CN107826175A - A kind of four feet walking robot - Google Patents
A kind of four feet walking robot Download PDFInfo
- Publication number
- CN107826175A CN107826175A CN201711260085.7A CN201711260085A CN107826175A CN 107826175 A CN107826175 A CN 107826175A CN 201711260085 A CN201711260085 A CN 201711260085A CN 107826175 A CN107826175 A CN 107826175A
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- China
- Prior art keywords
- walking
- leg
- feet
- robot
- connecting rod
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- 230000009184 walking Effects 0.000 title claims abstract description 72
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000005021 gait Effects 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 241000124008 Mammalia Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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)
- Manipulator (AREA)
Abstract
A kind of four feet walking robot,It is related to robotic technology field,Its structure includes fuselage,It is arranged at the left side walking-leg and right side walking-leg of fuselage both sides,Left side walking-leg and right side walking-leg include preceding walking-leg and rear walking-leg,The four feet walking robot also includes the left crank linkage for being fixed on fuselage,Left motor,Right crank linkage and right motor,Left motor is by driving left crank linkage to drive left side walking-leg to move,Right motor is by driving right crank linkage to drive right side walking-leg to move,The walking-leg is vertical type walking-leg,The mode of four feet walking robot walking is using two diagonal walking-legs as one group,When two walking-legs in one group land support fuselage,Two walking-legs in another set do lift leg,Swing and stepping movement,Two groups of walking-leg alternating movements.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of four feet walking robot.
Background technology
With the continuous development of robot technology, the application field of four feet walking robot is more and more wider.From the sight of reality
Point sets out, and walking movement truly has the incomparable distinctive feature of wheel machine.It utilizes isolated ground supports rather than wheeled
The required continuous ground supports of machinery；Can be in uneven region with stationary mode walking or obstacle avoidance in a non contact fashion；Can be complete
Azimuth motion and lossless ground；Rough earth etc. can be crossed over the mode of striding.
However, the robot of the laterally flared insect formula leg structure of prior art, the bearing capacity of its vertical direction compared with
Weak, the width of robot is larger, and space-consuming is larger, and the span ability of leg is weaker.
The content of the invention
A kind of four feet walking robot is provided it is an object of the invention to avoid weak point of the prior art, this four
Feet walking robot is stronger in the bearing capacity of vertical direction, and the width of robot is smaller, and space-consuming is smaller.
The purpose of the present invention is achieved through the following technical solutions：
A kind of four feet walking robot is provided, including fuselage, be arranged at fuselage both sides left side walking-leg and right side walking
Leg, left side walking-leg and right side walking-leg include preceding walking-leg and rear walking-leg, it is characterised in that：The four-legged walking machine
People also includes left crank linkage, left motor, right crank linkage and the right motor for being fixed on fuselage, left side
Motor is by driving left crank linkage to drive left side walking-leg to move, and right motor is by driving right crank connecting rod machine
Structure drives right side walking-leg motion, and the walking-leg is vertical type walking-leg, and the mode of four feet walking robot walking is with right
Two walking-legs at angle are one group, when two walking-legs in one group land support fuselage, two walkings in another set
Leg does lift leg, swing and stepping movement, two groups of walking-leg alternating movements.
Wherein, the left crank linkage includes the left side disc crank for driving left side walking-leg motion, the left side
Side walking-leg is articulated with the periphery of left side disc crank,
The right crank linkage includes the right side disc crank for driving right side walking-leg motion, the right side walking
Leg is articulated with the periphery of right side disc crank,
The phase difference of the articulated position of left side walking-leg and the articulated position of right side walking-leg is 180 °.
Wherein, the left crank linkage also includes left side drive shafts, and the output shaft of left motor passes through left side
Gear drives left side drive shafts to rotate, and left side disc crank is fixed on the outer end of left side drive shafts.
Wherein, the left crank linkage also includes left side first connecting rod and left side second connecting rod, and left side first connects
One end of bar and the preceding walking midleg in left side are hinged, the top of the other end of left side first connecting rod and the rear walking-leg in left side
Be hinged, the top of one end of left side second connecting rod and the preceding walking-leg in left side is hinged, the other end of left side second connecting rod and left side
Rear walking midleg be hinged.
