CN107554640A - A kind of six sufficient walkers based on four-degree-of-freedom mechanism leg - Google Patents
A kind of six sufficient walkers based on four-degree-of-freedom mechanism leg Download PDFInfo
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- CN107554640A CN107554640A CN201710804461.8A CN201710804461A CN107554640A CN 107554640 A CN107554640 A CN 107554640A CN 201710804461 A CN201710804461 A CN 201710804461A CN 107554640 A CN107554640 A CN 107554640A
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Abstract
A kind of six sufficient walkers based on four-degree-of-freedom mechanism leg, it includes frame, electric unit and six structure identical four-degree-of-freedom pedipulators for being coupled to frame both ends respectively, and electric unit is located above frame, and jib fishplate bar is connected with frame；Pedipulator mainly includes triangular connecting plate, four structure identical linear drives branches, connector, chevron, the first and second cylindrical band ear pieces, hemispherical is enough and a four-bar mechanism, and all rotary shafts are parallel to each other in pedipulator.Every leg is under the collaboration that first straight line drives branch and second straight line driving branch, realize that swing and leg are stretched by the 3rd linear drives branch and being synchronized with the movement for the 4th linear drives branch, side-sway is realized by the asynchronous movement of the 3rd linear drives branch and the 4th linear drives branch；The driving of branch is driven to realize the swing of third connecting rod by second straight line.Leg working space of the present invention is big, obstacle climbing ability is strong, large carrying capacity, assembly process process are good.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of walker
Background technology
With the continuous development of robot technology, mobile robot gradually participated in work, agricultural production and
In service trade.The one kind of multi-foot robot as mobile robot, compared to wheeled and caterpillar mobile robot, it has
It is discrete to fall foot point, motion is preferable in the non-structural ground such as mountain region, hills, stair flexibly and the features such as to ground strong adaptability
Mobile carrying platform.According to foot quantity number, multi-foot robot be divided into again two foots, four-footed, six enough etc..Due to six
Biped robot uses triped gait in the process of walking, and its stability and bearing capacity are preferable, so that it should in Practical Project
Executive capability in is stronger.Therefore, the research of Six-foot walking robot has important practical significance.
The critical component that pedipulator is moved and carried as Hexapod Robot, has important shadow to the performance of Hexapod Robot
Ring.The pedipulator of existing Six-foot walking robot mainly has series connection and two kinds of forms in parallel, wherein series connection pedipulator is main
Feature is that working space is big, motion is flexible, control is simple, swing of leg inertia force is larger, rigidity is relatively low, deadweight/duty ratio is big；
Being mainly characterized in that for parallel manipulator leg is compact-sized, rigidity is big, deadweight/duty ratio is small, working space is smaller, and control is more complicated.
However, requiring the bearing capacity of pedipulator and the larger engineer applied occasion of working space simultaneously at some, possess above-mentioned leg
The Hexapod Robot of mechanism more difficult the characteristics of playing its own.In addition, there is preferable bearing capacity and larger leg simultaneously
The Hexapod Robot of working space is actually rare.Therefore, design has more huckle working space and more preferable bearing capacity simultaneously
Hexapod Robot, have important value to widening mobile robot's application.
The content of the invention
It is an object of the invention to provide a kind of leg working space is big, bearing capacity it is strong based on four-degree-of-freedom mechanism leg
Six sufficient walkers.Every leg of six sufficient walkers of the invention uses four-degree-of-freedom mechanism, can realize that two rotate and two
Mobile and the two movements can move to increase leg mechanism working space in the same direction simultaneously.
