CN106741287A - A kind of bipod walking robot mechanism with leg structure in parallel - Google Patents
A kind of bipod walking robot mechanism with leg structure in parallel Download PDFInfo
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- CN106741287A CN106741287A CN201710033669.4A CN201710033669A CN106741287A CN 106741287 A CN106741287 A CN 106741287A CN 201710033669 A CN201710033669 A CN 201710033669A CN 106741287 A CN106741287 A CN 106741287A
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- foot
- crotch
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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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Abstract
A kind of new bipod walking robot mechanism, is related to robotics, more particularly to a kind of new bipod walking robot mechanism.New bipod walking robot mechanism includes pedestal (1), first, second crotch's component (20 1,20 2), first to fourth runner assembly (30 1,30 2,30 3,30 4), first, second foot component (40 1,40 2)；First, second runner assembly (30 1,30 2) is fixedly connected with first crotch's component (20 1) and the first foot component (40 1) respectively, three, the 4th runner assemblies (30 3,30 4) are fixedly connected with second crotch's component (20 2) and the second foot component (40 2) respectively, and first, second crotch's component (20 1,20 2) is fixedly connected with pedestal (1).The present invention drives first to fourth runner assembly (30 1,30 2,30 3,30 4) to move by motor, drive first, second foot component (40 1,40 2) to realize that walking moves along a straight line, drive first, second crotch's component (20 1,20 2) to realize divertical motion by motor.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of bipod walking robot with leg structure in parallel
Mechanism.
Background technology
At present, the move mode of robot is mainly including wheeled, crawler type, creeping-type and mode etc. walking.Biped is walked
Row robot is relatively small due to its volume, and adaptability is good, and avoidance ability waits paid close attention to by domestic and foreign scholars by force.
At present, the leg structure of bipod walking robot is generally cascade, and has the double feet walking of parallel leg structure
Robot then rare people's research.Now inquire the four of Chinese patent CN201110314606.9, CN201110314611.X proposition
Sufficient bio-robot has used the leg structure of parallel form.Compared with the leg structure of cascade, the leg of parallel form
Structure can more lift the structural strength and stability of bipod walking robot, the heavy burden ability of hoisting machine people, with important
Meaning.This patent proposes a kind of bipod walking robot with leg structure in parallel.
The content of the invention
The problem to be solved in the present invention is to provide a kind of bipod walking robot mechanism with leg structure in parallel, can
Realize the double feet walking motion of any direction.
The present invention solve its technical problem use technical scheme be：
A kind of bipod walking robot mechanism with leg structure in parallel, the robot mechanism includes：Pedestal, first,
Second crotch's component, first to fourth runner assembly, first, second foot component.
The connection of first crotch's component and pedestal and first, second runner assembly：
First motor contact of the first runner assembly is fixedly connected with first crotch's pedestal of first crotch's component.Second
Second motor contact of runner assembly is fixedly connected with first crotch's pedestal of first crotch's component.The of first crotch's component
3rd crotch's connector of one crotch's pedestal is fixedly connected with pedestal.
The connection of second crotch's component and pedestal and the three, the 4th runner assemblies：
3rd motor contact of the 3rd runner assembly is fixedly connected with second crotch's pedestal of second crotch's component.4th
4th motor contact of runner assembly is fixedly connected with second crotch's pedestal of second crotch's component.The of second crotch's component
6th crotch's connector of two crotch's pedestals is fixedly connected with pedestal.
The connection of the first foot component and first, second runner assembly：
Second foot connector of the first foot component is movable with the seven-link assembly of the second turning discreteness by the 6th bearing pin
Connection.First foot connector of the first runner assembly is fixed by the first foot moving platform of bolt and the first foot component and connected
Connect.
The connection of the second foot component and the three, the 4th runner assemblies：
6th foot connector of the second foot component is by the 12nd bearing pin and the tenth double leval jib of the 4th runner assembly
It is flexibly connected.5th foot connector of the 3rd runner assembly is consolidated by the second foot moving platform of bolt and the second foot component
Fixed connection.
First crotch's component includes：5th motor, first crotch's pedestal, first, second, third crotch's connector, the tenth
7th, the 18th bearing.
Constitute the connection between the parts of first crotch's component：Second crotch's connector is bolted on the first crotch
On pedestal, the bearing hole of second crotch's connector is arranged on after the inner ring cooperation of the shaft shoulder and the 17th bearing of first crotch's component
It is interior, with mode connects for screw, second crotch's connector is arranged on after the inner ring cooperation of the shaft shoulder and the 18th bearing of the 3rd crotch's component
Bearing hole in, the 5th motor is bolted on the 3rd crotch's connector, first crotch's connector pass through key and the 5th
Motor coordinates.
Second crotch's component includes：6th motor, second crotch's pedestal, the four, the five, the 6th crotch's connectors, the tenth
9th, the 20th bearing.
Constitute the connection between the parts of second crotch's component：5th crotch's connector is bolted on the second crotch
On pedestal, the bearing hole of the 5th crotch's connector is arranged on after the inner ring cooperation of the shaft shoulder and the 19th bearing of the 4th crotch's component
It is interior, with mode connects for screw, the 5th crotch's connector is arranged on after the inner ring cooperation of the shaft shoulder and the 20th bearing of the 6th crotch's component
Bearing hole in, the 6th motor is bolted on the 6th crotch's connector, the 4th crotch's connector pass through key and the 6th
Motor coordinates.
First runner assembly includes：First motor, the first power transmission shaft, first shaft coupling, the first motor contact, first to
6th bearing, the first to the 6th end cap, the first to the 5th connecting rod, first to fourth bearing pin, the first foot connector.
