CN107651039A - A kind of mechanical gait synchronization Hexapod Robot - Google Patents
A kind of mechanical gait synchronization Hexapod Robot Download PDFInfo
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- CN107651039A CN107651039A CN201710953603.7A CN201710953603A CN107651039A CN 107651039 A CN107651039 A CN 107651039A CN 201710953603 A CN201710953603 A CN 201710953603A CN 107651039 A CN107651039 A CN 107651039A
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- transmission mechanism
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- 230000005021 gait Effects 0.000 title claims abstract description 19
- 241000238631 Hexapoda Species 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000000034 method Methods 0.000 claims abstract description 6
- 230000003319 supportive effect Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical gait synchronization Hexapod Robot, belong to bio-robot design field.Including fuselage, leg, motor, decelerator control panel, motor driving, battery and transmission mechanism；Six legs are arranged symmetrically along the both sides of fuselage；Battery is connected with control panel, and control panel and motor drive connection, motor driving are connected with motor, and motor is connected by decelerator with transmission mechanism, and transmission mechanism is connected with leg.Machine man-hour, motor driving reducer, and then transmission mechanism is driven, driving leg is rotated.The section of leg is L-shaped.A total of two groups of transmission mechanism, placed along the Central Symmetry of fuselage, every group drives three legs respectively, robot is advanced with triped gait.A motor is realized with the method for machinery while controls the rotation of three legs, ensure that the accuracy of control system and the stationarity of robot ambulation.Robot light and flexible.
Description
Technical field
The invention discloses a kind of mechanical gait synchronization Hexapod Robot, belong to bio-robot design field.
Background technology
Bionical Hexapod Robot, as the representative of multi-foot robot, it can be walked in unstructured landform, more conventional machine
People has very strong obstacle climbing ability and environmental suitability.It is this but current robot uses servos control leg exercise more
The stride and cadence of walking are difficult to reach the requirement quickly walked, and the Hexapod Robot of servos control is difficult to cross and is higher than
The barrier of itself limit.Motor-driven Hexapod Robot has just shown stronger fast reserve ability, by rotating through
The elasticity of the friction on leg and ground and leg itself in journey, more complicated barrier can be crossed.But this zero, robot
Part is more, and cost is high, complicated, and needs an accurate control system just to make six motor cooperatings, but in reality
In the environment of border, the factor such as inaccurate of interference that robotary that sensor detects can be by the external world or sensor in itself,
The quantity of state of transmission will be made to produce certain measurement error, so as to be more difficult to accomplish synchronization.Robot is in geological prospecting in recent years,
There is higher and higher application value under the dangerous complex situations such as disaster relief, at present for, this Hexapod Robot also stops
In the stage of experimental study, the level that Major Difficulties are that cost of manufacture is high and controlled does not reach permissible accuracy also.Therefore
Design it is a kind of it is light and handy flexibly, low cost, sound construction, the high Hexapod Robot of stability has been the emphasis of current research.
Existing patent retrieval is found, patent application publication number：The A of CN 102267509, denomination of invention：Symmetrical bionic
Six sufficient running gears, the invention is using two structures are completely the same, centrosymmetric upper and lower layer tube-in-tube structure realizes gusseted
Mechanism.Its shortcoming mainly has：It is complicated, start time length；Volume and weight are larger, and load capacity is poor.
Retrieval discovery, patent application publication number：The U of CN 205469364, denomination of invention：A kind of new Hexapod Robot
Structure and its control system, the activity that the invention passes through 18 servos control robot legs.Its shortcoming is：Leg is freely spent
Height, it is difficult to realize accurate control；Robot load capacity is poor；Gait stability is low.
Retrieve and also found, patent application publication number：The A of CN 105835984, denomination of invention：A kind of bionic 6-leg robot,
The device foot uses bionical c-type leg.Its shortcoming mainly has:Bad adaptability, it is difficult to be walked in exceedingly odious landform；Leg structure
Complexity, cost of manufacture are high.
