CN107298137B - Lying type walking robot - Google Patents
Lying type walking robot Download PDFInfo
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- CN107298137B CN107298137B CN201710363484.XA CN201710363484A CN107298137B CN 107298137 B CN107298137 B CN 107298137B CN 201710363484 A CN201710363484 A CN 201710363484A CN 107298137 B CN107298137 B CN 107298137B
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- crankshaft
- walking
- lying
- walking robot
- upper arm
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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 invention relates to the technical field of robots, in particular to a lying walking robot, which comprises a plurality of walking legs, a rack, a first crankshaft, a second crankshaft and a plurality of walking legs, wherein the first crankshaft and the second crankshaft are arranged on the rack, the plurality of walking legs are connected with the first crankshaft and the second crankshaft, the first crankshaft and the second crankshaft respectively comprise a plurality of crank throws, and each crank throw comprises a first crankshaft journal and a second crankshaft journal which are adjacent and staggered by 90 degrees; each walking leg comprises an upper arm and a lower arm which are hinged with each other, wherein the upper arm is fixed on the rack and can rotate in the plane of the rack, the upper arm is provided with a protruding part, the protruding part is connected with a first crankshaft journal through a connecting rod, and one end of the lower arm, which is close to the hinged point of the upper arm and the lower arm, is connected with a second crankshaft journal through the connecting rod; the first crankshaft and the second crankshaft are symmetrically arranged in the rack, and the plurality of walking legs connected with the first crankshaft and the second crankshaft are symmetrically arranged on two sides of the rack, so that the walking mechanism has the advantages of simple structure and accurate control.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a lying walking robot.
Background
At present, the known modes of the robot moving on the ground include wheeled motion, crawler motion and bionic walking motion, which all have respective advantages. The bionic walking robot can walk stably in a complex non-structural environment for bionic walking movement, can replace people to complete a plurality of dangerous operations, and has potential application prospect in industries such as military, lunar surface detection, fire fighting and rescue and the like. The walking robot technology has been one of the hot spots of the research in the technical field of robots at home and abroad for a long time. The good ground adaptability of the bionic walking robot requires that the walking mechanism has higher flexibility, namely more controllable degrees of freedom are required, but a driving system or a transmission mechanism is required to be arranged every time the controllable degree of freedom is increased, so that the control difficulty is increased. The controllable degree of freedom of the walking robot is better when the motion condition is satisfied.
Chinese patent with application number 201610267954.8 discloses an eight-footed walking robot, which comprises a main frame, drive mechanism and a plurality of shank link mechanism, be equipped with control center in the main frame, control center passes through the operation of each shank link mechanism of drive mechanism control, drive mechanism includes step motor, transmission shaft and eight mirror images set up in the track transmission at main frame both ends, a plurality of shank link mechanism all include stabilizer blade and track pole, the stabilizer blade side is equipped with connecting portion, spacing portion, connecting portion and transmission track relatively fixed. The control center controls the two inner support legs at one end of the main frame to stand on the ground, the two outer support legs lift forwards and fall down according to the running track of the transmission crawler, and at the moment, the other end of the main frame is in a state that the two inner support legs lift up and the two outer support legs fall down, and the process is repeated. Each support foot point of the eight-foot walking robot always forms a triangular stable structure, and the stability of the walking robot is improved. However, although the eight-footed walking robot realizes the basic functions of eight-footed walking, the increase in the degree of freedom of control makes the structure of the eight-footed walking robot complicated, and requires a control center to control the eight walking legs independently of each other, which makes control difficult.
Disclosure of Invention
The invention aims to provide a lying walking robot which is simple in structure and accurate in control, aiming at the defects in the prior art.
