CN108082326A - A kind of machinery bionic walking mechanism - Google Patents
A kind of machinery bionic walking mechanism Download PDFInfo
- Publication number
- CN108082326A CN108082326A CN201711441389.3A CN201711441389A CN108082326A CN 108082326 A CN108082326 A CN 108082326A CN 201711441389 A CN201711441389 A CN 201711441389A CN 108082326 A CN108082326 A CN 108082326A
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- China
- Prior art keywords
- crankwheel
- linkage
- driven
- hinged
- strut
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of mechanical bionic walking mechanism, including body, step linkage；The body is square or case shape, and for placing driving device and power supply, the outside of the body is symmetrical arranged four pairs of step linkages；By the way that front end crankwheel is driven to rotate, the driven imitation walking step state of linkage is driven, four-footed collaboration reaches walking function, and crankwheel is driven by synchronous band connection before and after homonymy, and actively, rear step connecting rod follows movement to preceding step linkage.The present invention imitates quadruped operating mechanism using mechanical linkage, has many advantages, such as simple in structure, easy for installation, easily controllable, is applicable to a variety of different terrain occasions.
Description
Technical field
The present invention relates to multi-foot walking mechanism technology fields, more particularly relate to a kind of mechanical bionic walking mechanism.
Background technology
Walking mechanism species is various at present, mainly has：Wheeled, crawler type, sufficient formula, frictional vibration formula etc., mainly using machine
Tool structure or hydraulic system are driven controlled motion, such as crank guide rod mechanism, utilize the kinetic characteristic of crank and guide rod
It imitates walking mechanism and gait reaches walking purpose.
Wheeled all to have the characteristics that with crawler type walking mechanism, wheeled have that motor-driven, flexible, driving force is small, but road surface contact
The big obstacle climbing ability of pressure is poor, and crawler type carrying is uniform, and obstacle performance is better than wheeled, but housing construction is complicated, heavy, motor-driven
Property is poor.
The present invention proposes a kind of imitative quadruped（Such as dog）The walking mechanism of active mechanism, quadruped movement be according to
By foreleg driving, retrogressing follows, four-footed cooperative motion completes walking function.The present invention is based on seven bar machines of toggle
Structure imitates quadruped leg arm, four-footed cooperative achievement walking function.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of mechanical bionic walking mechanism of low cost, using based on song
The seven-bar mechanism of handle linkage is imitated quadruped leg arm, is driven using crank, four-footed cooperative achievement walking function has
It is simple in structure, easily controllable, the advantages that obstacle performance is good.
The present invention provides a kind of mechanical bionic walking mechanism, including body, step linkage；The body is square
Or case shape, for placing driving device and power supply, the outside of the body is symmetrical arranged the four step linkages, including
Crankwheel, master connecting-rod, follower lever, main strut, secondary strut, rack one, rack two；Described master connecting-rod one end and the crankwheel
Axis pin connects, and the other end is hinged with the follower lever, and is hinged with one end of the main strut, forms compound hinges；The master
The other end of strut is hinged with the body, and forms rack one with the centre of gyration of the crankwheel；The follower lever it is another
One end floor-type support is as step, and with hinged in the middle part of the follower lever, the other end is cut with scissors with the body for one end of the pair strut
It connects, and rack two is formed with the main strut and body hinged place.
The present invention operation principle be：The present invention imitates quadruped active mechanism, and step is connected by Collaborative Control four
Linkage realizes the walking function of complete machine, reaches certain obstacle climbing ability.
It during present invention movement, is rotated by overhung crank before driving, drives the driven imitation walking step state of linkage, four football associations
With walking function is reached, crankwheel is driven by synchronous band connection before and after homonymy, preceding step linkage active, rear step connecting rod
Movement is followed, single step connecting rod mechanism movement process is as follows：
1）When crankwheel is from 1 uniform rotation to 2, step is in and puies forward step state；
2）When crankwheel is from 2 uniform rotation to 3, step is in and strides forward state；
3）When crankwheel is from 3 uniform rotation to 4, step is in step landing state；
4）When crankwheel is from 4 uniform rotation to 1, step be in step stop, body transition state.
