CN108382484A - A kind of Multifeet walking robot for flexibly turning to advance - Google Patents
A kind of Multifeet walking robot for flexibly turning to advance Download PDFInfo
- Publication number
- CN108382484A CN108382484A CN201810167135.5A CN201810167135A CN108382484A CN 108382484 A CN108382484 A CN 108382484A CN 201810167135 A CN201810167135 A CN 201810167135A CN 108382484 A CN108382484 A CN 108382484A
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- China
- Prior art keywords
- unit
- leg
- walking
- trunk unit
- motor
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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)
- Manipulator (AREA)
Abstract
The invention belongs to robot fields, and disclose a kind of Multifeet walking robot for flexibly turning to advance, including trunk unit and multiple walking leg units, walking leg unit include the first supporting rack, first motor drive module, the second supporting rack, by action spot module and two leg propulsion dies；Leg propulsion die includes the second motor drive module, thigh and shank；Described to include passive support foot and passive rotation joint by action spot module, the passive support foot is fixedly mounted on the passive rotation joint, and the passive rotation joint may be rotatably mounted at the lower end of one of them shank.The first motor drive module of robot can drive walking leg unit to rotate integrally to change propulsion plane, combine again with passive rotary joint and support foot, 360 degree of robot original place can be achieved to flexibly turn to, torque is minimum needed for turning to only needs to overcome joint-friction power, leg propulsion die that the walking propulsion functions of robot may be implemented.
Description
Technical field
The invention belongs to robot fields, more particularly, to a kind of Multifeet walking robot for flexibly turning to advance.
Background technology
Legged type robot makes it have advantageous terrain adaptability, and then become because of its discrete supporting way
Instead of people, the ideal carrier of the function of people is extended.With boundless application prospect, such as：National defense and military, rescue and relief work,
The detection of celestial body surface, help the elderly help the disabled, household assistant, security protection, Edutainment etc..Multiple developed countries are all as with strategy
The cutting edge technology of meaning puts into huge fund one after another, and development is supported to work comprehensively with in-depth study.Such as U.S. Boston
Dynamics companies so far in 2004, have issued more in the case where U.S. national defense apex project affixes one's name to the long-term support of (DARPA)
The leading hydraulic pressure four-footed of money performance, two sufficient and electronic quadruped robots, illustrate certain complex environment adaptability.It leads
Legged type robot developing direction.
In the more mature multi-foot robot of having announced, technology, leg structure uses lactation configuration or insect substantially
Configuration, all dumb there is turning, the deficiency for gait control complexity of turning.
Invention content
The present invention is relatively low for existing legged type robot divertical motion performance, controls complicated deficiency, it is therefore an objective to provide one
Kind of simple in structure, easy to manufacture and control, can 360 degree of the original place Multifeet walking robot flexibly turned to.
To achieve the above object, it is proposed, according to the invention, a kind of Multifeet walking robot for flexibly turning to advance is provided,
It is characterized in that, including trunk unit and multiple walking leg units on the trunk unit, wherein
Each walking leg unit including the first supporting rack, first motor drive module, the second supporting rack, by action spot
Module and two leg propulsion dies, wherein first supporting rack is mounted on the trunk unit, the first motor is driven
Dynamic model block is mounted on first supporting rack, which includes first motor, the motor of the first motor
Axis is vertically arranged and is installed on the motor shaft second supporting rack, and two leg propulsion dies are installed in described
On two supporting racks；
Each leg propulsion die includes the second motor drive module, thigh and shank, wherein second electricity
Machine drive module includes the second motor, and the motor shaft of second motor is horizontally disposed with and installs the thigh on the motor shaft
Upper end, the lower end of the thigh is hinged the upper end of the shank by horizontally disposed first hinged shaft；
The lower end of two shanks is hinged by horizontally disposed second hinged shaft；
Described to include passive support foot and passive rotation joint by action spot module, the passive support foot is fixedly mounted on institute
It states on passive rotation joint, the passive rotation joint may be rotatably mounted at the lower end of one of them shank.
Preferably, the trunk unit is preferably spliced by more planks or tubing, and whole square, rectangular
Shape, regular pentagon or regular hexagon.
For rectangular trunk unit, for the walking leg unit being arranged on the trunk unit
Number is four, and each walking leg unit is separately positioned on an apex of rectangular trunk unit.
For rectangular trunk unit, for the walking leg unit being arranged on the trunk unit
Number is six, and three walking leg units are respectively set in every long side of trunk unit.