The purpose of the invention is realized by the following technical scheme:
a lying walking robot comprises a plurality of walking legs, a rack, a first crankshaft, a second crankshaft and a plurality of walking legs, wherein the first crankshaft and the second crankshaft are arranged on the rack; the first crankshaft and the second crankshaft respectively comprise a plurality of crank throws, and each crank throw comprises a first crankshaft journal and a second crankshaft journal which are adjacent and staggered by 90 degrees; each walking leg comprises an upper arm and a lower arm which are hinged with each other, wherein the upper arm is fixed on the rack and can rotate in the plane of the rack; the first crankshaft and the second crankshaft are arranged in the rack, and the plurality of walking legs connected to the first crankshaft and the second crankshaft are symmetrically arranged on two sides of the rack.
The first crankshaft and the second crankshaft respectively comprise four crank throws, and each crank throw is correspondingly connected with one walking leg.
The first crankshaft journal and the second crankshaft journal are respectively provided with a hinged piece, the hinged pieces are respectively fixed on the first crankshaft and the second crankshaft, the extending portion is connected with the hinged pieces through the connecting rods, and one end of the lower arm, close to the hinged point of the upper arm and the lower arm, is connected with the hinged pieces through the connecting rods.
Wherein, the upper arm tail end is equipped with the screw, the upper arm pass through the bolt with the screw is fixed in the frame.
Wherein, the both ends of frame are equipped with step motor and reduction gear group respectively, and reduction gear group connects first bent axle and second bent axle respectively.
The walking leg further comprises a push rod, one end of the lower arm, close to a hinge point of the upper arm and the lower arm, is connected with the push rod, and the push rod is connected with the second crankshaft journal through a connecting rod.
Wherein, an elastic part is arranged between the push rod and the connecting rod.
The lying walking robot further comprises a console, wherein the console is arranged in the middle of the rack and divides the first crankshaft and the second crankshaft into two sections.
The control console comprises a control circuit, and the control circuit can control the rotation directions of the first crankshaft and the second crankshaft.
Wherein, the frame is made of aluminum alloy square tube material. .
The invention has the beneficial effects that:
when the first crankshaft of the lying type walking robot rotates, the first crankshaft journal of the first crankshaft pushes the extending part of the upper arm of the walking leg to do reciprocating motion through the connecting rod; meanwhile, the second crankshaft journal of the first crankshaft at one end of the lower arm of the walking leg close to the hinged point of the upper arm and the lower arm is connected with the second crankshaft journal of the first crankshaft through a connecting rod, and the rotation of the first crankshaft drives the lower arm of the walking leg to do telescopic motion through the connecting rod, so that the walking function of the walking robot is realized; a crankshaft may comprise a plurality of bell cranks, each bell crank being associated with a respective one of said walking legs; the first crank shaft, the second crank shaft and the walking legs are symmetrically arranged on two sides of the rack, so that the walking function of the lying walking robot can be realized. Compared with the existing walking robot, the first crankshaft and the second crankshaft are connected with the plurality of walking legs, so that the control of the walking legs on the same side of the lying type walking robot can be realized by controlling the first crankshaft and the second crankshaft, the structure of the lying type walking robot is simplified, meanwhile, the controllable freedom degree of the whole robot is reduced, and the control difficulty of the whole robot is reduced.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is a schematic structural view of the whole body of a lying walking robot according to embodiment 1.
Fig. 2 is a schematic structural view of the whole body of the lying walking robot according to embodiment 2.
Fig. 3 is a schematic structural view of a walking leg of the lying walking robot of the present invention.
Fig. 4 is a schematic diagram of a transmission structure of the lying walking robot of the invention.
Fig. 5 is a schematic diagram of a first step of the lying walking robot of the present invention.
Fig. 6 is a schematic diagram of a second step of the lying walking robot of the present invention.
Fig. 7 is a schematic diagram of a third step of the lying walking robot of the present invention.
Fig. 8 is a fourth gait schematic diagram of the lying walking robot of the invention.
Reference numerals in fig. 1 to 8:
a first crankshaft 1;
a second crankshaft 2;
a bell crank 3, a first crankshaft journal 31; a second crankshaft journal 32, a hinge 33;
a stepping motor 5;
a reduction gear set 6;
a console 7;
a frame 8.