Constitute the connection between the parts of the first runner assembly：First motor is fixed on the first motor contact, by
One connecting rod is put into the middle of the U-shaped mouth of the first motor contact without boss end, then the L ends of the first power transmission shaft penetrate a of U-shaped mouth
Hole, the hole without boss end of first connecting rod, the b holes of U-shaped mouth, first connecting rod without boss end and the first power transmission shaft by being bonded
Connect.First, second bearing be arranged on the first power transmission shaft S ends and L ends, and the U-shaped mouth installed in the first motor contact a, b
In hole, then first, second end cap is installed.The L ends of the first power transmission shaft are fixedly connected by first shaft coupling with the first motor.
Second connecting rod is placed in the bearing hole at first connecting rod boss end, the axial centre of second connecting rod is convex with first connecting rod
The bearing hole axial centre of you overlaps, then the bearing that the 3rd, fourth bearing are separately mounted to first connecting rod boss end both sides
Kong Zhong, its inner ring coordinates with the second connecting rod shaft shoulder respectively, and outer ring coordinates with the bearing hole on first connecting rod boss end both sides respectively.So
Three, the 4th end caps are installed afterwards.
5th connecting rod is placed in the bearing hole at the first foot connector boss end, the axial centre and first of the 5th connecting rod
The bearing hole axial centre of foot connector is overlapped, then the 5th, 6th bearing are separately mounted into the first foot connector both sides
Bearing hole in, its inner ring coordinates with the 5th connecting rod shaft shoulder respectively, and outer ring coordinates with the bearing hole of the first foot connector respectively.
Then five, the 6th end caps are installed.The two ends of third connecting rod are respectively by first, second bearing pin and the activity of the second, the 5th connecting rod
Connection.The two ends of fourth link are flexibly connected by the three, the 4th bearing pins with the second, the 5th connecting rod respectively.Second, third,
4th, the 5th connecting rod is linked to be a parallelogram.
The second turning discreteness includes：Second motor, second driving shaft, second shaft coupling, the second motor contact, the 7th,
8th bearing, the 7th to the 8th end cap, the 6th, seven-link assembly, the 5th bearing pin.
Constitute the connection between the parts of the second turning discreteness：Second motor is fixed on the second motor contact, by
The keyway end that has of six-bar linkage is put into the middle of the U-shaped mouth of the second motor contact, then the L ends of second driving shaft are penetrated a of U-shaped mouth
Hole, the hole, the b holes of U-shaped mouth that have keyway end of six-bar linkage.Six-bar linkage is connect by being bonded with second driving shaft.7th,
Eight bearings are arranged on the S ends and L ends of second driving shaft, and in a, b hole of the U-shaped mouth of the second motor contact, then
Seven, the 8th end caps are installed, the L ends of second driving shaft are fixedly connected by second shaft coupling with the second motor.Six-bar linkage is another
One end is flexibly connected by the 5th bearing pin with the U-shaped end of seven-link assembly.
3rd runner assembly includes：3rd motor, the 3rd power transmission shaft, the 3rd shaft coupling, the 3rd motor contact, the 9th to
14th bearing, the 9th to the 14th end cap, the 8th to the 12nd connecting rod, the 7th to the tenth bearing pin, the 5th foot connector.
Constitute the connection between the parts of the 3rd runner assembly：3rd motor is fixed on the 3rd motor contact, by
Eight connecting rods are put into the middle of the U-shaped mouth of the 3rd motor contact without boss end, then the L ends of the 3rd power transmission shaft penetrate a of U-shaped mouth
Hole, the hole without boss end of the 8th connecting rod, the b holes of U-shaped mouth, the 8th connecting rod without boss end and the 3rd power transmission shaft by being bonded
Connect.Nine, the tenth bearings be arranged on the 3rd power transmission shaft S ends and L ends, and the U-shaped mouth installed in the 3rd motor contact a, b
In hole, then the nine, the tenth end caps are installed.The L ends of the 3rd power transmission shaft are fixedly connected by the 3rd shaft coupling with the 3rd motor.
9th connecting rod is placed in the bearing hole at the 8th connecting rod boss end, the axial centre of the 9th connecting rod is convex with the 8th connecting rod
The bearing hole axial centre of you is overlapped, then the 11st, the 12nd bearing is separately mounted into the 8th connecting rod boss end both sides
In bearing hole, its inner ring coordinates with the 9th connecting rod shaft shoulder respectively, and bearing hole of the outer ring respectively with the 8th connecting rod boss end both sides is matched somebody with somebody
Close.Then 11st, the 12nd end cap is installed.
12nd connecting rod is placed in the bearing hole at the 5th foot connector boss end, the axial centre of the 12nd connecting rod with
The bearing hole axial centre of the 5th foot connector is overlapped, then the 13rd, the 14th bearing is separately mounted into the 5th foot company
In the bearing hole on fitting both sides, its inner ring respectively with the 12nd connecting rod shaft shoulder coordinate, outer ring respectively with the 5th foot connector
Bearing hole coordinates.Then 13rd, the 14th end cap is installed.The two ends of the tenth connecting rod are respectively by the 7th, the 8th bearing pin and the
9th, the 12nd connecting rod is flexibly connected.The two ends of the 11st connecting rod pass through the nine, the tenth bearing pins and the nine, the 12nd connecting rods respectively
It is flexibly connected.Nine, the ten, the 11st, the 12nd connecting rod is linked to be a parallelogram.
4th runner assembly includes：4th motor, the 4th power transmission shaft, the 4th shaft coupling, the 4th motor contact, the tenth
5th, the 16th bearing, the 15th, the 16th end cap, the 13rd, the tenth double leval jib, the 11st bearing pin.
Constitute the connection between the parts of the 4th runner assembly：4th motor is fixed on the 4th motor contact, by
The keyway end that has of 13 connecting rods is put into the middle of the U-shaped mouth of the 4th motor contact, then the L ends of the 4th power transmission shaft are penetrated into U-shaped mouth
A holes, the hole, the b holes of U-shaped mouth that have keyway end of the 13rd connecting rod.13rd connecting rod is connect by being bonded with the 4th power transmission shaft.
