CN107298137A - One kind is lain prone horizontal walking robot - Google Patents
One kind is lain prone horizontal walking robot Download PDFInfo
- Publication number
- CN107298137A CN107298137A CN201710363484.XA CN201710363484A CN107298137A CN 107298137 A CN107298137 A CN 107298137A CN 201710363484 A CN201710363484 A CN 201710363484A CN 107298137 A CN107298137 A CN 107298137A
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- Prior art keywords
- bent axle
- frame
- walking
- leg
- upper arm
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Classifications
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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
Abstract
The present invention relates to robotic technology field, specifically related to one kind is lain prone horizontal walking robot, it includes a plurality of walking-leg, frame, the first bent axle for being arranged at frame, the second bent axle and a plurality of walking-leg being connected with the first bent axle and the second bent axle, first bent axle and the second bent axle include multiple crank throws respectively, and each crank throw includes adjacent and 90 degree of settings of staggering the first crankshaft journal and the second crankshaft journal；Each walking-leg includes the upper arm and underarm being hinged, wherein upper arm is fixed on frame and can rotated in plane of rack, upper arm is provided with extension, the extension connects the first crankshaft journal by connecting rod, and one end of close the upper arm of underarm and the pin joint of underarm passes through connecting rod the second crankshaft journal of connection；First bent axle and the second bent axle are symmetrically arranged in frame, and a plurality of walking-leg for being connected to the first bent axle and the second bent axle is symmetrically arranged at the both sides of frame, with it is simple in construction, control accurate advantage.
Description
Technical field
The present invention relates to robotic technology field, and in particular to one kind is lain prone horizontal walking robot.
Background technology
At present, the mode that known robot is moved on the ground has wheel type movement, crawler type motion, bionical walking fortune
Dynamic, they have respective advantage.The complicated non-structure environment of walking can be stable in to(for) bionical walking movement, can be with
Many dangerous operations are completed instead of people, in military affairs, moonscape is detected, the industry such as fire-fighting rescue has potential application prospect.
For a long time, walking robot technology is always one of focus of domestic and international robotic technology field research.Bionical legged machine
The good ground conformability of device people requires that walking mechanism has higher flexibility, that is, needs more controllable degrees of freedom,
But often increase a controllable degrees of freedom to be accomplished by being equipped with a drive system or transmission mechanism, control difficulty increase.Walking robot
People's controllable degrees of freedom should be more few better in the case where meeting moving condition.
The Chinese patent of Application No. 201610267954.8 discloses the sufficient walking robots of one kind eight, including mainframe,
Transmission mechanism and multiple leg link mechanisms, are provided with control centre in mainframe, control centre by transmission mechanism control each
The operation of leg link mechanism, transmission mechanism includes the shoe that stepper motor, power transmission shaft and eight mirror images are arranged at mainframe two ends
Belt driver, multiple leg link mechanisms include leg and rail rods, and leg side is provided with connecting portion, limiting section, connection
Portion is relatively fixed with driven pedrail.The leg of inner side two of control centre's control main frame frame one end is based on ground, the two of outside
Leg does the action lifted fall forward according to the running orbit of driven pedrail, and now mainframe other end is in inner side two
Bar leg is lifted, the state that two legs in outside are fallen, so repeatedly.Each branch pin point of the eight sufficient walking robot is all the time
Triangle rock-steady structure, improves the stability of walking robot.However, although the eight sufficient walking robot realizes
The basic functions of eight foot walkings, but be due to the increase of controllable degrees of freedom and cause the complicated of the eight sufficient walking robot,
Control centre is needed to control eight separate walking-legs simultaneously, control difficulty is big.
The content of the invention
It is an object of the invention to for deficiency of the prior art, and a kind of simple in construction, control is provided and accurately lain prone
Horizontal walking robot.
The purpose of the present invention is achieved through the following technical solutions：
One kind is lain prone horizontal walking robot, including a plurality of walking-leg, frame, the first bent axle for being arranged at frame, the second bent axle with
And a plurality of walking-leg being connected with the first bent axle and second bent axle；First bent axle and the second bent axle include multiple songs respectively
Turn, each crank throw includes adjacent and 90 degree of settings of staggering the first crankshaft journal and the second crankshaft journal；Each walking
Leg includes the upper arm and underarm being hinged, and wherein upper arm is fixed on frame and can rotated in plane of rack, and upper arm is additionally provided with
Extension, the extension connects the first crankshaft journal by connecting rod, and one end of close the upper arm of underarm and the pin joint of underarm is logical
Cross connecting rod and connect the second crankshaft journal；First bent axle and second bent axle may be contained within the frame, be connected to first bent
The a plurality of walking-leg of axle and the second bent axle is symmetrically arranged at the both sides of frame.