Wherein, the right crank linkage also includes right side power transmission shaft, and the output shaft of right motor passes through right side
Gear drives right side drive axis, and right side disc crank is fixed on the outer end of right side power transmission shaft.
Wherein, the right crank linkage also includes right side first connecting rod and right side second connecting rod, and right side first connects
One end of bar and the preceding walking midleg on right side are hinged, the top of the other end of right side first connecting rod and the rear walking-leg on right side
Be hinged, the top of one end of right side second connecting rod and the preceding walking-leg on right side is hinged, the other end of right side second connecting rod and right side
Rear walking midleg be hinged.
Wherein, the four feet walking robot also includes drive circuit, the drive circuit driving left motor and right side
Motor works.
Wherein, the four feet walking robot also includes remote control, the remote control and drive circuit communication.
Wherein, the four feet walking robot also includes left rotation shaft, and the machine is fixed in one end of the left rotation shaft
Body, the rear walking-leg in the left side are fixed on the other end of the left rotation shaft, and the rear walking-leg in the left side can be relative to
The left rotation shaft rotates.
Wherein, the four feet walking robot also includes right rotation shafts, and the machine is fixed in one end of the right rotation shafts
Body, the rear walking-leg on the right side are fixed on the other end of the right rotation shafts, and the rear walking-leg on the right side can be relative to
The right rotation shafts rotate.
Beneficial effects of the present invention：A kind of four feet walking robot of the present invention is the leg knot of bionical four limbs mammal
Structure, four walking-legs for vertical type walking-leg and be located at fuselage both sides, be the characteristics of this structure：Compared with laterally flared elder brother
Worm formula leg structure, it is stronger in the bearing capacity of vertical direction, and the width of robot is smaller, more compact structure, and leg crosses over energy
Power is stronger, is designed as by way of four feet walking robot is walked using two diagonal walking-legs as one group, can be achieved to work as
Two walking-legs in one group land support fuselage when, two walking-legs in another set do lift leg, swing and stepping movement,
Two groups of walking-leg alternating movements.
Brief description of the drawings
Invention is described further using accompanying drawing, but the embodiment in accompanying drawing does not form any limitation of the invention,
For one of ordinary skill in the art, on the premise of not paying creative work, it can also be obtained according to the following drawings
Its accompanying drawing.
Fig. 1 is a kind of structural representation of four feet walking robot of the present invention.
Fig. 2 is a kind of structural representation of the both sides walking leg mechanism of four feet walking robot of the present invention.
Fig. 3 is a kind of a kind of schematic diagram of gait of four feet walking robot of the present invention.
Fig. 4 is a kind of schematic diagram of another gait of four feet walking robot of the present invention.
Include in figure：
The preceding walking-leg 1 in left side, the rear walking-leg 2 in left side, the preceding walking-leg 3 on right side, the rear walking-leg 4 on right side, right side
Disc crank 5, right side first connecting rod 6, right side second connecting rod 7, left motor 8, right motor 9, gear 10, left side drive shafts
11-1, right side power transmission shaft 11-2, left rotation shaft 12, right rotation shafts 13.
Embodiment
The invention will be further described with the following Examples.
A kind of four feet walking robot of the present embodiment, as shown in Figures 1 to 4, including fuselage, it is arranged at fuselage both sides
Left side walking-leg and right side walking-leg, left side walking-leg and right side walking-leg include preceding walking-leg and rear walking-leg, and described four
Feet walking robot also includes left crank linkage, left motor 8, right crank linkage and the right side for being fixed on fuselage
Side motor 9, for left motor 8 by driving left crank linkage to drive left side walking-leg to move, right motor 9 passes through driving
Right crank linkage drives right side walking-leg motion, and the walking-leg is vertical type walking-leg.