15th, the 16th bearing be arranged on the 4th power transmission shaft S ends and L ends, and installed in the 4th motor contact U-shaped mouth a,
In b holes, then the 15th, the 16th end cap is installed, the L ends of the 4th power transmission shaft are fixed by the 4th shaft coupling and the 4th motor and connected
Connect.The 13rd connecting rod other end is flexibly connected by the 11st bearing pin with the U-shaped end of the tenth double leval jib.
First foot component includes：Second, third, the 4th foot connector, the first foot, the first foot moving platform.
Constitute the connection between the parts of the first foot component：Second foot connector is dynamic flat by bolt and the first foot
Platform short side is fixedly connected, and the same side of the three, the 4th foot connectors is fixedly connected by bolt with the first foot, and opposite side leads to
Bolt is crossed to be fixedly connected with the first foot moving platform.
Second foot component includes：Six, the seven, the 8th foot connectors, the second foot, the second foot moving platform.
Constitute the connection between the parts of the second foot component：6th foot connector is dynamic flat by bolt and the second foot
Platform short side is fixedly connected, and the same side of the seven, the 8th foot connectors is fixedly connected by bolt with the second foot, and opposite side leads to
Bolt is crossed to be fixedly connected with the first foot moving platform.
The present invention is compared with prior art and had the advantage that：
By the first to the 6th motor as the input moved, first to fourth motor drives first to fourth to rotate to the present invention
Component drives the movement of first, second foot component, realizes the walking movement of walking robot, the five, the 6th motors drive first,
Second crotch's component, realizes the omnirange walking movement of walking robot.
A kind of bipod walking robot mechanism is provided, the omnirange walking movement of robot can be realized.
Brief description of the drawings
A kind of one of component diagrams of bipod walking robot mechanism with leg structure in parallel of Fig. 1.
The two of a kind of component diagrams of the bipod walking robot mechanism with leg structure in parallel of Fig. 2.
A kind of one of structural representations of bipod walking robot mechanism with leg structure in parallel of Fig. 3.
The two of a kind of structural representations of the bipod walking robot mechanism with leg structure in parallel of Fig. 4.
Fig. 5 the first runner assembly schematic diagrames.
Fig. 6 the first runner assembly exploded perspective views.
Fig. 7 the second turning discreteness schematic diagrames.
Fig. 8 the second turning discreteness exploded perspective views.
The first crotch of Fig. 9 component diagram.
The first crotch of Figure 10 component exploded perspective view.
Figure 11 the first foot component schematic diagrames.
Figure 12 the first foot component exploded perspective views.
The connection figure of the connecting rods of Figure 13 the 5th and the first foot connector.
The connection figure of Figure 14 first connecting rods and second connecting rod.
The connection figure of Figure 15 second connecting rods and third connecting rod.
The connection figure of Figure 16 six-bar linkages and seven-link assembly.
The connection figure of Figure 17 six-bar linkages and the second motor contact.
The connection figure of Figure 18 the second crotch connectors and the first, the 3rd crotch's connector.
Figure 19 pedestal schematic diagrames.
The crotch's pedestal schematic diagrames of Figure 20 first, second.
The motor contact schematic diagrames of Figure 21 first, second, third, fourth.
The power transmission shaft schematic diagrames of Figure 22 first, second, third, fourth.
Figure 23 second, the 6th foot connector schematic diagram.
Figure 24 first, the 8th connecting rod schematic diagram.
Figure 25 second, the five, the nine, the 12nd connecting rod schematic diagrames.
The connecting rod schematic diagrames of Figure 26 the three, the four, the ten, the 11st.
The connecting rod schematic diagrames of Figure 27 the six, the 13rd.
The double leval jib schematic diagrames of Figure 28 the seven, the tenth.
Figure 29 first, the seven, the nine, the 15th end cap schematic diagrames.
Figure 30 second to the six, the tenth to the 14th, the 16th end cap schematic diagram.
The foot moving platform schematic diagrames of Figure 31 first, second.
The foot schematic diagrames of Figure 32 first, second.
Figure 33 first, the 5th foot connector schematic diagram.
The foot connector schematic diagrames of Figure 34 the three, the four, the seven, the 8th.
Figure 35 second, the 5th crotch's connector schematic diagram.
Figure 36 first, the 4th crotch's connector schematic diagram.
The crotch's connector schematic diagrames of Figure 37 the three, the 6th.
The shaft coupling schematic diagrames of Figure 38 first, second, third, fourth.
A kind of straight line walking gait decomposition elevation of bipod walking robot mechanisms with leg structure in parallel of Figure 39.
A kind of straight line walking gait decomposition side view of bipod walking robot mechanisms with leg structure in parallel of Figure 40.
A kind of steering gait decomposition elevations of the bipod walking robot mechanism with leg structure in parallel of Figure 41.
A kind of steering gait decomposition side views of the bipod walking robot mechanism with leg structure in parallel of Figure 42.
In figure：Pedestal 1, first, second crotch component 20-1,20-2, first to fourth runner assembly 30-1,30-2,30-
3rd, 30-4, first, second foot component 40-1,40-2, first, second crotch moving platform 2-1,2-2, the first to the tenth double leval jib
3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8,3-9,3-10,3-11,3-12,3-13,3-14, first, second foot are moved
Platform 4-1,4-2, first, second foot 5-1,5-2, first to the 6th crotch connector 6-1,6-2,6-3,6-4,6-5,6-6,
First to fourth motor contact 7-1,7-2,7-3,7-4, first to fourth shaft coupling 8-1,8-2,8-3,8-4, first to
Four power transmission shaft 9-1,9-2,9-3,9-4, first to the 6th motor 10-1,10-2,10-3,10-4,10-5,10-6, first to
Eight foot connector 11-1,11-2,11-3,11-4,11-5,11-6,11-7,11-8, first to the 20th bearing 12-1,12-
2、12-3、12-4、12-5、12-6、12-7、12-8、12-9、12-10、12-11、12-12、12-13、12-14、12-15、12-
16th, 12-17,12-18,12-19,12-20, first to the 16th end cap 13-1,13-2,13-3,13-4,13-5,13-6,13-
7th, 13-8,13-9,13-10,13-11,13-12,13-13,13-14,13-15,13-16, the first to the 12nd bearing pin 21-1,
21-2、21-3、21-4、21-5、21-6、21-7、21-8、21-9、21-10、21-11、21-12。
Specific embodiment
With reference to accompanying drawing, the present invention will be further described.