Wherein, the first bent axle and second bent axle include four crank throws, each one institute of the corresponding connection of crank throw respectively
State walking-leg.
Wherein, the first crankshaft journal and second crankshaft journal are equipped with articulated elements, and the articulated elements is individually fixed in
First bent axle and second bent axle, the extension connects the articulated elements by the connecting rod, and the underarm is leaned on
One end of the pin joint of the nearly upper arm and underarm connects the articulated elements by connecting rod.
Wherein, upper arm tail end is provided with screw, and the upper arm is fixed on the frame by bolt and the screw.
Wherein, the two ends of frame are respectively equipped with stepper motor and train of reduction gears, and it is bent that train of reduction gears connects first respectively
Axle and the second bent axle.
Wherein, walking-leg also includes push rod, and one end of the pin joint of the close upper arm and underarm of the underarm is connected
The push rod, the push rod connects second crankshaft journal by connecting rod.
Wherein, it is additionally provided with elastic component between push rod and the connecting rod.
Wherein, horizontal walking robot of lying prone also includes console, and the console is arranged at the central rack, and by institute
State the first bent axle and second bent axle is divided into two sections.
Wherein, control circuit is included in console, the control circuit can control first bent axle and second song
The rotation direction of axle.
Wherein, frame is the frame being made up of aluminum alloy square tube material..
Beneficial effects of the present invention：
During a kind of the first crank rotation of horizontal walking robot of lying prone of the present invention, the first crankshaft journal of the first bent axle passes through even
Bar promotes the extension of the upper arm of walking-leg reciprocating；Simultaneously as the close upper arm of the underarm of walking-leg is with
Second crankshaft journal of first bent axle of one end of the pin joint of arm connects the second crankshaft journal of the first bent axle by connecting rod, the
Rotating for one bent axle can drive the underarm of walking-leg to do stretching motion by the connecting rod, so as to realize the walking work(of walking robot
Energy；One bent axle can include multiple crank throws, and each crank throw is correspondingly arranged the walking-leg described in one；Frame is monosymmetric
Above-mentioned first bent axle, the second bent axle and walking-leg are set, the walking-function for horizontal walking robot of lying prone can be realized.Compared to existing
Walking robot, due to the present invention the first bent axle and the second bent axle be all connected with a plurality of walking-leg, as long as control the first bent axle and
Second bent axle is the control that the walking-leg to the homonymy for horizontal walking robot of lying prone can be achieved, and then simplifies horizontal walking machine of lying prone
The structure of device people, meanwhile, the controllable degrees of freedom of complete machine is reduced, the control difficulty of complete machine is reduced.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not constitute any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is a kind of overall structural representation of horizontal walking robot of lying prone of the 1st embodiment.
Fig. 2 is a kind of overall structural representation of horizontal walking robot of lying prone of the 2nd embodiment.
Fig. 3 is a kind of structural representation of the walking-leg of horizontal walking robot of lying prone of the present invention.
Fig. 4 is a kind of schematic diagram of the drive mechanism of horizontal walking robot of lying prone of the present invention.
Fig. 5 is a kind of the first gait schematic diagram of horizontal walking robot of lying prone of the present invention.
Fig. 6 is a kind of the second gait schematic diagram of horizontal walking robot of lying prone of the present invention.
Fig. 7 is a kind of the 3rd gait schematic diagram of horizontal walking robot of lying prone of the present invention.
Fig. 8 is a kind of the 4th gait schematic diagram of horizontal walking robot of lying prone of the present invention.
References of the Fig. 1 into Fig. 8：
First bent axle 1；
Second bent axle 2；
Crank throw 3, the first crankshaft journal 31；Second crankshaft journal 32, articulated elements 33；
Walking-leg 4, upper arm 41, underarm 42, connecting rod 43；Elastic component 44, push rod 45；
Stepper motor 5；
Train of reduction gears 6；
Console 7；
Frame 8.
