranged on and cut
Than the lower section for avenging husband's linkage；
The steering mechanism includes drive gear 24, tooth sector 25, thrust ball bearing 16, base 17 and steering wheel 18, drives
Moving gear 24 and tooth sector 25 are arranged horizontally and are intermeshed, the gear axis connection of steering wheel 18 and drive gear 24, and
Steering power, the bottom connection thrust ball bearing 16 of the gear shaft of tooth sector 25 are provided to drive gear 24, steering wheel 18 is fixed
In on housing 1, thrust ball bearing 16 is arranged in the bearing block of the lower section of housing 1, and the gear shaft of tooth sector 25 passes through split pin
It is connected with base 17.
Alternatively, as shown in Figure 1, Figure 3, Chebyshev's linkage is by former lever 4, follower lever 11, intermediate bar and extension
Intermediate bar 10, and three connecting rods 5 are formed, and each rod member is connected by packing ring 6 and link pin 7, and remaining rod member is driven by former lever 4
Motion, to realize movement locus during approximate mankind's normal ambulation as robot leg, and can cross over shorter barrier.
Specifically, as shown in Fig. 1, Fig. 3, Fig. 4, three connecting rods 5 and follower lever 11, the extension of Chebyshev's linkage
Intermediate bar, which is connected, forms parallelogram sturcutre, for keeping robot instep parallel with ground.
Preferably, as shown in Figure 1, Figure 3, the walking mechanism also includes damping, and damping is located at Chebyshev
Between linkage and foot 14, the damping includes foot connecting plate 8 and spring 13, and foot connecting plate 8 passes through bolt
15 are fixedly connected on the bottom of Chebyshev's linkage, and foot connecting plate 14 is connected by spring 13 with foot 14.
Preferably, as shown in Figure 1, Figure 3, Chebyshev's linkage is provided with four groups altogether, is evenly distributed in housing 1
Both sides.
Further, as shown in figure 3, the former lever 4 of Chebyshev's linkage passes through split pin 9 and front drive gear
22 or rear drive gear 19 gear shaft fix realize synchronous axial system, so as to drive the motion of Chebyshev's linkage.
Further, as shown in figure 3, the gear drive at the cooperation of housing 1 with being equipped with deep groove ball bearing 23.
The operation principle of the present invention is as follows：
Walking：As shown in Figure 1, 2, 3, preceding stepper motor 12 passes motion to idler gear 21 by shaft coupling 20, so as to
Drive the constant velocity rotation in the same direction of front drive gear 22 and rear drive gear 19；Because former lever 4 is by split pin 9 and front and rear drive
What the gear shaft of moving gear was connected, so rotation formula is passed to former lever 4 by front drive gear 22 and rear drive gear 19,
And driving follower lever 11, intermediate bar 10 and connecting rod 5 to move, motion principle is as shown in figure 4, the dotted line in figure is exactly the fortune of foot 14
Dynamic rail mark；Because there are four foots to be synchronized with the movement for this micro-stepping robot, when foot 14, which moves to, to be contacted with ground, you can flat
Steady drive housing 1 travels forward；When foot 14 moves to the position higher than base 17, then whole housing is supported by base 17
1, Chebyshev's linkage does the circulation for retracting action, i.e. one robot advance of completion of a level of approximation.
Turn to：As shown in figure 5, when micro-stepping robot needs adjustment direction, gap band that steering wheel 18 lifts in foot 14
Dynamic drive gear 24 rotates, and drive gear 24 drives tooth sector 25 to rotate, and because steering wheel 18 is fixed on housing 1, housing 1 is again
It is seated on thrust ball bearing 16, so housing 1 can produce rotary motion, changes nyctitropic purpose so as to reach.
The micro-stepping robot of the present invention has people to walk the movement locus of mode using Chebyshev's linkage, makes
The advance of this micro-stepping robot is more steady, and can cross over shorter barrier, the scope of application relatively low to the flatness requirement on ground
It is more extensive；The gear drive of the present invention utilizes idler gear 21, so that the rotation direction of front and rear drive gear is consistent
Change, make front and rear drive gear constant velocity rotation in the same direction；The present invention also sets up damping between Chebyshev's linkage and foot 14
Mechanism, impact during reducing robot ambulation to ground, plays a part of damping；The present invention also has a turning function, and by
Steering wheel 18 provides rotational power, housing 1 is produced rotary motion, changes nyctitropic purpose so as to reach；The micro-stepping machine of the present invention
Device people is simple in construction, and structural behaviour is good, and cost is low, easy to operate, easy driving and control, and intellectuality, robust motion are good, fits
Close wide popularization and application.
Particular embodiments described above, pair present invention solves the technical problem that, technical scheme and beneficial effect carry out
It is further described, should be understood that the specific embodiment that the foregoing is only the present invention, is not limited to this
Invention, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., should be included in this hair
Within bright protection domain.