The content of the invention
It is an object of the invention to propose a kind of bionical Six-foot walking robot, possess in the work(such as level walking, turning
Can, it is using digitgrade animal leg structure as prototype and is subject to train synchronization structure and manufactures and designs.The present invention is directed to six sufficient machines
The defects of tripodia Synchronization Control difficult point of the device people when being walked using triped gait causes robot not walk slowly, in fuselage
Indoor design gear drive, Complete Synchronization of the tripodia in motion process is realized using the method for machinery.
To achieve the above object, the technical solution adopted by the present invention is a kind of mechanical gait synchronization Hexapod Robot, should
The outward appearance of robot is as shown in figure 1, including fuselage 1, leg 2, motor 3, decelerator 4, control panel 5, motor driving 6, the and of battery 7
Transmission mechanism 8；Both sides of six legs 2 along fuselage 1 are arranged symmetrically；The internal structure of robot is as shown in Fig. 2 motor 3, deceleration
Device 4, control panel 5, motor driving 6, battery 7 and transmission mechanism 8 are in fuselage 1.
Such as Fig. 2, battery 7 is connected with control panel 5, and control panel 5 is connected with motor driving 6, and motor driving 6 connects with motor 3
Connect, motor 3 is connected by decelerator with transmission mechanism 8, and transmission mechanism 8 is connected with leg 2.Machine man-hour, the band of motor 3
Dynamic decelerator 4, and then transmission mechanism 8 is driven, driving leg 2 is rotated.The section of leg 2 is L-shaped.
8 a total of two groups of transmission mechanism, placed along the Central Symmetry of fuselage 1, every group drives three legs 2 respectively, makes machine
People can be advanced with triped gait.
The kinematic sketch of mechanism of transmission mechanism 8 is as shown in figure 3, transmission mechanism 8 is fixed shaft gear train, axle a9 and decelerator 4
Axis connection, the power input shaft of axle a9 transmission mechanisms 8 are exported, driving wheel a10 and driving wheel b15 is arranged on axle a9, axle a9 bands
Dynamic driving wheel a10 and driving wheel b15 is rotated.Driving wheel a10 is meshed with driving wheel b11, driving wheel a10 and driving wheel b11's
Gearratio is 1.
Driving wheel c12 is coaxial with driving wheel b11, and driving wheel c12 is meshed with driving wheel d13, driving wheel c12 and driving wheel
D13 gearratio is 2.5, and axle b14 is connected with driving wheel d13.
Driving wheel d13, driving wheel e17 and driving wheel c16 archs；Driving wheel b15 is meshed with driving wheel c16, driving
It is 1 that b15, which is taken turns, with driving wheel c16 gearratios, and driving wheel e17 is meshed with driving wheel f18, and driving wheel g19 nibbles with driving wheel h20 phases
Close.
Driving wheel e17 and driving wheel f18 gearratios are 1, and driving wheel g19 is 1 with driving wheel h20 gearratios；Driving wheel
H20 and driving wheel i21 coaxial lines, driving wheel i21 are meshed with driving wheel g22, and driving wheel i21 is with driving wheel g22 gearratios
2.5。
Driving wheel k23 is meshed with driving wheel l24, and driving wheel k23 is 2.5 with driving wheel l24 gearratios.
Axle b14, driving wheel g22 central shaft and driving wheel l24 central shaft are output shaft, these three output shaft driving machines
Three legs 2 of the side of body 1 are moved.
Three legs 2, and these three motion state Complete Synchronizations of leg 2 are driven by a motor 3.
The structure of the leg 2 of robot as shown in figure 4, by supportive body 25, bearing pin 26, bearing 27, torsion spring 28, shank 29,
Foot 30 and connector 31 form.The top of shank 29 is connected with supportive body 25 by connector 31, supportive body 25, shank 29
Connected with connector 31 by bearing pin 26, bearing pin 26 is provided with torsion spring 28, and bearing pin 26 is connected with shank 29 by bearing 27, foot 30
The bottom of shank 29 is arranged on, shank 29 can be swung by a small margin around axle 26.