Embodiment
The invention will be further described with the following Examples.
Embodiment 1
One of embodiment of a kind of horizontal walking robot of lying prone of the present invention, as shown in figure 1, its structure includes a plurality of step
Row leg 4, frame 8, the first bent axle 1 for being arranged at frame 8, the second bent axle 2 and connect with the first bent axle 1 and second bent axle 2
Eight walking-legs 4 connect, the first bent axle 1 and the second bent axle 2 are symmetrically arranged in frame 8；First bent axle 1 and the second bent axle 2
Include four crank throws 3 respectively, each crank throw 3 includes the axle journal of the first bent axle 1 and the second bent axle 2 of adjacent 90 degree of settings of staggering
Axle journal, the first crankshaft journal 31 and the second crankshaft journal 32 are provided with articulated elements 33, and articulated elements 33 is fixed on the first bent axle 1 and second
Bent axle 2, each crank throw 3 is corresponding to set a walking-leg 4, and each walking-leg 4 includes the He of upper arm 41 being hinged
Underarm 42, the tail end of upper arm 41 is provided with screw, and upper arm 41 is secured by bolts in frame 8, and extension is hinged by the connection of connecting rod 43
One end of part 33, the close upper arm 41 of underarm 42 and the pin joint of underarm 42 connects articulated elements 33, wherein upper arm by connecting rod 43
41 are fixed on frame 8 and can be in the rotation with surface of frame 8；Upper arm 41 is additionally provided with extension, and the extension is connected by connecting rod 43
The axle journal of first bent axle 1, one end of the pin joint of the close upper arm 41 and underarm 42 of underarm 42 connects described by connecting rod 43
The axle journal of second bent axle 2；, a plurality of walking-leg 4 for being connected to first bent axle 1 and second bent axle 2 is symmetrically arranged at machine
The both sides of frame 8, walking-leg 4 also includes push rod 45, and one end connection of the close upper arm 41 of underarm 42 and the pin joint of underarm 42 is pushed away
Bar 45, push rod 45 connects the axle journal of the second bent axle 2 by connecting rod 43, and elastic component 44 is additionally provided between push rod 45 and connecting rod 43.First
The axle journal of the first bent axle 1 of bent axle 1 promotes the extension of the upper arm 41 of walking-leg 4 reciprocating by connecting rod 43；Meanwhile, by
In the second bent axle 2 of the first bent axle of one end 1 of the pin joint of the close upper arm 41 and underarm 42 of the underarm 42 of walking-leg 4
Axle journal connects the axle journal of the second bent axle 2 of the first bent axle 1 by connecting rod 43, and the rotation of the first bent axle 1 can be driven by the connecting rod 43
The underarm 42 of walking-leg 4 does stretching motion, so as to realize the walking-function of walking robot；One bent axle can include multiple songs
Turn in 3, the present embodiment, the quantity of walking-leg 4 is eight, is respectively divided into two groups and is symmetrically arranged at the both sides of frame 8.Each is bent
Turn 3 and be correspondingly arranged a walking-leg 4；Frame 8 is monosymmetric to set above-mentioned bent axle and walking-leg 4, you can realize horizontal step of lying prone
The walking-function of row robot.Compared to existing walking robot, a bent axle connects a plurality of walking-leg 4, and one bent axle of control is
The control of the walking-leg 4 to the homonymy for horizontal walking robot of lying prone can be achieved, the structure for horizontal walking robot of lying prone is simplified, together
When, the controllable degrees of freedom of complete machine is reduced, the control difficulty of complete machine is reduced.