The present invention includes frame, electric unit and the six structure identical four-degree-of-freedoms machinery for being coupled to frame both ends respectively
Leg, electric unit are located above frame, and pedipulator is connected by triangular connecting plate and frame；Wherein frame is provided with bolt
Hole, lightening hole and positioning hole, so as to the connection with pedipulator and electric appliance unit and mitigate deadweight；
The pedipulator includes triangular connecting plate, four linear drives branches of structure identical, connector, the first cylindrical band
Ear piece, chevron, first connecting rod, the second cylindrical band ear piece, second connecting rod, hemispherical foot, third connecting rod and fourth link, wherein
One end of first straight line driving branch is connected by one jiao of the first Hooke's hinge and triangular connecting plate, first straight line driving branch
The middle part of the other end and chevron is connected, and the both ends of chevron pass through the first ball pair and the second ball pair and the 3rd linear drives point respectively
Branch connects with one end of the 4th linear drives branch, the other end difference of the 3rd linear drives branch and the 4th linear drives branch
It is connected by the second Hooke's hinge and the 3rd Hooke's hinge with two other angle of above-mentioned triangular connecting plate, wherein the 3rd linear drives point
Branch and the 4th linear drives branch are located at the side of first straight line driving branch, and second straight line driving branch is located at first straight line drive
The opposite side of dynamic branch, one end of second straight line driving branch are fixedly connected with the first cylindrical band ear piece, the first cylindrical band ear piece
Ear be rotatablely connected by one end of the first rotary shaft and connector, the other end of connector with first straight line driving branch
The one side of electric motor end cap be connected, the other end of second straight line driving branch is connected with the second cylindrical band ear piece, the second cylinder
Ear with ear piece is rotatablely connected by one end of the second rotary shaft and second connecting rod, the middle part of second connecting rod and other end difference
It is rotatablely connected by the middle and upper part of the 3rd rotary shaft and one end and third connecting rod of the 4th rotary shaft and first connecting rod, third connecting rod
One end be rotatablely connected by one end of the 5th rotary shaft and fourth link, the other end of fourth link by the 6th rotary shaft with
The middle and upper part rotation connection of first connecting rod, the other end of first connecting rod and the bottom of chevron be connected, the other end of third connecting rod with
Hemispherical enough be connected, described first, second, third and fourth, five, six rotary shafts it is arranged in parallel；Described the first ball pair and the second ball
Pair can replace with center of rotation respectively and meet at three turning joints being sequentially connected with of a bit；
The linear drives branch includes electric motor end cap, V belt translation component, connecting plate for electric motor, motor, guide post group, transmission
Bar, lower support base, sleeve, slide block assembly, leading screw and top chock, wherein, electric motor end cap is connected with connecting plate for electric motor, motor
One end of fuselage and connecting plate for electric motor is connected, and the motor shaft of motor passes through the input axis connection of V belt translation component and leading screw, motor
The other end of connecting plate is solidly connected with top chock, and top chock is rotatablely connected by bearing and leading screw, and the both sides of leading screw are provided with
Guide post group, slide block assembly are connected with leading screw spiral, and are connected with guide post group by prismatic pair, and slide block assembly can be along guiding
Bar group moves, and side and the driving member of slide block assembly are connected, and driving member passes through sliding bearing and lower support base mobile link, lower branch
One end of support seat and guide post group and sleeve is connected, and the other end and the top chock of guide post group and sleeve are connected.Every machinery
Leg passes through the 3rd linear drives branch and the 4th straight line under the collaboration that first straight line drives branch and second straight line driving branch
Being synchronized with the movement for branch of driving realizes that swing and leg are stretched, and passes through the 3rd linear drives branch and the 4th linear drives point
The asynchronous movement of branch realizes side-sway；The driving of branch is driven to realize the swing of third connecting rod by second straight line.In addition, pass through six
The cooperative motion of bar leg realizes the forward-reverse of six sufficient walkers, sidesway and the action such as squat down.
The present invention has the following advantages that compared with prior art：Leg working space is big, obstacle climbing ability is strong, bearing capacity
Greatly, assembly process process is good.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention；
Fig. 2 is the side view of the present invention；
Fig. 3 is the simplified schematic diagram of pedipulator of the present invention；
Fig. 4 is the simplified schematic diagram that first straight line of the present invention drives branch.
In figure：1. frame, 2. electric appliance units, 3,4,5,6,7,8. pedipulators, 9. triangular connecting plates, 10. first Hooke's hinges,
11. first straight line driving branch, 12. connectors, 13. first rotary shafts, 14. first cylindrical band ear pieces, the driving of 15. second straight lines
Branch, 16.V shapes part, 17. first connecting rods, 18. second cylindrical band ear pieces, 19. second rotary shafts, 20. the 3rd rotary shafts, 21.
Two connecting rods, 22. hemisphericals foot, 23. third connecting rods, 24. the 4th rotary shafts, 25. the 5th rotary shafts, 26. fourth links, 27.
Six rotary shafts, 28. first balls pair, 29. second balls pair, 30. the 3rd linear drives branches, 31. the 4th linear drives branches, 32.
Second Hooke's hinge, 33. the 3rd Hooke's hinges, 34. electric motor end caps, 35. V belt translation components, 36. connecting plate for electric motor, 37. motors, 38,
38 ＇ guide post groups, 39. drive links, 40. times support bases, 41. sleeves, 42. slide block assemblies, 43. leading screws, 44. top chocks.