Claims (6)
- A kind of 1. micro-stepping robot, it is characterised in that：Including housing (1), preceding stepper motor (12), walking mechanism and steering mechanism, Preceding stepper motor (12) is arranged on housing (1)；The walking mechanism includes gear drive, Chebyshev's linkage and foot Portion (14), wherein, gear drive includes the front and rear front drive gear (22) engaged successively, idler gear (21) and rear driving Gear (19), preceding stepper motor (12) are connected by shaft coupling (20) with idler gear (21), and front and rear drive gear is respectively provided with gear Axle (3), Chebyshev's linkage is arranged on housing (1) both sides, and is driven by said gear axle；Foot (14) installation In the lower section of Chebyshev's linkage；The steering mechanism includes drive gear (24), tooth sector (25), thrust ball bearing (16), base (17) and steering wheel (18), drive gear (24) and tooth sector (25) are arranged horizontally and are intermeshed, steering wheel (18) with the gear axis connection of drive gear (24), and steering power, the tooth of tooth sector (25) are provided to drive gear (24) The bottom connection thrust ball bearing (16) of wheel shaft, thrust ball bearing (16) are located in the bearing block below housing (1), tooth sector (25) gear shaft is connected by split pin with base (17).
- 2. micro-stepping robot according to claim 1, it is characterised in that：Chebyshev's linkage by former lever (4), from Lever (11), intermediate bar and extension intermediate bar (10), and three connecting rods (5) compositions, each rod member pass through packing ring (6) and link pin (7) connect, drive remaining rod member to move by former lever (4), during to realize approximate mankind's normal ambulation as robot leg Movement locus, and shorter barrier can be crossed over.
- 3. micro-stepping robot according to claim 2, it is characterised in that：The walking mechanism also includes damping, subtracts Shake mechanism is located between Chebyshev's linkage and foot (14), and the damping includes foot connecting plate (8) and spring (13), foot connecting plate (8) is fixedly connected on the bottom of Chebyshev's linkage, foot connecting plate (14) by bolt (15) It is connected by spring (13) with foot (14).
- 4. micro-stepping robot according to claim 1, it is characterised in that：Chebyshev's linkage is provided with four altogether Group, it is evenly distributed in the both sides of housing (1).
- 5. micro-stepping robot according to claim 4, it is characterised in that：The former lever of Chebyshev's linkage (4) fixed by the gear shaft of split pin (9) and front drive gear (22) or rear drive gear (19) and realize synchronous axial system, so as to Drive the motion of Chebyshev's linkage.
- 6. micro-stepping robot according to claim 1, it is characterised in that：The gear drive coordinates with housing (1) Place is equipped with deep groove ball bearing (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611136622.2A CN106394725B (en) | 2016-12-12 | 2016-12-12 | Micro-stepping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611136622.2A CN106394725B (en) | 2016-12-12 | 2016-12-12 | Micro-stepping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106394725A CN106394725A (en) | 2017-02-15 |
| CN106394725B true CN106394725B (en) | 2018-01-05 |
Family
ID=58085333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611136622.2A Active CN106394725B (en) | 2016-12-12 | 2016-12-12 | Micro-stepping robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106394725B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863280B (en) * | 2017-04-18 | 2020-02-18 | 刘澄 | Intelligent walking aid |
| CN109895944B (en) * | 2019-03-22 | 2020-04-07 | 上海海事大学 | Wall-climbing type ship welding seam detection robot |
| CN112644598B (en) * | 2020-12-31 | 2022-03-29 | 郑州大学 | Walking mechanical device |
| CN112758206A (en) * | 2021-02-09 | 2021-05-07 | 王思远 | Bionic four-footed wall-climbing robot based on link mechanism |
| CN114737569B (en) * | 2022-04-19 | 2024-03-08 | 北京工业大学 | Grass cutting mechanism based on chebyshev connecting rod |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6047773A (en) * | 1983-08-26 | 1985-03-15 | Agency Of Ind Science & Technol | Multi-leg walking machine |
| CN201343082Y (en) * | 2008-12-26 | 2009-11-11 | 上海师范大学 | Running mechanism of four-legged walking robot |
| CN101602382A (en) * | 2009-05-13 | 2009-12-16 | 上海工程技术大学 | A kind of single-drive four feet walking robot |
| CN202358215U (en) * | 2011-11-25 | 2012-08-01 | 广东岭南职业技术学院 | Mechanical leg mechanism and four-legged walker |
| CN103144693A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Leg mechanism for four-footed bionic robot |
| CN206265185U (en) * | 2016-12-12 | 2017-06-20 | 常州机电职业技术学院 | Micro-stepping robot |
-
2016
- 2016-12-12 CN CN201611136622.2A patent/CN106394725B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6047773A (en) * | 1983-08-26 | 1985-03-15 | Agency Of Ind Science & Technol | Multi-leg walking machine |
| CN201343082Y (en) * | 2008-12-26 | 2009-11-11 | 上海师范大学 | Running mechanism of four-legged walking robot |
| CN101602382A (en) * | 2009-05-13 | 2009-12-16 | 上海工程技术大学 | A kind of single-drive four feet walking robot |
| CN202358215U (en) * | 2011-11-25 | 2012-08-01 | 广东岭南职业技术学院 | Mechanical leg mechanism and four-legged walker |
| CN103144693A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Leg mechanism for four-footed bionic robot |
| CN206265185U (en) * | 2016-12-12 | 2017-06-20 | 常州机电职业技术学院 | Micro-stepping robot |
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| Publication number | Publication date |
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| CN106394725A (en) | 2017-02-15 |
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