Wherein, the left crank linkage includes the left side disc crank for driving left side walking-leg motion, the left side
Side walking-leg is articulated with the periphery of left side disc crank,
The right crank linkage includes the right side disc crank 5 for driving right side walking-leg motion, the right side step
Row leg is articulated with the periphery of right side disc crank 5,
The phase of the articulated position (in Fig. 2 at A) of left side walking-leg and the articulated position (in Fig. 2 at B) of right side walking-leg
Difference is 180 ° so that the mode of four feet walking robot walking is using two diagonal walking-legs as one group two in one group
Bar walking-leg land support fuselage when, two walking-legs in another set do lift leg, swing and stepping movement, two groups of walking-legs
Alternating movement.
Wherein, the left crank linkage also includes left side drive shafts 11-1, and the output shaft of left motor 8 passes through a left side
The gear 10 of side drives left side drive shafts 11-1 to rotate, and left side disc crank is fixed on left side drive shafts 11-1 outer end.
Wherein, the right crank linkage also includes right side power transmission shaft 11-2, and the output shaft of right motor 9 passes through the right side
The gear 10 of side drives right side power transmission shaft 11-2 to rotate, and right side disc crank 5 is fixed on right side power transmission shaft 11-2 outer end.
A disc crank is fixedly mounted in the end face of two power transmission shafts respectively, at 10 millimeters of the center apart from disc crank
One hinge centres (i.e. articulated position) is set in disc face, equivalent to the peripheral position of disc crank in toggle,
And it is hinged to revolute pair with preceding walking-leg.In initial makeup location, make the phase at the be hinged center of the both ends disk of power transmission shaft
Difference is 180 °, i.e., the bending direction of two disc cranks staggers 180 °；Thus make what fuselage both sides were directly hinged with disc crank
The motion phase of walking-leg differs 180 °, i.e., when fuselage side walking-leg with disc crank upwards, swing forward when, another side step
Row leg with disc crank downwards, swing backward.Walking-leg realizes front and rear leg by a toggle before and after homonymy
Opposite oscillating motion, i.e., when walking-leg is swung forward before homonymy, walking-leg swing backward after homonymy；Conversely, walked before homonymy
During row leg swing backward, walking-leg is swung forward after homonymy.
As shown in figure 3, the rear walking-leg 2 in left side, the preceding walking-leg 3 on right side start liftoff soar；The preceding walking-leg in left side
1st, right side rear walking-leg 4 enter support the fuselage stage when, wherein left side the one side of preceding walking-leg 1 with disc crank around power transmission shaft
Rotate, raised while fuselage is propped up upwards, the preceding walking-leg 1 in left side, the rear walking-leg 4 on right side while swing backward, backward
Scrunching ground makes fuselage travel forward；At the same time, the rear walking-leg 2 in left side, the preceding walking-leg 3 on right side is liftoff completes in the air
Swing backward, swing further along, wait the rear walking-leg 2 in left side, the preceding walking-leg 3 on right side to be rocked to start the support machine that lands forward
During body, as shown in figure 4, the preceding walking-leg 1 in left side, the liftoff flight phase of the entrance of rear walking-leg 4 on right side, and the rear walking in left side
Leg 2, the preceding walking-leg 3 on right side enter the support fuselage stage, and the preceding walking-leg 3 on right side is upwards propped up fuselage while raise,
(the preceding walking-leg 3 on right side is to do circumference with disc crank to swing backward simultaneously for the rear walking-leg 2 in left side, the preceding walking-leg 3 on right side
Motion and straight ahead motion, two kinds of motions are exactly while rotation, one side swing backward altogether), backward pedal ground makes machine
Body travels forward.So far, the quadruped robot completes a complete advance gait cycle, the rear walking-leg 2 in left side, right side
Preceding walking-leg 3 be one group of walking-leg, and the preceding walking-leg 1 in left side, the rear walking-leg 4 on right side are so handed over for another group of walking-leg
For moving repeatedly, the robot is set constantly to travel forward forward.
As shown in Fig. 2 the left crank linkage also includes left side first connecting rod and left side second connecting rod, left side
One end of one connecting rod and the middle part of the preceding walking-leg 1 in left side are hinged, the other end of left side first connecting rod and the rear walking-leg 2 in left side
Top be hinged, the top of one end of left side second connecting rod and the preceding walking-leg 1 in left side is hinged, the other end of left side second connecting rod
It is hinged with the middle part of the rear walking-leg 2 in left side.