Embodiment
In the sufficient walker schematic diagram of six based on four-degree-of-freedom mechanism leg shown in Fig. 1 and Fig. 2, electric unit 2 is located at
Above frame 1, six structure identical four-degree-of-freedom pedipulators 3,4,5,6,7,8 are connected by triangular connecting plate and frame；
Wherein frame is provided with bolt hole, lightening hole and positioning hole, so as to the connection with pedipulator and electric appliance unit and mitigates deadweight；
As shown in figure 3, one end of the first straight line driving branch 11 in every pedipulator passes through the first Hooke's hinge 10 and three
One jiao of connection of angle connecting plate 9, the middle part of the other end and chevron 16 of first straight line driving branch are connected, the both ends point of chevron
Do not connected by the first ball pair 28 and the second ball pair 29 and one end of the 3rd linear drives branch 30 and the 4th linear drives branch 31
Connect, the other end of the 3rd linear drives branch and the 4th linear drives branch passes through the second Hooke's hinge 32 and the 3rd Hooke's hinge respectively
33 are connected with two other angle of above-mentioned triangular connecting plate, wherein the 3rd linear drives branch and the 4th linear drives branch are located at
First straight line drives the side of branch, and second straight line driving branch 15 is located at the opposite side of first straight line driving branch, and second is straight
One end of line driving branch is fixedly connected with the first cylindrical band ear piece 14, and the ear of the first cylindrical band ear piece passes through the first rotary shaft
13 are rotatablely connected with one end of connector 12, the other end of connector and one of the electric motor end cap 34 in first straight line driving branch
Side is connected, and the other end and the second cylindrical band ear piece 18 of second straight line driving branch are connected, the ear of the second cylindrical band ear piece
It is rotatablely connected by the second rotary shaft 19 and one end of second connecting rod 21, the middle part of second connecting rod and the other end pass through the 3rd respectively
The rotary shaft 24 of rotary shaft 20 and the 4th is rotatablely connected with one end of first connecting rod 17 and the middle and upper part of third connecting rod 23, third connecting rod
One end be rotatablely connected by one end of the 5th rotary shaft 25 and fourth link 26, the other end of fourth link passes through the 6th and rotated
The middle and upper part of axle 27 and first connecting rod is rotatablely connected, and the other end of first connecting rod and the bottom of chevron are connected, third connecting rod it is another
One end and hemispherical foot 22 is connected, described first, second, third and fourth, five, six rotary shafts it is arranged in parallel；
As shown in figure 4, electric motor end cap 34 in linear drives branch is connected with connecting plate for electric motor 36, the fuselage of motor 37 with
One end of connecting plate for electric motor is connected, and the motor shaft of motor passes through the input axis connection of V belt translation component 35 and leading screw 43, motor company
The other end of fishplate bar is solidly connected with top chock 44, and top chock is rotatablely connected by bearing and leading screw, and the both sides of leading screw are provided with
Guide post group 38,38 ＇, slide block assembly 42 are connected with leading screw spiral, and are connected with guide post group by prismatic pair, and slide block assembly can
Moved along guide post group, side and the driving member 39 of slide block assembly are connected, and driving member passes through sliding bearing and lower support base 40
Mobile link, lower support base and one end of guide post group and sleeve 41 are connected, the other end and upper bearing (metal) of guide post group and sleeve
Seat is connected.Every pedipulator is driven under the collaboration that first straight line drives branch and second straight line driving branch by the 3rd straight line
Dynamic branch and being synchronized with the movement for the 4th linear drives branch realize that swing and leg are stretched, and pass through the 3rd linear drives branch
Side-sway is realized with the asynchronous movement of the 4th linear drives branch；Third connecting rod is realized in the driving for driving branch by second straight line
Swing.In addition, realize the forward-reverse of six sufficient walkers by the cooperative motion of six legs, sidesway and the action such as squat down.