A kind of bipod walking robot mechanism with leg structure in parallel, as shown in Figure 1,2,3, 4, the robot mechanism
Including：Pedestal 1, first, second crotch component 20-1,20-2, first to fourth runner assembly 30-1,30-2,30-3,30-4,
First, second foot component 40-1,40-2.
The connection of the first crotch component 20-1 and pedestal 1 and first, second runner assembly 30-1,30-2：
The first crotch pedestal 2- of the first motor contact 7-1 of the first runner assembly 30-1 and the first crotch component 20-1
1 is fixedly connected.First crotch's pedestal of the second motor contact 7-2 of the second turning discreteness 30-2 and the first crotch component 20-1
2-1 is fixedly connected.The 3rd crotch connector 6-3 of the first crotch pedestal 2-1 of the first crotch component 20-1 is fixed with pedestal 1 and connected
Connect.
The connection of the second crotch component 20-2 and pedestal 1 and the three, the 4th runner assembly 30-3,30-4：
The second crotch pedestal 2- of the 3rd motor contact 7-3 of the 3rd runner assembly 30-3 and the second crotch component 20-2
2 are fixedly connected.Second crotch's pedestal of the 4th motor contact 7-4 of the 4th runner assembly 30-4 and the second crotch component 20-2
2-2 is fixedly connected.The 6th crotch connector 6-6 of the second crotch pedestal 2-2 of the second crotch component 20-2 is fixed with pedestal 1 and connected
Connect.
The connection of the first foot component 40-1 and first, second runner assembly 30-1,30-2：
The second foot connector 11-2 of the first foot component 40-1 is by the 6th bearing pin 21-6 and the second turning discreteness 30-
2 seven-link assembly 3-7 is flexibly connected.The first foot connector 11-1 of the first runner assembly 30-1 passes through bolt and the first foot
The first foot moving platform 4-1 of component 40-1 is fixedly connected.
The connection of the second foot component 40-2 and the three, the 4th runner assembly 30-3,30-4：
The 6th foot connector 11-6 of the second foot component 40-2 passes through the 12nd bearing pin 21-12 and the 4th runner assembly
The tenth double leval jib 3-14 of 30-4 is flexibly connected.The 5th foot connector 11-5 of the 3rd runner assembly 30-3 is by bolt and the
The second foot moving platform 4-2 of two foot component 40-2 is fixedly connected.
First crotch component 20-1 as shown in Fig. 9,10,18, including：5th motor 10-5, the first crotch pedestal 2-1, the
First, second, third crotch connector 6-1,6-2,6-3, the 17th, the 18th bearing 12-17,12-18.
Constitute the connection between the parts of the first crotch component 20-1：Second crotch connector 6-2 is bolted on
On first crotch pedestal 2-1, the shaft shoulder of the first crotch component 6-1 and the inner ring of the 17th bearing 12-17 are arranged on the after coordinating
In the bearing hole of two crotch connector 6-2, with mode connects for screw, the shaft shoulder of the 3rd crotch component 6-3 and the 18th bearing 12-18's
Inner ring is arranged in the bearing hole of the second crotch connector 6-2 after coordinating, and the 5th motor 10-5 is bolted on the 3rd hip
On portion connector 6-3, the first crotch connector 6-1 is by key and the 5th motor 10-5 cooperations.
Second crotch component 20-2 is identical with the first crotch component 20-1.
First runner assembly 30-1 as shown in Fig. 5,6,13,14,15, including：First motor 10-1, the first power transmission shaft 9-1,
First shaft coupling 8-1, the first motor contact 7-1, the first to 6th bearing 12-1,12-2,12-3,12-4,12-5,12-6,
First to the 6th end cap 13-1,13-2,13-3,13-4,13-5,13-6, first to the 5th connecting rod 3-1,3-2,3-3,3-4,3-
5, first to fourth bearing pin 21-1,21-2,21-3,21-4, the first foot connector 11-1.
Constitute the connection between the parts of the first runner assembly 30-1：First motor 10-1 is fixed on the first motor contact
On 7-1, by being put into the middle of the U-shaped mouth of the first motor contact 7-1 without boss end for first connecting rod 3-1, then by the first power transmission shaft
The L ends of 9-1 penetrate a holes of U-shaped mouth, the hole without boss end of first connecting rod 3-1, the b holes of U-shaped mouth, first connecting rod 3-1 without convex
You is connect with the first power transmission shaft 9-1 by being bonded.First, second bearing 12-1,12-2 is arranged on the L ends of the first power transmission shaft 9-1
In S ends, and a, b hole of U-shaped mouth installed in the first motor contact 7-1, then first, second end cap 13-1,13- be installed
2.The L ends of the first power transmission shaft 9-1 are fixedly connected by first shaft coupling 8-1 with the first motor 10-1.
Second connecting rod 3-2 is placed in the bearing hole at first connecting rod 3-1 boss end, the axial centre of second connecting rod 3-2 with
The bearing hole axial centre at first connecting rod 3-1 boss end is overlapped, then the 3rd, fourth bearing 12-3,12-4 are separately mounted into the
In the bearing hole at one connecting rod 3-1 boss end both sides, its inner ring coordinates with the second connecting rod 3-2 shaft shoulders respectively, and outer ring is respectively with first
The bearing hole on connecting rod 3-1 boss end both sides coordinates.Then three, the 4th end cap 13-3,13-4 are installed.