The beneficial effects of the invention are as follows：The present invention imitates quadruped operating mechanism, structure letter using mechanical linkage
It is single, easy for installation, easily controllable, it is applicable to a variety of different terrain occasions.
Description of the drawings
Fig. 1 is a kind of mechanical bionic walking mechanism structure schematic diagram of the present invention
Fig. 2 is step linkage schematic diagram of the present invention
In figure：1st, body；2nd, step linkage；201 crankwheels；202nd, master connecting-rod；203rd, follower lever；204th, main strut；
205th, secondary strut；206th, rack one；207th, rack two.
Specific embodiment
Below in conjunction with attached drawing in the present invention, a kind of technical solution of mechanical bionic walking mechanism is specifically described.
Based on the embodiment of the present invention, those of ordinary skill in the art are obtained all on the premise of creative work is not made
Other embodiment all belongs to the scope of protection of the present invention.
Referring to figs. 1 to Fig. 2, the present invention relates to a kind of mechanical bionic walking mechanism, preferable embodiment is：One
The mechanical bionic walking mechanism of kind, including body 1, step linkage 2；The body 1 is square or case shape, is driven for placing
Dynamic device and power supply, the outside of the body 1 are symmetrical arranged four pairs of step linkages 2.
The step linkage 2, including crankwheel 201, master connecting-rod 202, follower lever 203, main strut 204, secondary strut
205th, rack 1, rack 2 207；Described 202 one end of master connecting-rod is connected with the axis pin of the crankwheel 201, the other end and institute
It is hinged to state follower lever 23, and is hinged with one end of the main strut 204, forms compound hinges；The other end of the main strut 202
It is hinged with the body 1, and form rack 1 with the centre of gyration of the crankwheel 201；The follower lever 203 it is another
Holding floor-type support, one end of the pair strut 205 and 203 middle part of follower lever are hinged, the other end and the machine as step
Body 1 is hinged, and forms rack 2 207 with the main strut 202 and 1 hinged place of body.
The operation principle of the present invention is as follows：The present invention movement when, is rotated by overhung crank before driving, drive linkage from
Dynamic model imitates walking step state, and four-footed collaboration reaches walking function, and crankwheel is driven by synchronous band connection before and after homonymy, and preceding step connects
Actively, rear step connecting rod follows movement to linkage, and single step connecting rod mechanism movement process is as follows：
1）When crankwheel is from 1 uniform rotation to 2, step is in and puies forward step state；
2）When crankwheel is from 2 uniform rotation to 3, step is in and strides forward state；
3）When crankwheel is from 3 uniform rotation to 4, step is in step landing state；
4）When crankwheel is from 4 uniform rotation to 1, step be in step stop, body transition state.
The present invention has mechanical structure and component simple in structure, without complexity, easy for installation, easily controllable, only passes through
Coordinate driving crankwheel and walking function can be realized, the advantages that available for a variety of different landform occasions.
Claims (2)
1. a kind of machinery bionic walking mechanism, it is characterised in that including body, step linkage；The body is square or case
Body shape, for placing driving device and power supply, the outside of the body is symmetrical arranged four pairs of step linkages.