Wherein, the right crank linkage also includes right side first connecting rod and right side second connecting rod, and right side first connects
One end of bar and the middle part of the preceding walking-leg 3 on right side are hinged, the top of the other end of right side first connecting rod and the rear walking-leg 4 on right side
End is be hinged, and the top of one end of right side second connecting rod and the preceding walking-leg 3 on right side is hinged, the other end of right side second connecting rod and the right side
The middle part of the rear walking-leg 4 of side is hinged.
Wherein, the four feet walking robot also includes left rotation shaft 12, and institute is fixed in one end of the left rotation shaft 12
Fuselage is stated, the rear walking-leg in the left side is fixed on the other end of the left rotation shaft 12, and the rear walking-leg in the left side can
Rotated relative to the left rotation shaft 12, motion fulcrum of the left rotation shaft 12 as the rear walking-leg in left side, the motion fulcrum position
Rear walking midleg in left side.
Wherein, the four feet walking robot also includes right rotation shafts 13, and institute is fixed in one end of the right rotation shafts 13
Fuselage is stated, the rear walking-leg on the right side is fixed on the other end of the right rotation shafts 13, and the rear walking-leg 4 on the right side can
Rotated relative to the right rotation shafts 13, motion fulcrum of the right rotation shafts 13 as the rear walking-leg 4 on right side, the motion fulcrum position
In the middle part of the rear walking-leg 4 on right side.
The rotary power of motor output shaft is converted to walking by the quadruped robot of the present embodiment by toggle
The upper and lower of leg, swing campaign.Walking-leg is hinged by connecting rod and preceding walking-leg after homonymy, and it is in opposite direction to produce swing
Oscillating motion, i.e., when current walking-leg is swung forward, back leg swing backward.
Wherein, the four feet walking robot also includes drive circuit (not shown), and the drive circuit driving is left
Side motor 8 and right motor 9 work, and power supply is drive circuitry.
Wherein, the four feet walking robot also includes remote control, the remote control and drive circuit communication.Pass through
Remote control controls the steering of motor to realize the advance of fuselage, retreat or turn around to turn round respectively；I.e. rotating simultaneously is realized
Fuselage advances or retreated；Rotated forward with a motor, another motor reversal realizes that fuselage original place is turned round or u-turn is moved；Or with a motor
Forward or reverse, the mode of another motor stalls realize that fuselage turns to.The rotating of two motors is controlled by stacked switch
And stopping action, so as to drive quadruped robot walking mechanism walk to stop, turn left, turn right or pivot turn motion.
A kind of four feet walking robot of the present embodiment is the leg structure of bionical four limbs mammal, and four walking-legs are equal
Walking-leg for vertical type and it is located at fuselage both sides, is the characteristics of this structure：Compared with laterally flared insect formula leg structure,
It is stronger in the bearing capacity of vertical direction, and the width of robot is smaller, more compact structure, and the span ability of leg is stronger, pass through by
The mode of four feet walking robot walking is designed as using two diagonal walking-legs as one group, can be achieved when two steps in one group
Row leg land support fuselage when, two walking-legs in another set do lift leg, swing and stepping movement, two groups of walking-legs alternatings
Motion.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
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)
1. a kind of four feet walking robot, including fuselage, the left side walking-leg and right side walking-leg that are arranged at fuselage both sides, left side
Walking-leg and right side walking-leg include preceding walking-leg and rear walking-leg, it is characterised in that：The four feet walking robot also wraps
The left crank linkage for being fixed on fuselage, left motor, right crank linkage and right motor, left motor is included to lead to
Left crank linkage of overdriving drives left side walking-leg motion, and right motor is by driving right crank linkage to drive
Right side walking-leg motion, the walking-leg are vertical type walking-leg, and the mode of four feet walking robot walking is with diagonal two
Bar walking-leg is one group, and when two walking-legs in one group land support fuselage, two walking-legs in another set are lifted
Leg, swing and stepping movement, two groups of walking-leg alternating movements.