Detailed Description
The invention is further described with reference to the following examples.
Example 1
One of the specific embodiments of the lying walking robot of the present invention, as shown in fig. 1, includes a plurality of walking legs 4, a frame 8, a first crankshaft 1 and a second crankshaft 2 disposed on the frame 8, and eight walking legs 4 connected to the first crankshaft 1 and the second crankshaft 2, wherein the first crankshaft 1 and the second crankshaft 2 are symmetrically disposed in the frame 8; the first crankshaft 1 and the second crankshaft 2 respectively comprise four crank throws 3, each crank throw 3 comprises a first crank 1 journal and a second crank 2 journal which are arranged adjacently and staggered by 90 degrees, the first crank journal 31 and the second crank journal 32 are provided with a hinge 33, the hinge 33 is fixed on the first crank 1 and the second crank 2, each crank throw 3 is correspondingly provided with one walking leg 4, each walking leg 4 comprises an upper arm 41 and a lower arm 42 which are hinged with each other, the tail end of the upper arm 41 is provided with a screw hole, the upper arm 41 is fixed on the frame 8 through a bolt, an extending part is connected with the hinge 33 through a connecting rod 43, one end of the lower arm 42 close to the hinged point of the upper arm 41 and the lower arm 42 is connected with the hinge 33 through the connecting rod 43, and the upper arm 41 is fixed on the frame 8 and can rotate in the plane of the frame 8; the upper arm 41 is also provided with a protrusion which is connected to the first crankshaft 1 journal through a connecting rod 43, and one end of the lower arm 42 close to the hinge point of the upper arm 41 and the lower arm 42 is connected to the second crankshaft 2 journal through the connecting rod 43; the walking legs 4 connected to the first crankshaft 1 and the second crankshaft 2 are symmetrically arranged at two sides of the frame 8, the walking legs 4 further comprise push rods 45, one end of the lower arm 42 close to the hinge point of the upper arm 41 and the lower arm 42 is connected with the push rods 45, the push rods 45 are connected with the journal of the second crankshaft 2 through connecting rods 43, and elastic members 44 are further arranged between the push rods 45 and the connecting rods 43. The first crankshaft 1 journal of the first crankshaft 1 pushes the extension of the upper arm 41 of the walking leg 4 to reciprocate through the connecting rod 43; meanwhile, because the second crankshaft 2 journal of the first crankshaft 1 at one end of the lower arm 42 of the walking leg 4 close to the hinge point of the upper arm 41 and the lower arm 42 is connected with the second crankshaft 2 journal of the first crankshaft 1 through the connecting rod 43, the rotation of the first crankshaft 1 drives the lower arm 42 of the walking leg 4 to do telescopic motion through the connecting rod 43, thereby realizing the walking function of the walking robot; one crankshaft can comprise a plurality of crank throws 3, in the embodiment, the number of the walking legs 4 is eight, and the walking legs are respectively divided into two groups which are symmetrically arranged at two sides of the machine frame 8. Each crank 3 is correspondingly provided with a walking leg 4; the crankshaft and the walking legs 4 are symmetrically arranged on two sides of the frame 8, so that the walking function of the lying-on walking robot can be realized. Compare current walking robot, many walking legs 4 of a crankshaft connection, control a bent axle can realize having simplified the structure of the formula of lying prone walking robot to the control of walking leg 4 of the homonymy of the formula of lying prone walking robot, simultaneously, has reduced the controllable degree of freedom of complete machine, has reduced the control degree of difficulty of complete machine.