Claims (3)
1. a kind of six sufficient walkers based on four-degree-of-freedom mechanism leg, it includes frame, electric unit and is coupled to frame two respectively
Six structure identical four-degree-of-freedom pedipulators at end, electric unit are located above frame, and pedipulator passes through triangular connecting plate
It is connected with frame, the pedipulator includes triangular connecting plate, four linear drives branches of structure identical, connector, the first circle
Post band ear piece, chevron, first connecting rod, the second cylindrical band ear piece, second connecting rod, hemispherical foot, third connecting rod and fourth link,
The linear drives branch includes electric motor end cap, V belt translation component, connecting plate for electric motor, motor, guide post group, drive link, lower branch
Support seat, sleeve, slide block assembly, leading screw and top chock, wherein, electric motor end cap is connected with connecting plate for electric motor, the fuselage of motor and
One end of connecting plate for electric motor is connected, and the motor shaft of motor passes through the input axis connection of V belt translation component and leading screw, connecting plate for electric motor
The other end be solidly connected with top chock, top chock is rotatablely connected by bearing and leading screw, and the both sides of leading screw are provided with guide rod
Group, slide block assembly are connected with leading screw spiral, and are connected with guide post group by prismatic pair, and slide block assembly can move along guide post group
Dynamic, side and the driving member of slide block assembly are connected, driving member by sliding bearing and lower support base mobile link, lower support base and
One end of guide post group and sleeve is connected, and the other end and the top chock of guide post group and sleeve are connected, it is characterised in that：First
One end of linear drives branch is connected by one jiao of the first Hooke's hinge and triangular connecting plate, and first straight line drives the another of branch
End is connected with the middle part of chevron, the both ends of chevron respectively by the first ball is secondary and the second ball pair and the 3rd linear drives branch and
The other end of one end connection of 4th linear drives branch, the 3rd linear drives branch and the 4th linear drives branch passes through respectively
Second Hooke's hinge and the 3rd Hooke's hinge are connected with two other angle of above-mentioned triangular connecting plate, wherein the 3rd linear drives branch and
4th linear drives branch is located at the side of first straight line driving branch, and second straight line driving branch is located at first straight line driving point
The opposite side of branch, one end of second straight line driving branch are fixedly connected with the first cylindrical band ear piece, the ear of the first cylindrical band ear piece
Portion is rotatablely connected by one end of the first rotary shaft and connector, the other end and the electricity in first straight line driving branch of connector
The one side of generator terminal lid is connected, and the other end of second straight line driving branch is connected with the second cylindrical band ear piece, the second cylindrical band ear
The ear of part is rotatablely connected by one end of the second rotary shaft and second connecting rod, and the middle part of second connecting rod and the other end pass through respectively
The middle and upper part rotation connection of one end and third connecting rod of the 3rd rotary shaft and the 4th rotary shaft and first connecting rod, the one of third connecting rod
End is rotatablely connected by one end of the 5th rotary shaft and fourth link, and the other end of fourth link passes through the 6th rotary shaft and first
The middle and upper part rotation connection of connecting rod, the other end of first connecting rod and the bottom of chevron are connected, the other end and hemisphere of third connecting rod
Shape is connected enough.
2. the six sufficient walkers according to claim 1 based on four-degree-of-freedom mechanism leg, it is characterised in that：Described first,
2nd, three, four, five, six rotary shafts are arranged in parallel.
3. the six sufficient walkers according to claim 1 based on four-degree-of-freedom mechanism leg, it is characterised in that：Described first
Ball is secondary and the second ball pair can replace with center of rotation respectively and meet at three turning joints being sequentially connected with of a bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710804461.8A CN107554640B (en) | 2017-09-08 | 2017-09-08 | Six-foot walker based on four-degree-of-freedom mechanism legs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710804461.8A CN107554640B (en) | 2017-09-08 | 2017-09-08 | Six-foot walker based on four-degree-of-freedom mechanism legs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107554640A true CN107554640A (en) | 2018-01-09 |
| CN107554640B CN107554640B (en) | 2020-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710804461.8A Active CN107554640B (en) | 2017-09-08 | 2017-09-08 | Six-foot walker based on four-degree-of-freedom mechanism legs |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109967642A (en) * | 2019-03-06 | 2019-07-05 | 燕山大学 | Quick loading and unloading manipulator |
| CN114228860A (en) * | 2021-12-22 | 2022-03-25 | 燕山大学 | Novel parallel leg biped robot |
| CN114454982A (en) * | 2021-12-31 | 2022-05-10 | 德清县浙工大莫干山研究院 | Controllable multi-mode hexapod mobile platform |
| CN114475849A (en) * | 2022-01-07 | 2022-05-13 | 燕山大学 | Multi-foot walker based on three-degree-of-freedom planar parallel mechanical legs |
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| JPH04250988A (en) * | 1991-01-09 | 1992-09-07 | Tokimec Inc | Leg mechanism for walking robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109967642A (en) * | 2019-03-06 | 2019-07-05 | 燕山大学 | Quick loading and unloading manipulator |
| CN109967642B (en) * | 2019-03-06 | 2022-03-11 | 燕山大学 | Quick feeding and discharging mechanical arm |
| CN114228860A (en) * | 2021-12-22 | 2022-03-25 | 燕山大学 | Novel parallel leg biped robot |
| CN114454982A (en) * | 2021-12-31 | 2022-05-10 | 德清县浙工大莫干山研究院 | Controllable multi-mode hexapod mobile platform |
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| CN114475849A (en) * | 2022-01-07 | 2022-05-13 | 燕山大学 | Multi-foot walker based on three-degree-of-freedom planar parallel mechanical legs |
| CN114475849B (en) * | 2022-01-07 | 2022-11-15 | 燕山大学 | Multi-foot walker based on three-degree-of-freedom plane parallel mechanical legs |
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