As shown in figure 5, processing a boss 32 on supportive body 25, boss 32 can limit small the side view of robot leg 2
Angle is up to 90 ° between leg 29 and body element 25, and torsion spring 28 is that leg 2 provides pre- moment of torsion and elasticity, makes boss 32 and shank
Certain precompression between 29 be present.When the moment of torsion positioned at bearing pin 26 is not up to threshold value, between shank 29 and supportive body 25
Angle it is permanent be 90 °, leg 2 is operated steadily and facilitate control；When the moment of torsion positioned at bearing pin 26 meets and exceeds threshold value, torsion spring 28
Twist, shank 29 is swung around bearing pin 26, reach the effect of buffering.
The gearratio of transmission mechanism 8 is 2.5, to reduce the moment of torsion on power transmission shaft, and then reduces the diameter of axle and gear, subtracts
The weight of light transmission mechanism.
Compared with prior art, the present invention has following novelty：
1st, using transmission mechanism, realize a motor with the method for machinery while control the rotation of three legs.By robot
Required controlled motor number is reduced to 2 from 6, and control difficulty is greatly reduced, and ensure that the accuracy and machine of control system
The stationarity of people's walking.
2nd, using gear transmission mode, motor number is reduced, and then reduces fuselage quality, and the design of transmission mechanism
Gearratio reduces moment of torsion suffered by transmission mechanism, reduces Mechanical Parts Size and quality.Can be by machine from the aspect of comprehensive two
Quality reduces, and reduces material and cost of manufacture, makes robot light and flexible
3rd, using machine driving type of attachment, the generation of communication signal between mainboard and each driving can be reduced, can be dropped
The low probability that communication failure occurs.Its own system can be reduced simultaneously disturbance probability occurs, so as to improve the robust of whole system
Property.
4th, leg joint uses spring structure, and shock resistance is strong.The spring of leg can buffer leg when being contacted with ground
Ground faces the impact of leg and fuselage, reduces the spoilage of leg structure.5th, the stability of robot when walking is strong.Leg end
End uses horizontal structure and elastomeric material of the surface with rill, increases contact area and the time of robot leg and ground,
Depression and the probability to skid can be reduced.
Brief description of the drawings
Fig. 1 is Fig. 1 robots overall appearance
Fig. 2 robot interior structures
Fig. 3 transmission mechanism kinematic sketch
Fig. 4 leg structural representations
Fig. 5 leg side views
Fig. 6 robots top view
Embodiment
Robot top view is as shown in fig. 6, six legs are divided into left set 33 and right group 34, respectively
Driven by two transmission mechanisms 8.
The walking process of the robot is as described below：
1) when keeping straight on, left set 33 and right group 34 alternating rotate forward, are advanced with triped gait, motion conditions are full symmetric.
2) when retreating, left set 33 and right group 34 alternating rotate backward, and are retreated with triped gait, motion conditions are full symmetric.
3) during flicker, left set 33 is contacted to earth simultaneously with right group 34, and left set 33 rotates backward, and right group 34 rotates forward,
Because the left side frictional force of left set 33 is big, right group of 34 right side frictional force are big, therefore robot can realize flicker.
4) during flicker, left set 33 is contacted to earth simultaneously with right group 34, and left set 33 rotates forward, and right group 34 rotates backward,
Because the left side frictional force of left set 33 is big, right group of 34 right side frictional force are big, therefore robot can realize flicker.
Claims (5)
- A kind of 1. mechanical gait synchronization Hexapod Robot, it is characterised in that：Including fuselage (1), leg (2), motor (3), subtract Fast device (4), control panel (5), motor driving (6), battery (7) and transmission mechanism (8)；Both sides pair of six legs (2) along fuselage (1) Claim arrangement；Motor (3), decelerator (4), control panel (5), motor driving (6), battery (7) and transmission mechanism (8) are mounted in fuselage (1) in；Battery (7) is connected with control panel (5), and control panel (5) is connected with motor driving (6), motor driving (6) and motor (3) Connection, motor (3) are connected by decelerator with transmission mechanism (8), and transmission mechanism (8) is connected with leg (2)；Robot works When, motor (3) drives decelerator (4), and then drives transmission mechanism (8), and driving leg (2) is rotated；The section of leg (2) is L-shaped；A total of two groups of transmission mechanism (8), placed along the Central Symmetry of fuselage (1), every group drives three legs (2) respectively, makes machine Device people can be advanced with triped gait.