The gait principle of the walking legs 4 is shown in figures 5 to 8, eight walking legs 4 are symmetrically arranged on two sides of the machine body, four walking legs 4 on the same side are uniformly driven by a crank shaft, each crank shaft is provided with eight cranks, two adjacent cranks form a group and are correspondingly hinged with one walking leg 4, the direction difference of the two adjacent cranks is 90 degrees, and each corresponding walking leg 4 can realize the coordinated and matched motion of front-back swing and up-down stretching swing through a crank connecting rod 43 mechanism; one crank drives the walking legs 4 to swing back and forth through the connecting rods 43, the other crank drives the walking legs 4 to extend up and down through the connecting rods 43, and two spaced legs in the four legs on the same side of the pitching swinging machine body form a group on the same side, and the steps are the same; the two groups of walking legs 4 on the same side have opposite steps, namely one group of walking legs on the same side swings forwards, the other group swings backwards, the two groups of walking legs 4 on the same side swing alternately, and the two groups of walking legs 4 on the other side of the machine body form a complete machine quadrilateral gait movement mode. The eight-foot robot can realize the turning by controlling the swinging direction of the walking legs 4 on the two sides of the machine body. If left or right steering is to be performed, the left or right walking leg 4 may be stopped from moving by stopping the left or right stepping motor 5, and the other walking leg 4 continues to move and completes left or right steering with the stopped walking leg 4 as a support point. The walking legs 4 on both sides of the machine body can swing in opposite directions through the forward and reverse rotation control of the two stepping motors 5, so that the turning around in situ is realized.
As shown in fig. 1, the whole robot can control the coordinated movement of eight walking legs 4 of the whole robot only by driving and controlling two crankshafts by two stepping motors 5 respectively installed in a frame 8, and can realize the actions of advancing, backing, left steering, right steering, pivot steering, stopping and the like by controlling the positive and negative connection and the power failure of the two stepping motors 5.
As shown in fig. 3, each walking leg 4 of the eight-legged robot has an articulated-like structure and is composed of an upper arm 41 and a lower arm 42. Each walking leg 4 has the same structure and two degrees of freedom, and the whole machine has sixteen degrees of freedom. The upper arm 41 is hinged with the lower arm 42, the hinged point of the upper arm 41 and the crankshaft is hinged through a connecting rod 43, and the front-back swinging, the up-down stretching and the prone swinging actions of the walking legs 4 are controlled through the crankshaft movement.
As shown in fig. 4, the transmission mechanism is a frame 8 made of a square tube of aluminum alloy of 10mm × 10mm, a rectangular block of 400mm × 153mm × 62mm, two stepping motors 5 drive two crankshafts separately through gear transmission, and the crank link 43 drives the walking legs 4 to move. The transmission mechanism consists of a frame 8, a power supply, two stepping motors 5, two crankshafts (containing sixteen cranks), four gears and sixteen connecting rods 43, and the transmission principle is as follows: the driving force of the stepping motor 5 is transmitted to the walking legs 4 through a gear train and a crank connecting rod 43 mechanism system, so that the walking legs 4 are driven to swing back and forth and up and down, wherein a crank hinged with the upper arms 41 drives the upper arms 41 to swing back and forth; a crank hinged to the lower arm 42 causes the lower arm 42 to swing up and down.
Wherein, 8 both ends of frame are equipped with step motor 5 and reduction gear unit 6 respectively, and reduction gear unit 6 connects first bent axle 1 and second bent axle 2 respectively, and reduction gear unit 6 is used for turning into the low-speed rotation that this formula walking robot needs of lying prone to the telling of step motor 5 rotates.
Wherein, still include control cabinet 7, include control circuit in the control cabinet 7, control circuit can control the direction of rotation of first bent axle 1 and second bent axle 2, and control cabinet 7 sets up in frame 8.