5th connecting rod 3-5 is placed in the bearing hole at the first foot connector 11-1 boss end, the axial direction of the 5th connecting rod 3-5
Center is overlapped with the bearing hole axial centre of the first foot connector 11-1, then the 5th, 6th bearing 12-5,12-6 are pacified respectively
In the bearing hole on the first foot connector 11-1 both sides, its inner ring coordinates with the 5th connecting rod 3-5 shaft shoulders respectively, outer ring difference
Bearing hole with the first foot connector 11-1 coordinates.Then five, the 6th end cap 13-5,13-6 are installed.Third connecting rod 3-3's
Two ends are flexibly connected by first, second bearing pin 21-1,21-2 with the second, the 5th connecting rod 3-2,3-5 respectively.Fourth link 3-4
Two ends be flexibly connected with the second, the 5th connecting rod 3-2,3-5 by the three, the 4th bearing pin 21-3,21-4 respectively.Second, third,
Four, the 5th connecting rod 3-2,3-3,3-4,3-5 are linked to be a parallelogram.
3rd runner assembly 30-3 is identical with the first runner assembly 30-1.
The second turning discreteness 30-2 as shown in Fig. 7,8,16,17, including：Second motor 10-2, second driving shaft 9-2, the
Two shaft coupling 8-2, the second motor contact 7-2, the 7th, 8th bearing 12-7,12-8, the 7th to the 8th end cap 13-7,13-8,
6th, seven-link assembly 3-6,3-7, the 5th bearing pin 21-5.
Constitute the connection between the parts of the second turning discreteness 30-2：Second motor 10-2 is fixed on the second motor contact
On 7-2, the keyway end that has of six-bar linkage 3-6 is put into the middle of the U-shaped mouth of the second motor contact 7-2, then by second driving shaft
The L ends of 9-2 penetrate the hole, the b holes of U-shaped mouth that have keyway end of a holes of U-shaped mouth, six-bar linkage 3-6.Six-bar linkage 3-6 with
Two power transmission shaft 9-2 are connect by being bonded.7th, 8th bearing 12-7,12-8 is arranged on the L ends and S ends of second driving shaft 9-2, and
In a, b hole of the U-shaped mouth of the second motor contact 7-2, then the seven, the 8th end cap 13-7,13-8 are installed, second passes
The L ends of moving axis 9-2 are fixedly connected by second shaft coupling 8-2 with the second motor 10-2.The six-bar linkage 3-6 other ends pass through the 5th
Bearing pin 21-5 is flexibly connected with the U-shaped end of seven-link assembly 3-7.
4th runner assembly 30-4 is identical with the second turning discreteness 30-2.
First foot component 40-1 as shown in Figure 11,12, including：Second, third, the 4th foot connector 11-2,11-3,
11-4, the first foot 5-1, the first foot moving platform 4-1.
Constitute the connection between the parts of the first foot component 40-1：Second foot connector 11-2 passes through bolt and first
Foot moving platform 4-1 short sides are fixedly connected, and the same side of the three, the 4th foot connector 11-3,11-4 passes through bolt and first
Foot 5-1 is fixedly connected, and opposite side is fixedly connected by bolt with the first foot moving platform 4-1.
Second foot component 40-2 is identical with the first foot component 40-1.
Rectilinear movement function of the robot on road surface is realized, straight line walking gait decomposes such as Figure 39, shown in 40, comprising following
The rate-determining steps of order：
Step a1, adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot perpendicular
Nogata rises upwards；
Step a2 adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot in level
Side advances up；
Step a3, adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot perpendicular
Nogata declines upwards；
Step a4, first, second motor of adjustment (10-1,10-2) makes first foot component (40-1) of robot perpendicular
Nogata rises upwards；
Step a5, first, second motor of adjustment (10-1,10-2), makes first foot component (40-1) of robot in water
Square advance up；
Step a6, first, second motor of adjustment (10-1,10-2) makes first foot component (40-1) of robot perpendicular
Nogata declines upwards；
Walking advance cycle gait of robot is completed with this, the walking advance gait in multiple cycles can realize machine
Rectilinear movement function of the device people on road surface；
Turning function of the robot on road surface is realized, gait is turned to and is decomposed such as Figure 41, shown in 42, the control comprising following order
Step processed：
Step b1, adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot perpendicular
Nogata rises upwards；
Step b2, adjusts the 6th motor (10-6), second crotch's component (20-2) of robot is driven the 3rd, the 4th turn
Dynamic component (30-3,30-4) and the second foot component (40-2) are realized rotating；
Step b3, adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot perpendicular
Nogata declines upwards；
Step b4, first, second motor of adjustment (10-1,10-2) makes first foot component (40-1) of robot perpendicular
Nogata rises upwards；
Step b5, adjusts the 5th motor (10-5), and keeps being turned to the 6th motor (10-6) identical, makes robot
First crotch's component (20-1) drives first, second runner assembly (30-1,30-2) and the first foot component (40-1) to realize turning
It is dynamic；
Step b6, first, second motor of adjustment (10-1,10-2) makes second foot component (40-1) of robot perpendicular
Nogata declines upwards；
A steering cycle gait of robot is completed with this.