2. a kind of mechanical bionic walking mechanism according to claim 1, it is characterised in that the step linkage, including
Crankwheel, master connecting-rod, follower lever, main strut, secondary strut, rack one, rack two；Described master connecting-rod one end and the crankwheel
Axis pin connects, and the other end is hinged with the follower lever, and is hinged with one end of the main strut, forms compound hinges；The master
The other end of strut is hinged with the body, and forms rack one with the centre of gyration of the crankwheel；The follower lever it is another
One end floor-type support is as step, and with hinged in the middle part of the follower lever, the other end is cut with scissors with the body for one end of the pair strut
It connects, and rack two is formed with the main strut and body hinged place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711441389.3A CN108082326A (en) | 2017-12-27 | 2017-12-27 | A kind of machinery bionic walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711441389.3A CN108082326A (en) | 2017-12-27 | 2017-12-27 | A kind of machinery bionic walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108082326A true CN108082326A (en) | 2018-05-29 |
Family
ID=62179650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711441389.3A Pending CN108082326A (en) | 2017-12-27 | 2017-12-27 | A kind of machinery bionic walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082326A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228546A (en) * | 2019-06-17 | 2019-09-13 | 河海大学常州校区 | A kind of simulating crawling robot |
| CN110608356A (en) * | 2019-08-20 | 2019-12-24 | 河北地质大学 | Monitoring device based on cloud computing |
| CN110774278A (en) * | 2018-10-01 | 2020-02-11 | 张锡林 | Novel bionic mechanical arm consisting of crankshaft and connecting rod mechanism |
| CN111114667A (en) * | 2019-12-24 | 2020-05-08 | 北京建筑大学 | Single-motor driven multi-rod four-foot walking device |
| CN114193465A (en) * | 2021-09-14 | 2022-03-18 | 宁波大学 | Multi-foot cooperative bionic robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2174085C1 (en) * | 2000-05-05 | 2001-09-27 | Волгоградский государственный технический университет | Cross-country vehicle walking support |
| WO2002028600A2 (en) * | 2000-10-06 | 2002-04-11 | Consejo Superior De Investigaciones Científicas | Actuator for the legs of a walking robot |
| US6484068B1 (en) * | 2001-07-24 | 2002-11-19 | Sony Corporation | Robot apparatus and method for controlling jumping of robot device |
| CN2832624Y (en) * | 2005-10-28 | 2006-11-01 | 沈阳理工大学 | Walking apparatus of bionic mechanical horse |
| CN206664751U (en) * | 2017-04-19 | 2017-11-24 | 南京农业大学 | A kind of electronic five connecting rods multi-freedom robot towards high-speed motion |
-
2017
- 2017-12-27 CN CN201711441389.3A patent/CN108082326A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2174085C1 (en) * | 2000-05-05 | 2001-09-27 | Волгоградский государственный технический университет | Cross-country vehicle walking support |
| WO2002028600A2 (en) * | 2000-10-06 | 2002-04-11 | Consejo Superior De Investigaciones Científicas | Actuator for the legs of a walking robot |
| US6484068B1 (en) * | 2001-07-24 | 2002-11-19 | Sony Corporation | Robot apparatus and method for controlling jumping of robot device |
| CN2832624Y (en) * | 2005-10-28 | 2006-11-01 | 沈阳理工大学 | Walking apparatus of bionic mechanical horse |
| CN206664751U (en) * | 2017-04-19 | 2017-11-24 | 南京农业大学 | A kind of electronic five connecting rods multi-freedom robot towards high-speed motion |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774278A (en) * | 2018-10-01 | 2020-02-11 | 张锡林 | Novel bionic mechanical arm consisting of crankshaft and connecting rod mechanism |
| CN110228546A (en) * | 2019-06-17 | 2019-09-13 | 河海大学常州校区 | A kind of simulating crawling robot |
| CN110608356A (en) * | 2019-08-20 | 2019-12-24 | 河北地质大学 | Monitoring device based on cloud computing |
| CN111114667A (en) * | 2019-12-24 | 2020-05-08 | 北京建筑大学 | Single-motor driven multi-rod four-foot walking device |
| CN114193465A (en) * | 2021-09-14 | 2022-03-18 | 宁波大学 | Multi-foot cooperative bionic robot |
| CN114193465B (en) * | 2021-09-14 | 2023-08-29 | 宁波大学 | Multi-foot cooperative bionic robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20180529 |