Example 2
A second embodiment of the stand column adjusting device of the present invention is shown in fig. 2, and the same technical solution as that in embodiment 1 is adopted to explain embodiment 1, and details are not described herein, but the present embodiment differs from embodiment 1 in that the console 7 is disposed in the middle of the frame 8 made of an aluminum alloy square tube material, and divides the first crankshaft 1 and the second crankshaft 2 into two sections, which not only saves the space inside the frame 8, but also facilitates the installation of the first crankshaft 1 and the second crankshaft 2.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. The utility model provides a formula of lying prone walking robot which characterized in that: the walking leg comprises a plurality of walking legs, a frame, a first crankshaft, a second crankshaft and a plurality of walking legs, wherein the first crankshaft and the second crankshaft are arranged on the frame; the first crankshaft and the second crankshaft respectively comprise a plurality of crank throws, and each crank throw comprises a first crankshaft journal and a second crankshaft journal which are adjacent and staggered by 90 degrees; each walking leg comprises an upper arm and a lower arm which are hinged with each other, wherein the upper arm is fixed on the frame and can rotate in the plane of the frame; the first crankshaft and the second crankshaft are arranged in the rack, and a plurality of walking legs connected to the first crankshaft and the second crankshaft are symmetrically arranged on two sides of the rack.
2. The lying walking robot of claim 1, wherein: the first crankshaft and the second crankshaft respectively comprise four crank throws, and each crank throw is correspondingly connected with one walking leg.
3. The lying walking robot of claim 1, wherein: the first crankshaft journal and the second crankshaft journal are respectively provided with a hinged piece, the hinged pieces are respectively fixed on the first crankshaft and the second crankshaft, the extending parts are connected with the hinged pieces through the connecting rods, and one end of the lower arm, which is close to the hinged point of the upper arm and the lower arm, is connected with the hinged pieces through the connecting rods.
4. The lying walking robot according to claim 1, wherein: the tail end of the upper arm is provided with a screw hole, and the upper arm is fixed on the rack through a bolt and the screw hole.
5. The lying walking robot of claim 1, wherein: and two ends of the rack are respectively provided with a stepping motor and a reduction gear set, and the reduction gear set is respectively connected with the first crankshaft and the second crankshaft.
6. The lying walking robot according to claim 1, wherein: the walking leg further comprises a push rod, one end of the lower arm, close to a hinge point of the upper arm and the lower arm, is connected with the push rod, and the push rod is connected with the second crankshaft journal through a connecting rod.
7. The lying walking robot of claim 6, wherein: an elastic piece is arranged between the push rod and the connecting rod.
8. The lying walking robot according to claim 1, further comprising a console disposed in the middle of the frame and dividing the first crankshaft and the second crankshaft into two sections.
9. The lying walking robot of claim 8, wherein: the control console comprises a control circuit, and the control circuit can control the rotation directions of the first crankshaft and the second crankshaft.
10. The lying walking robot of claim 1, wherein: the frame is made of aluminum alloy square tube materials.
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| 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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| 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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| CN107298137A CN107298137A (en) | 2017-10-27 |
| CN107298137B true CN107298137B (en) | 2023-04-07 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110065550A (en) * | 2019-03-27 | 2019-07-30 | 佛山科学技术学院 | A kind of walking mechanism and method |
| CN110294042B (en) * | 2019-05-17 | 2021-03-02 | 北京建筑大学 | Multi-movement-mode walking device |
| CN111232086B (en) * | 2020-01-10 | 2021-10-12 | 山东大学 | Multi-foot crawling device and method based on single motor driving rotating shaft |
| CN114179930B (en) * | 2021-11-29 | 2022-09-27 | 华中科技大学 | Integral light machine body of heavy-load foot-type robot and heavy-load foot-type robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101991957A (en) * | 2009-08-26 | 2011-03-30 | 鸿富锦精密工业（深圳）有限公司 | Running gear |
| CN101823484B (en) * | 2010-02-11 | 2012-11-28 | 上海交通大学 | Concealed air cushion vehicle |
| CN102700642B (en) * | 2012-05-14 | 2014-03-26 | 浙江工业大学 | Quadruped walking machine capable of turning |
| CN103661664B (en) * | 2012-09-07 | 2016-01-20 | 南京理工大学 | Partition type controls polypody walking machine |
| CN207496809U (en) * | 2017-05-22 | 2018-06-15 | 广东职业技术学院 | One kind is lain prone horizontal walking robot |
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