Wherein, the gait principle of walking-leg 4 is as shown in Fig. 5 to 8, and eight walking-legs 4 constitute symmetrical placement in body both sides,
Four walking-legs 4 of homonymy are unified to be driven by a bent axle, there is eight cranks on every bent axle, and two neighboring crank is one group, and
It is corresponding with a walking-leg 4 to be hinged, and two neighboring crank direction differs 90 °, and every correspondence walking-leg 4 can be made to connect by crank
The mechanism of bar 43 realizes that swing and the cooperation of extending swinging up and down are moved；Wherein one crank is driven by connecting rod 43 and walked
Row leg 4 carries out swing, and another crank drives the pitching body homonymy stretched above and below the progress of walking-leg 4 by connecting rod 43
Two legs one group of homonymy of composition in four legs separately, and paces are identical；Two groups of paces of walking-leg 4 of homonymy are on the contrary, i.e. homonymy
Put after one group of forward swing, another group of homonymy, two groups of alternatively swingings of walking-leg 4 of homonymy are constituted with two groups of walking-legs 4 of body opposite side
The motion mode of complete machine quadrangle gait.Turning round for eight biped robots can be by controlling the swaying direction of body both sides walking-leg 4
To realize.Such as to be turned left or right turn, then can stop left side or right by stopping the stepper motor 5 in left side or right side
The walking-leg 4 of side is moved, then the walking-leg 4 of other side continues to move, and is that the strong point is completed to the left with the walking-leg 4 of stopping
Or turn to the right.The swaying direction of walking-leg 4 of body both sides can also be made by the rotatings of two stepper motors 5 control on the contrary,
To realize that spot turn is turned.
As shown in figure 1, whole robot only needs to two stepper motors being respectively arranged in frame 85 and drives control respectively
Two bent axles of system are the coordinated movement of various economic factors that control eight walking-legs 4 of complete machine can be achieved, by controlling the positive-negative connected of two stepper motor 5 and breaking
The actions such as electricity achievable advance, retrogressing, left steering, right turn, pivot stud, stopping.
As shown in figure 3, each walking-leg 4 of eight biped robots uses class articulated structure, by 42 groups of upper arm 41 and underarm
Into.Every the structure of walking-leg 4 is identical, and has two frees degree, and complete machine has ten six-freedom degrees.Upper arm 41 and underarm 42, on
The pin joint of arm 41 and bent axle is hinged by connecting rod 43, and by Crankshaft motion control the swing of walking-leg 4 and up and down it is flexible,
Prostrate wobbling action.
As shown in figure 4, transmission mechanism is that a 400mm*153mm* is made with 10mm*10mm aluminum alloy square tube material
62mm cuboid is frame 8, and two bent axles are independently driven by gear drive by two stepper motors 5, then by crank
The mechanism of connecting rod 43 drives walking-leg 4 to move.Transmission mechanism is (interior by frame 8, power supply, two stepper motors 5, two bent axles
Containing 16 cranks), four gears, 16 connecting rods 43 constitute, its transmission principle is as follows：The driving force of stepper motor 5 passes through tooth
Train, the train of mechanism of crank connecting link 43 are driven to walking-leg 4, thus drive walking-leg 4 carry out before and after, swing up and down, wherein with
The swing of crank handle turns upper arm 41 that upper arm 41 is hinged；Pitching pendulum above and below the progress of crank handle turns underarm 42 being hinged with underarm 42
It is dynamic.
Wherein, the two ends of frame 8 are respectively equipped with stepper motor 5 and train of reduction gears 6, and train of reduction gears 6 connects first respectively
The bent axle 2 of bent axle 1 and second, train of reduction gears 6 is used to tell rotation to be converted into the horizontal walking robot of lying prone stepper motor 5
What is needed slowly runs.
Wherein, in addition to console 7, control circuit is included in console 7, control circuit can control the first bent axle 1 and the
The rotation direction of two bent axles 2, console 7 is arranged in frame 8.
Embodiment 2
The two of the embodiment of a kind of upright post adjusting device of the present invention, as shown in Fig. 2 the present embodiment and the phase of embodiment 1
Same technical scheme, is explained using embodiment 1, will not be described here, and the present embodiment and the difference of embodiment 1 exist
The middle part for the frame 8 being made up of aluminum alloy square tube material is arranged in, console 7, and by 2 points of the first bent axle 1 and the second bent axle
Into two sections, such structure not only saves the space inside frame 8, and two-part crankshaft also easily facilitates the first bent axle 1
The installation of axle and the second bent axle 2.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than to present invention guarantor
The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (10)
- The horizontal walking robot 1. one kind is lain prone, it is characterised in that：Including a plurality of walking-leg, frame, it is arranged at the first bent of frame Axle, the second bent axle and a plurality of walking-leg being connected with first bent axle and second bent axle；First bent axle and institute State the second bent axle respectively include multiple crank throws, each crank throw include it is adjacent and stagger 90 degree setting the first crankshaft journals and Second crankshaft journal；Each walking-leg includes the upper arm and underarm being hinged, and wherein upper arm is fixed on frame and can be in machine Frame rotation with surface, upper arm is additionally provided with extension, and the extension connects the first crankshaft journal by connecting rod, underarm close to described One end of the pin joint of upper arm and underarm connects second crankshaft journal by connecting rod；First bent axle and second song Axle be may be contained within the frame, and a plurality of walking-leg for being connected to first bent axle and second bent axle is symmetrically arranged at The both sides of the frame.