A kind of 2. four feet walking robot as claimed in claim 1, it is characterised in that：The left crank linkage includes
The left side disc crank of left side walking-leg motion is driven, the left side walking-leg is articulated with the periphery of left side disc crank,
The right crank linkage includes the right side disc crank for driving right side walking-leg motion, the right side walking-leg hinge
The periphery of right side disc crank is connected to,
The phase difference of the articulated position of left side walking-leg and the articulated position of right side walking-leg is 180 °.
A kind of 3. four feet walking robot as claimed in claim 2, it is characterised in that：The left crank linkage also wraps
Left side drive shafts are included, the output shaft of left motor drives left side drive shafts to rotate by the gear in left side, and left side disc crank is consolidated
Due to the outer end of left side drive shafts.
A kind of 4. four feet walking robot as claimed in claim 3, it is characterised in that：The left crank linkage also wraps
Include left side first connecting rod and left side second connecting rod, one end of left side first connecting rod and the preceding walking midleg in left side are hinged, it is left
The top of the other end of side first connecting rod and the rear walking-leg in left side is hinged, the preceding walking of one end and left side of left side second connecting rod
The top of leg is hinged, and the other end of left side second connecting rod and the rear walking midleg in left side are hinged.
A kind of 5. four feet walking robot as claimed in claim 2, it is characterised in that：The right crank linkage also wraps
Right side power transmission shaft is included, the output shaft of right motor drives right side drive axis by the gear on right side, and right side disc crank is consolidated
Due to the outer end of right side power transmission shaft.
A kind of 6. four feet walking robot as claimed in claim 5, it is characterised in that：The right crank linkage also wraps
Include right side first connecting rod and right side second connecting rod, one end of right side first connecting rod and the preceding walking midleg on right side are hinged, it is right
The top of the other end of side first connecting rod and the rear walking-leg on right side is hinged, the preceding walking of one end and right side of right side second connecting rod
The top of leg is hinged, and the other end of right side second connecting rod and the rear walking midleg on right side are hinged.
A kind of 7. four feet walking robot as claimed in claim 1, it is characterised in that：The four feet walking robot also includes
Drive circuit, the drive circuit driving left motor and right motor work.
A kind of 8. four feet walking robot as claimed in claim 7, it is characterised in that：The four feet walking robot also includes
Remote control, the remote control and drive circuit communication.
A kind of 9. four feet walking robot as claimed in claim 1, it is characterised in that：The four feet walking robot also includes
The fuselage is fixed in left rotation shaft, one end of the left rotation shaft, and the rear walking-leg in the left side is fixed on the left-hand rotation and moved
The other end of axle, the rear walking-leg in the left side can rotate relative to the left rotation shaft.
A kind of 10. four feet walking robot as claimed in claim 1, it is characterised in that：The four feet walking robot also wraps
Right rotation shafts are included, the fuselage is fixed in one end of the right rotation shafts, and the rear walking-leg on the right side is fixed on the right-hand rotation
The other end of moving axis, the rear walking-leg on the right side can rotate relative to the right rotation shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260085.7A CN107826175A (en) | 2017-12-04 | 2017-12-04 | A kind of four feet walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711260085.7A CN107826175A (en) | 2017-12-04 | 2017-12-04 | A kind of four feet walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107826175A true CN107826175A (en) | 2018-03-23 |
Family
ID=61641427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711260085.7A Pending CN107826175A (en) | 2017-12-04 | 2017-12-04 | A kind of four feet walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107826175A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126939A (en) * | 2019-06-25 | 2019-08-16 | 福州大学 | A kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application method |
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| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
| CN206606272U (en) * | 2017-03-21 | 2017-11-03 | 广东科学中心 | Acoustic control quadruped robot |
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|---|---|---|---|---|
| JP3112670U (en) * | 2005-04-25 | 2005-08-25 | 株式会社ナカショウ | Toy drive module |
| CN2915638Y (en) * | 2005-11-16 | 2007-06-27 | 上海市格致中学 | Four-foot robot |
| CN2915201Y (en) * | 2005-11-16 | 2007-06-27 | 上海市格致中学 | M-shape quadruped robot |
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| CN110126939A (en) * | 2019-06-25 | 2019-08-16 | 福州大学 | A kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application method |
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Application publication date: 20180323 |
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