Claims (2)
1. a kind of bipod walking robot mechanism with leg structure in parallel, the robot mechanism includes：Pedestal (1), first,
Second crotch's component (20-1,20-2), first to fourth runner assembly (30-1,30-2,30-3,30-4), first, second foot
Component (40-1,40-2)；
The connection of first crotch's component (20-1) and pedestal (1) and first, second runner assembly (30-1,30-2)：
First crotch's pedestal of first motor contact (7-1) of the first runner assembly (30-1) and first crotch's component (20-1)
(2-1) is fixedly connected；The of second motor contact (7-2) of the second turning discreteness (30-2) and first crotch's component (20-1)
One crotch's pedestal (2-1) is fixedly connected；3rd crotch's connector of first crotch's pedestal (2-1) of first crotch's component (20-1)
(6-3) is fixedly connected with pedestal (1)；
The connection of second crotch's component (20-2) and pedestal (1) and the three, the 4th runner assemblies (30-3,30-4)：
3rd motor contact (7-3) of the 3rd runner assembly (30-3) and second crotch's pedestal of second crotch's component (20-2)
(2-2) is fixedly connected；The of 4th motor contact (7-4) of the 4th runner assembly (30-4) and second crotch's component (20-2)
Two crotch's pedestals (2-2) are fixedly connected；6th crotch's connector of second crotch's pedestal (2-2) of second crotch's component (20-2)
(6-6) is fixedly connected with pedestal (1)；
The connection of the first foot component (40-1) and first, second runner assembly (30-1,30-2)：
Second foot connector (11-2) of the first foot component (40-1) passes through the 6th bearing pin (21-6) and the second turning discreteness
The seven-link assembly (3-7) of (30-2) is flexibly connected；First foot connector (11-1) of the first runner assembly (30-1) passes through spiral shell
Bolt is fixedly connected with the first foot moving platform (4-1) of the first foot component (40-1)；
The connection of the second foot component (40-2) and the three, the 4th runner assemblies (30-3,30-4)：
6th foot connector (11-6) of the second foot component (40-2) is by the 12nd bearing pin (21-12) and the 4th rotating group
Tenth double leval jib (3-14) of part (30-4) is flexibly connected；5th foot connector (11-5) of the 3rd runner assembly (30-3) leads to
Bolt is crossed to be fixedly connected with the second foot moving platform (4-2) of the second foot component (40-2)；
First crotch's component (20-1) includes：5th motor (10-5), first crotch's pedestal (2-1), first, second, third hip
Portion's connector (6-1,6-2,6-3), the 17th, the 18th bearing (12-17,12-18)；
Constitute the connection between the parts of first crotch's component (20-1)：Second crotch's connector (6-2) is bolted on
On first crotch's pedestal (2-1), pacify after the inner ring cooperation of the shaft shoulder and the 17th bearing (12-17) of first crotch's component (6-1)
In the bearing hole of second crotch's connector (6-2), with mode connects for screw, the shaft shoulder and the 18th of the 3rd crotch's component (6-3)
The inner ring of bearing (12-18) is arranged in the bearing hole of second crotch's connector (6-2) after coordinating, and the 5th motor (10-5) passes through
It is bolted on the 3rd crotch's connector (6-3), first crotch's connector (6-1) is matched somebody with somebody by key with the 5th motor (10-5)
Close；
Second crotch's component (20-2) includes：6th motor (10-6), second crotch's pedestal (2-2), the four, the five, the 6th hips
Portion's connector (6-4,6-5,6-6), the 19th, the 20th bearing (12-19,12-20)；
Constitute the connection between the parts of second crotch's component (20-2)：5th crotch's connector (6-5) is bolted on
On second crotch's pedestal (2-2), pacify after the inner ring cooperation of the shaft shoulder and the 19th bearing (12-19) of the 4th crotch's component (6-4)
In the bearing hole of the 5th crotch's connector (6-5), with mode connects for screw, the shaft shoulder and the 20th of the 6th crotch's component (6-6)
The inner ring of bearing (12-20) is arranged in the bearing hole of the 5th crotch's connector (6-5) after coordinating, and the 6th motor (10-6) passes through
It is bolted on the 6th crotch's connector (6-6), the 4th crotch's connector (6-4) is matched somebody with somebody by key with the 6th motor (10-6)
Close；
First runner assembly (30-1) includes：First motor (10-1), the first power transmission shaft (9-1), first shaft coupling (8-1), the
One motor contact (7-1), the first to 6th bearing (12-1,12-2,12-3,12-4,12-5,12-6), the first to the 6th end
Lid (13-1,13-2,13-3,13-4,13-5,13-6), the first to the 5th connecting rod (3-1,3-2,3-3,3-4,3-5), first to
4th bearing pin (21-1,21-2,21-3,21-4), the first foot connector (11-1)；
Constitute the connection between the parts of the first runner assembly (30-1)：First motor (10-1) is fixed on the first motor contact
On (7-1), by being put into the middle of the U-shaped mouth of the first motor contact (7-1) without boss end for first connecting rod (3-1), then by first
The L ends of power transmission shaft (9-1) penetrate a holes of U-shaped mouth, the hole without boss end of first connecting rod (3-1), the b holes of U-shaped mouth, and first connects
Bar (3-1) is connect without boss end and the first power transmission shaft (9-1) by being bonded；First, second bearing (12-1,12-2) is arranged on the
In the S ends and L ends of one power transmission shaft (9-1), and a, b hole of U-shaped mouth installed in the first motor contact (7-1), then install
First, second end cap (13-1,13-2)；The L ends of the first power transmission shaft (9-1) are by first shaft coupling (8-1) and the first motor
(10-1) is fixedly connected；
Second connecting rod (3-2) is placed in the bearing hole at first connecting rod (3-1) boss end, the axial centre of second connecting rod (3-2)
Bearing hole axial centre with first connecting rod (3-1) boss end is overlapped, then the 3rd, fourth bearing (12-3,12-4) is pacified respectively