- A kind of 2. mechanical gait synchronization Hexapod Robot according to claim 1, it is characterised in that：Transmission mechanism (8) For fixed shaft gear train, axle a (9) and decelerator (4) output axis connection, the power input shaft of axle a (9) transmission mechanism (8), driving wheel A (10) and driving wheel b (15) is arranged on axle a (9), and axle a (9) drives driving wheel a (10) and driving wheel b (15) to rotate；Driving Wheel a (10) is meshed with driving wheel b (11), and driving wheel a (10) and driving wheel b (11) gearratio is 1；Driving wheel c (12) is coaxial with driving wheel b (11), and driving wheel c (12) is meshed with driving wheel d (13), driving wheel c (12) with Driving wheel d (13) gearratio is 2.5, and axle b (14) is connected with driving wheel d (13)；Driving wheel d (13), driving wheel e (17) and driving wheel c (16) arch；Driving wheel b (15) and driving wheel c (16) is mutually nibbled Close, driving wheel b (15) is 1 with driving wheel c (16) gearratio, and driving wheel e (17) is meshed with driving wheel f (18), driving wheel g (19) it is meshed with driving wheel h (20)；Driving wheel e (17) and driving wheel f (18) gearratio are 1, and driving wheel g (19) is 1 with driving wheel h (20) gearratio；Drive Driving wheel h (20) and driving wheel i (21) coaxial line, driving wheel i (21) are meshed with driving wheel g (22), driving wheel i (21) and driving It is 2.5 to take turns g (22) gearratio；Driving wheel k (23) is meshed with driving wheel l (24), and driving wheel k (23) is 2.5 with driving wheel l (24) gearratio；Axle b (14), driving wheel g (22) central shaft and driving wheel l (24) central shaft are output shaft, and these three output shafts drive Three legs (2) of fuselage (1) side are moved；Three legs (2), and these three leg (2) motion state Complete Synchronizations are driven by a motor (3).
- A kind of 3. mechanical gait synchronization Hexapod Robot according to claim 1, it is characterised in that：The leg of robot (2) it is made up of supportive body (25), bearing pin (26), bearing (27), torsion spring (28), shank (29), foot (30) and connector (31)； The top of shank (29) is connected with supportive body (25) by connector (31), supportive body (25), shank (29) and connector (31) connected by bearing pin (26), bearing pin (26) is provided with torsion spring (28), and bearing pin (26) is connected with shank (29) by bearing (27) Connect, foot (30) is arranged on the bottom of shank (29), and shank (29) can be swung by a small margin around axle (26).
- A kind of 4. mechanical gait synchronization Hexapod Robot according to claim 3, it is characterised in that：Supportive body (25) One boss of upper processing (32), boss (32) can limit angle between shank (29) and body element (25) and be up to 90 °, torsion spring (28) pre- moment of torsion and elasticity are provided for leg (2), makes certain precompression be present between boss (32) and shank (29)；When positioned at pin When the moment of torsion of axle (26) is not up to threshold value, the angle between shank (29) and supportive body (25) is permanent for 90 °, runs leg (2) Steady convenient control；When the moment of torsion positioned at bearing pin (26) meets and exceeds threshold value, torsion spring (28) twists, and makes shank (29) Swung around bearing pin (26), reach the effect of buffering.