For the trunk unit of regular pentagon, the walking leg unit that is arranged on the trunk unit
Number is five, and each walking leg unit is separately positioned on an apex of trunk unit.
For the trunk unit of regular hexagon, the walking leg unit that is arranged on the trunk unit
Number is six, and each walking leg unit is separately positioned on an apex of trunk unit.
Preferably, the motor drive module further includes the encoder and electromagnetic brake being mounted on the motor.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect：
1) first motor drive module can drive walking leg unit to rotate integrally, to change propulsion plane, then with quilt
It moves rotary joint and passive support foot combines, it can be achieved that 360 degree of robot original place flexibly turns to, torque is minimum needed for steering
It only needs to overcome joint-friction power, leg propulsion die that the walking propulsion functions of robot may be implemented.
2) two leg propulsion dies are used in combination with, and motor drive module concentrates on the second supporting rack position, are mitigated
Leg rotary inertia is conducive to movenent performance promotion.
3) structure of the invention uses modularized design, succinctly, compact, and manufacture is easy to assembly；Robot course changing control is simple,
Divertical motion superior performance.
Description of the drawings
Fig. 1, which is the present invention, can flexibly turn to the Multifeet walking robot dimensional structure diagram advanced；
Fig. 2 a~Fig. 2 d are Multifeet walking robot trunk and leg Distribution evolution schematic diagrames of the present invention；
Fig. 3 a are single leg structural schematic diagrams in the present invention；
Fig. 3 b are the schematic diagrames for installing motor drive module in the present invention on two supporting racks；
Fig. 4 a~Fig. 4 c are that the present invention takes a step schematic diagram；
Fig. 5 a~Fig. 5 c are that the present invention turns to schematic diagram.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
With reference to each attached drawing, a kind of Multifeet walking robot for flexibly turning to advance, including trunk unit 100 and be mounted on
Multiple walking leg units on the trunk unit 100, wherein
Each walking leg unit includes the first supporting rack 301, first motor drive module 302, the second supporting rack
304, by action spot module and two leg propulsion dies, wherein first supporting rack 301 is mounted on the trunk unit 100
On, the first motor drive module 302 is mounted on first supporting rack 301, which includes
The motor shaft vertical of first motor, the first motor is arranged and installs second supporting rack 304, two institutes on the motor shaft
Leg propulsion die is stated to be installed on second supporting rack 304；Preferably, the second supporting rack 304 passes through rotary shaft and connection
Axis device is mounted on the motor shaft, and thrust bearing 303 is additionally provided between rotary shaft on the second supporting rack 304；
Each leg propulsion die includes the second motor drive module 305, thigh 306 and shank 307, wherein
Second motor drive module 305 includes the second motor, and the motor shaft of second motor is horizontally disposed with and the motor shaft
The upper upper end for installing the thigh 306, the lower end of the thigh 306 is hinged the shank by horizontally disposed first hinged shaft
307 upper end；
The lower end of two shanks 307 is hinged by horizontally disposed second hinged shaft；
Described to include passive support foot 309 and passive rotation joint 308 by action spot module, the passive support foot 309 is consolidated
On the passive rotation joint 308, the passive rotation joint 308 may be rotatably mounted at one of them described shank for Dingan County
307 lower end.
Further, the trunk unit 100 is spliced by more planks or tubing, and whole square, rectangular
Shape, regular pentagon or regular hexagon.
Further, for rectangular trunk unit 100, the walking leg list that is arranged on the trunk unit 100
The number of member is four, and each walking leg unit is separately positioned on an apex of rectangular trunk unit 100.
Further, for rectangular trunk unit 100, the walking leg list that is arranged on the trunk unit 100
The number of member is six, and three walking leg units are respectively set in every long side of trunk unit 100.In Fig. 1
Trunk unit 100 is rectangle, and is provided with six walking leg units thereon, and the respectively first walking leg unit 200, second is walked
Leg unit 300, third walking leg unit 400, fourth line walk leg unit 500, and fifth line walks leg unit 600, the 6th walking leg list
Member 700.
Further, for the trunk unit 100 of regular pentagon, the walking leg on the trunk unit 100 is set
The number of unit is five, and each walking leg unit is separately positioned on an apex of trunk unit 100.
Further, for the trunk unit 100 of regular hexagon, the walking leg on the trunk unit 100 is set
The number of unit is six, and each walking leg unit is separately positioned on an apex of trunk unit 100.
Further, the motor drive module further includes the encoder and electromagnetic brake being mounted on the motor.