In the bearing hole on first connecting rod (3-1) boss end both sides, its inner ring coordinates with second connecting rod (3-2) shaft shoulder respectively, outer ring
The bearing hole with first connecting rod (3-1) boss end both sides coordinates respectively；Three, the 4th end caps (13-3,13-4) are then installed；
5th connecting rod (3-5) is placed in the bearing hole at the first foot connector (11-1) boss end, the axle of the 5th connecting rod (3-5)
Overlapped with the bearing hole axial centre of the first foot connector (11-1) to center, then by the 5th, 6th bearing (12-5,12-6)
It is separately mounted in the bearing hole on first foot connector (11-1) both sides, its inner ring is matched somebody with somebody with the 5th connecting rod (3-5) shaft shoulder respectively
Close, outer ring coordinates with the bearing hole of the first foot connector (11-1) respectively；Then five, the 6th end cap (13-5,13- are installed
6)；The two ends of third connecting rod (3-3) are respectively by first, second bearing pin (21-1,21-2) and the second, the 5th connecting rod (3-2,3-
5) it is flexibly connected；The two ends of fourth link (3-4) are respectively by the three, the 4th bearing pins (21-3,21-4) and the second, the 5th connecting rod
(3-2,3-5) is flexibly connected；Second, third, fourth, fifth connecting rod (3-2,3-3,3-4,3-5) is linked to be a parallelogram；
The second turning discreteness (30-2) includes：Second motor (10-2), second driving shaft (9-2), second shaft coupling (8-2), the
Two motor contacts (7-2), the 7th, 8th bearing (12-7,12-8), the 7th to the 8th end cap (13-7,13-8), the 6th,
Seven-link assembly (3-6,3-7), the 5th bearing pin (21-5)；
Constitute the connection between the parts of the second turning discreteness (30-2)：Second motor (10-2) is fixed on the second motor contact
On (7-2), the keyway end that has of six-bar linkage (3-6) is put into the middle of the U-shaped mouth of the second motor contact (7-2), then by second
The L ends of power transmission shaft (9-2) penetrate the hole, the b holes of U-shaped mouth that have keyway end of a holes of U-shaped mouth, six-bar linkage (3-6)；6th connects
Bar (3-6) is connect by being bonded with second driving shaft (9-2)；7th, 8th bearing (12-7,12-8) is arranged on second driving shaft
In the S ends and L ends of (9-2), and a, b hole of U-shaped mouth installed in the second motor contact (7-2), the seven, the 8th are then installed
End cap (13-7,13-8), the L ends of second driving shaft (9-2) connect by the way that second shaft coupling (8-2) and the second motor (10-2) are fixed
Connect；Six-bar linkage (3-6) other end is flexibly connected by the 5th bearing pin (21-5) with the U-shaped end of seven-link assembly (3-7)；
3rd runner assembly (30-3) includes：3rd motor (10-3), the 3rd power transmission shaft (9-3), the 3rd shaft coupling (8-3), the
Three motor contacts (7-3), the 9th to the 14th bearing (12-9,12-10,12-11,12-12,12-13,12-14), the 9th to
14th end cap (13-9,13-10,13-11,13-12,13-13,13-14), the 8th to the 12nd connecting rod (3-8,3-9,3-10,
3-11,3-12), the 7th to the tenth bearing pin (21-7,21-8,21-9,21-10), the 5th foot connector (11-5)；
Constitute the connection between the parts of the 3rd runner assembly (30-3)：3rd motor (10-3) is fixed on the 3rd motor contact
On (7-3), by being put into the middle of the U-shaped mouth of the 3rd motor contact (7-3) without boss end for the 8th connecting rod (3-8), then by the 3rd
The L ends of power transmission shaft (9-3) penetrate a holes of U-shaped mouth, the hole without boss end of the 8th connecting rod (3-8), the b holes of U-shaped mouth, and the 8th connects
Bar (3-8) is connect without boss end and the 3rd power transmission shaft (9-3) by being bonded；Nine, the tenth bearings (12-9,12-10) are arranged on
In the S ends and L ends of the 3rd power transmission shaft (9-3), and a, b hole of U-shaped mouth installed in the 3rd motor contact (7-3), Ran Houan
Fill the nine, the tenth end caps (13-9,13-10)；The L ends of the 3rd power transmission shaft (9-3) are by the 3rd shaft coupling (8-3) and the 3rd motor
(10-3) is fixedly connected；
9th connecting rod (3-9) is placed in the bearing hole at the 8th connecting rod (3-8) boss end, the axial centre of the 9th connecting rod (3-9)
Bearing hole axial centre with the 8th connecting rod (3-8) boss end overlaps, then by the 11st, the 12nd bearing (12-11,12-12)
It is separately mounted in the bearing hole on the 8th connecting rod (3-8) boss end both sides, its inner ring is matched somebody with somebody with the 9th connecting rod (3-9) shaft shoulder respectively
Close, outer ring coordinates with the bearing hole on the 8th connecting rod (3-8) boss end both sides respectively；Then 11st, the 12nd end cap is installed
(13-11、13-12)；
12nd connecting rod (3-12) is placed in the bearing hole at the 5th foot connector (11-5) boss end, the 12nd connecting rod (3-
12) axial centre overlaps with the bearing hole axial centre of the 5th foot connector (11-5), then by the 13rd, the 14th bearing
(12-13,12-14) is separately mounted in the bearing hole on the 5th foot connector (11-5) both sides, and its inner ring is respectively with the 12nd
Connecting rod (3-12) shaft shoulder coordinates, and outer ring coordinates with the bearing hole of the 5th foot connector (11-5) respectively；Then install the 13rd,
14th end cap (13-13,13-14)；The two ends of the tenth connecting rod (3-10) pass through the seven, the 8th bearing pins (21-7,21-8) respectively
It is flexibly connected with the nine, the 12nd connecting rods (3-9,3-12)；The two ends of the 11st connecting rod (3-11) are respectively by the nine, the tenth pins
Axle (21-9,21-10) is flexibly connected with the nine, the 12nd connecting rods (3-9,3-12)；Nine, the ten, the 11st, the 12nd connecting rod
(3-9,3-10,3-11,3-12) is linked to be a parallelogram；
4th runner assembly (30-4) includes：4th motor (10-4), the 4th power transmission shaft (9-4), the 4th shaft coupling (8-4), the
Four motor contacts (7-4), the 15th, the 16th bearing (12-15,12-16), the 15th, the 16th end cap (13-15,13-