- The horizontal walking robot 2. one kind according to claim 1 is lain prone, it is characterised in that：First bent axle and described Two bent axles include four crank throws, one walking-leg of each corresponding connection of crank throw respectively.
- The horizontal walking robot 3. one kind according to claim 1 is lain prone, it is characterised in that：First crankshaft journal and institute State the second crankshaft journal and be equipped with articulated elements, the articulated elements is individually fixed in first bent axle and second bent axle, institute State extension and the articulated elements, one end of the pin joint of the close upper arm and underarm of the underarm are connected by the connecting rod The articulated elements is connected by connecting rod.
- The horizontal walking robot 4. one kind according to claim 1 is lain prone, it is characterised in that：The upper arm tail end is provided with spiral shell Hole, the upper arm is fixed on the frame by bolt and the screw.
- The horizontal walking robot 5. one kind according to claim 1 is lain prone, it is characterised in that：The two ends of the frame are set respectively There are stepper motor and train of reduction gears, the train of reduction gears connects first bent axle and second bent axle respectively.
- The horizontal walking robot 6. one kind according to claim 1 is lain prone, it is characterised in that：The walking-leg also includes pushing away Bar, one end of the pin joint of the close upper arm and underarm of the underarm connects the push rod, and the push rod is connected by connecting rod Connect second crankshaft journal.
- The horizontal walking robot 7. one kind according to claim 1 is lain prone, it is characterised in that：The push rod and the connecting rod it Between be additionally provided with elastic component.
- The horizontal walking robot 8. one kind according to claim 1 is lain prone, it is characterised in that the horizontal walking robot of lying prone Also include console, the console is arranged at the central rack, and first bent axle and second bent axle are divided into Two sections.
- The horizontal walking robot 9. one kind according to claim 8 is lain prone, it is characterised in that：Include control in the console Circuit, the control circuit can control the rotation direction of first bent axle and second bent axle.
- The horizontal walking robot 10. one kind according to claim 1 is lain prone, it is characterised in that：The frame is by aluminium alloy The frame that square tube material is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710363484.XA CN107298137B (en) | 2017-05-22 | 2017-05-22 | Lying type walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710363484.XA CN107298137B (en) | 2017-05-22 | 2017-05-22 | Lying type walking robot |
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| Publication Number | Publication Date |
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| CN107298137A true CN107298137A (en) | 2017-10-27 |
| CN107298137B CN107298137B (en) | 2023-04-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710363484.XA Active CN107298137B (en) | 2017-05-22 | 2017-05-22 | Lying type walking robot |
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| CN (1) | CN107298137B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110065550A (en) * | 2019-03-27 | 2019-07-30 | 佛山科学技术学院 | A kind of walking mechanism and method |
| CN110065549A (en) * | 2019-03-27 | 2019-07-30 | 佛山科学技术学院 | A kind of mechanism and method of landing of walking |
| CN110065551A (en) * | 2019-03-27 | 2019-07-30 | 佛山科学技术学院 | A kind of active walking mechanism and method |
| CN110294042A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of multi-locomotion mode running gear |
| CN111232086A (en) * | 2020-01-10 | 2020-06-05 | 山东大学 | Multi-foot crawling device and method based on single motor driving rotating shaft |
| CN114179930A (en) * | 2021-11-29 | 2022-03-15 | 华中科技大学 | Integral light machine body of heavy-load foot-type robot and heavy-load foot-type robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110065550A (en) * | 2019-03-27 | 2019-07-30 | 佛山科学技术学院 | A kind of walking mechanism and method |
| CN110065549A (en) * | 2019-03-27 | 2019-07-30 | 佛山科学技术学院 | A kind of mechanism and method of landing of walking |
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| CN114179930A (en) * | 2021-11-29 | 2022-03-15 | 华中科技大学 | Integral light machine body of heavy-load foot-type robot and heavy-load foot-type robot |
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|---|---|
| CN107298137B (en) | 2023-04-07 |
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