- A kind of 5. mechanical gait synchronization Hexapod Robot according to claim 1, it is characterised in that：Six legs are divided into a left side Group (33) and right group (34), driven respectively by two transmission mechanisms (8)；The walking process of the robot is as described below：1) when keeping straight on, left set (33) and right group (34) alternately rotate forward, are advanced with triped gait, motion conditions are full symmetric；2) when retreating, left set (33) and right group (34) alternately rotate backward, and are retreated with triped gait, motion conditions are full symmetric；3) during flicker, left set (33) is contacted to earth simultaneously with right group (34), and left set (33) rotates backward, and right group (34) are to forward Dynamic, because frictional force is big on the left of left set (33), frictional force is big on the right side of right group (34), therefore robot can realize flicker；4) during flicker, left set (33) is contacted to earth simultaneously with right group (34), and left set (33) rotates forward, and right group (34) turn round Dynamic, because frictional force is big on the left of left set (33), frictional force is big on the right side of right group (34), therefore robot can realize flicker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710953603.7A CN107651039A (en) | 2017-10-13 | 2017-10-13 | A kind of mechanical gait synchronization Hexapod Robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710953603.7A CN107651039A (en) | 2017-10-13 | 2017-10-13 | A kind of mechanical gait synchronization Hexapod Robot |
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| Publication Number | Publication Date |
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| CN107651039A true CN107651039A (en) | 2018-02-02 |
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ID=61118556
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| CN201710953603.7A Pending CN107651039A (en) | 2017-10-13 | 2017-10-13 | A kind of mechanical gait synchronization Hexapod Robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748112A (en) * | 2018-08-16 | 2018-11-06 | 西南科技大学 | The oval airframe structure of Hexapod Robot |
| CN108773426A (en) * | 2018-04-24 | 2018-11-09 | 哈尔滨工程大学 | Single power source carries the bionical quadruped robot of elastic leg |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN111221332A (en) * | 2020-01-09 | 2020-06-02 | 重庆大学 | H-shaped hexapod robot and walking control method thereof |
| CN111605641A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Small-size six-legged bionic robot |
| CN116278553A (en) * | 2023-05-12 | 2023-06-23 | 崂山国家实验室 | Amphibious driving device and amphibious motion control method |
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| CN105711675A (en) * | 2016-01-25 | 2016-06-29 | 东南大学 | Wheel and leg mechanism for wheel and leg compound type robot and control method |
| CN205469365U (en) * | 2016-03-31 | 2016-08-17 | 重庆交通大学 | Six -legged robot |
| CN105882746A (en) * | 2016-05-27 | 2016-08-24 | 西南大学 | Double-drive six-wheeled cart and steering control method thereof |
| CN107097870A (en) * | 2017-03-29 | 2017-08-29 | 西南大学 | A kind of asymmetry triped gait walking mobile robot |
| CN207579989U (en) * | 2017-10-13 | 2018-07-06 | 北京工业大学 | A kind of mechanical gait synchronizes Hexapod Robot |
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2017
- 2017-10-13 CN CN201710953603.7A patent/CN107651039A/en active Pending
Patent Citations (6)
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| CN102267509A (en) * | 2011-06-11 | 2011-12-07 | 吉林大学 | Symmetric bionic hexapoda walking device |
| CN105711675A (en) * | 2016-01-25 | 2016-06-29 | 东南大学 | Wheel and leg mechanism for wheel and leg compound type robot and control method |
| CN205469365U (en) * | 2016-03-31 | 2016-08-17 | 重庆交通大学 | Six -legged robot |
| CN105882746A (en) * | 2016-05-27 | 2016-08-24 | 西南大学 | Double-drive six-wheeled cart and steering control method thereof |
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| CN207579989U (en) * | 2017-10-13 | 2018-07-06 | 北京工业大学 | A kind of mechanical gait synchronizes Hexapod Robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108773426A (en) * | 2018-04-24 | 2018-11-09 | 哈尔滨工程大学 | Single power source carries the bionical quadruped robot of elastic leg |
| CN108748112A (en) * | 2018-08-16 | 2018-11-06 | 西南科技大学 | The oval airframe structure of Hexapod Robot |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN111221332A (en) * | 2020-01-09 | 2020-06-02 | 重庆大学 | H-shaped hexapod robot and walking control method thereof |
| CN111605641A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Small-size six-legged bionic robot |
| CN116278553A (en) * | 2023-05-12 | 2023-06-23 | 崂山国家实验室 | Amphibious driving device and amphibious motion control method |
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