16), the 13rd, the tenth double leval jib (3-13,3-14), the 11st bearing pin (21-11)；
Constitute the connection between the parts of the 4th runner assembly (30-4)：4th motor (10-4) is fixed on the 4th motor contact
On (7-4), the keyway end that has of the 13rd connecting rod (3-13) is put into the middle of the U-shaped mouth of the 4th motor contact (7-4), then by
The L ends of four power transmission shafts (9-4) penetrate the hole, the b holes of U-shaped mouth that have keyway end of a holes of U-shaped mouth, the 13rd connecting rod (3-13)；The
13 connecting rods (3-13) are connect by being bonded with the 4th power transmission shaft (9-4)；15th, the 16th bearing (12-15,12-16) is pacified
Mounted in the S ends and L ends of the 4th power transmission shaft (9-4), and in a, b hole of U-shaped mouth installed in the 4th motor contact (7-4), so
15th, the 16th end cap (13-15,13-16) is installed afterwards, the L ends of the 4th power transmission shaft (9-4) pass through the 4th shaft coupling (8-4)
It is fixedly connected with the 4th motor (10-4)；13rd connecting rod (3-13) other end passes through the 11st bearing pin (21-11) and the 14th
The U-shaped end of connecting rod (3-14) is flexibly connected；
First foot component (40-1) includes：Second, third, the 4th foot connector (11-2,11-3,11-4), the first foot
(5-1), the first foot moving platform (4-1)；
Constitute the connection between the parts of the first foot component (40-1)：Second foot connector (11-2) passes through bolt and first
Foot moving platform (4-1) short side is fixedly connected, the same sides of the three, the 4th foot connectors (11-3,11-4) by bolt with
First foot (5-1) is fixedly connected, and opposite side is fixedly connected by bolt with the first foot moving platform (4-1)；
Second foot component (40-2) includes：Six, the seven, the 8th foot connectors (11-6,11-7,11-8), the second foot
(5-2), the second foot moving platform (4-2)；
Constitute the connection between the parts of the second foot component (40-2)：6th foot connector (11-6) passes through bolt and second
Foot moving platform (4-2) short side is fixedly connected, the same sides of the seven, the 8th foot connectors (11-7,11-8) by bolt with
Second foot (5-2) is fixedly connected, and opposite side is fixedly connected by bolt with the first foot moving platform (4-2)；
The present invention is compared with prior art and had the advantage that：
The present invention is by the first to the 6th motor (10-1,10-2,10-3,10-4,10-5,10-6) as the input moved, first
First to fourth runner assembly (30-1,30-2,30-3,30-4) band is driven to the 4th motor (10-1,10-2,10-3,10-4)
Dynamic first, second foot component (40-1,40-2) is mobile, realizes the walking movement of walking robot, the five, the 6th motor (10-
5th, 10-6) first, second crotch's component (20-1,20-2) is driven, realize the omnirange walking movement of walking robot.
A kind of bipod walking robot mechanism is provided, the omnirange walking movement of robot can be realized.
2. a kind of bipod walking robot mechanism with leg structure in parallel according to claim 1, it is characterised in that：
Realize rectilinear movement function of the robot on road surface, the rate-determining steps comprising following order：
Step a1, adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot in side vertically
Rise upwards；
Step a2 adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot in the horizontal direction
Upper advance；
Step a3, adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot in side vertically
Decline upwards；
Step a4, first, second motor of adjustment (10-1,10-2) makes first foot component (40-1) of robot in side vertically
Rise upwards；
Step a5, first, second motor of adjustment (10-1,10-2), makes first foot component (40-1) of robot in level side
Advance up；
Step a6, first, second motor of adjustment (10-1,10-2) makes first foot component (40-1) of robot in side vertically
Decline upwards；
Walking advance cycle gait of robot is completed with this, the walking advance gait in multiple cycles can realize robot
In the rectilinear movement function on road surface；
Realize turning function of the robot on road surface, the rate-determining steps comprising following order：
Step b1, adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot in side vertically
Rise upwards；
Step b2, adjusts the 6th motor (10-6), second crotch's component (20-2) of robot is driven the three, the 4th rotating groups
Part (30-3,30-4) and the second foot component (40-2) are realized rotating；
Step b3, adjusts the three, the 4th motors (10-3,10-4), makes second foot component (40-2) of robot in side vertically
Decline upwards；
Step b4, first, second motor of adjustment (10-1,10-2) makes first foot component (40-1) of robot in side vertically
Rise upwards；
Step b5, adjusts the 5th motor (10-5), and keeps being turned to the 6th motor (10-6) identical, makes the first of robot
Crotch's component (20-1) drives first, second runner assembly (30-1,30-2) and the first foot component (40-1) to realize rotating；
Step b6, first, second motor of adjustment (10-1,10-2) makes second foot component (40-1) of robot in side vertically
Decline upwards；
A steering cycle gait of robot is completed with this.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710033669.4A CN106741287B (en) | 2017-01-17 | 2017-01-17 | A kind of bipod walking robot mechanism with leg structure in parallel |
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| CN108891501A (en) * | 2018-07-31 | 2018-11-27 | 江西理工大学 | A kind of hexapod robot |
| CN109823437A (en) * | 2019-01-21 | 2019-05-31 | 山东大学 | Series-parallel robot leg mechanism and walking robot based on UPR-R structure |
| CN110816708A (en) * | 2019-12-13 | 2020-02-21 | 邝弘亮 | Biped walking robot based on 3-RUU parallel mechanism |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106741287B (en) | 2018-10-12 |
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