The walking leg unit of the present invention is series and parallel structure, the hip region (portion of the first supporting rack and the second supporting rack
Position) there are three active degree of freedom (there are one rotary freedoms for each motor drive module), (rotations of one, sufficient end passive freedom degree
Degree of freedom).Two coaxial mounted second motors can realize propulsion functions.Compared with existing robot mechanism, the present invention one
Change it is traditional by side-sway joint turn in the way of, make robot there is no all around point, can 360 degree of original place direction row
Into；Using parallel propulsion leg structure, motor concentrates on robot leg hip joint close to fuselage positions, reduces the rotation of leg
Inertia improves robot motion's performance.
The passive rotation joint 308 is mainly made of rotation axis and thrust bearing, it is ensured that robot pivot stud
When frictional force it is small.
The robot trunk of the present invention is the structure of the polygons such as an approximation, mainly ensures 360 degree of sides of Robot
To stability when advancing.
The motor drive module of the present invention can guarantee compact-sized, light weight.
The first supporting rack of the present invention is bolted with trunk unit.There is uniformly distributed spiral shell on first motor drive module top
Keyhole is connect by bolt with the first supporting rack, and first motor drive module output shelf is connected by shaft coupling 10 and rotary shaft 20
It connects, rotary shaft 20 is consolidated with the first supporting rack 301 by bolt.First supporting rack 301 and the second supporting rack 304 pass through axis connection
Position is equipped with thrust bearing 303, and the vertical thrust bearing 303 that is forced through of such first supporting rack 301 is transmitted to the second support
Frame 304.Second motor drive module is connect by bolt with the second supporting rack.Second motor of two the second motor drive modules
Motor shaft be co-axially mounted, output shelf is bolted with thigh 306.Thigh 306 is connect with shank respectively, shank pass through by
Turn movable joint is connect with passive support foot.Shank 307 is in the isometric connection of the other end, and there are one quilts for 307 prolongation of shank
Turn movable joint 308, prolongation end is a spherical foot, when falling foot point on electrical axis, 307 prolongation of shank
It is overlapped with axis namely passive rotation joint 308 is overlapped with axis, to ensure to fall foot point original place when on steering motor axis
Steering moment is small.
The multi-foot robot of the present invention takes a step walking process as shown in Fig. 4 a~Fig. 4 c：Motor drive module drives thigh
306 rotations realize sufficient end and take a step to move to drive shank 307 to rotate, and steering motor is in locking state when traveling.
The multi-foot robot of the present invention turns to schematic diagram as shown in Fig. 5 a~Fig. 5 c：Motor drive module drives thigh 306
Supporting rack rotates, and takes a step plane to change leg.Steering can turn at the time of sufficient endpoint lifts, can also be at sufficient endpoint
It when turning under driving motor module axis, stands and turns in situ, since there are one passive rotary joints at sufficient end, so making to turn
It only needs to overcome joint-friction to torque.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of Multifeet walking robot for flexibly turning to advance, which is characterized in that including trunk unit and mounted on described
Multiple walking leg units on trunk unit, wherein
Each walking leg unit including the first supporting rack, first motor drive module, the second supporting rack, by action spot module
With two leg propulsion dies, wherein first supporting rack is mounted on the trunk unit, the first motor drives mould
Block is mounted on first supporting rack, which includes first motor, and the motor shaft of the first motor is perpendicular
Second supporting rack is installed on straight setting and the motor shaft, two leg propulsion dies are installed in described second
On support；
Each leg propulsion die includes the second motor drive module, thigh and shank, wherein second motor drives
Dynamic model block includes the second motor, and the motor shaft of second motor is horizontally disposed with and installs the upper of the thigh on the motor shaft
End, the lower end of the thigh is hinged the upper end of the shank by horizontally disposed first hinged shaft；
The lower end of two shanks is hinged by horizontally disposed second hinged shaft；
Described to include passive support foot and passive rotation joint by action spot module, the passive support foot is fixedly mounted on the quilt
On turn movable joint, the passive rotation joint may be rotatably mounted at the lower end of one of them shank.
2. a kind of Multifeet walking robot for flexibly turning to advance according to claim 1, which is characterized in that the body
Dry unit is preferably spliced by more planks or tubing, and whole square, rectangle, regular pentagon or positive six side
Shape.
3. a kind of Multifeet walking robot for flexibly turning to advance according to claim 2, which is characterized in that for length
For rectangular trunk unit, the number for the walking leg unit being arranged on the trunk unit is four, and is each walked
Leg unit is separately positioned on an apex of rectangular trunk unit.
4. a kind of Multifeet walking robot for flexibly turning to advance according to claim 1, which is characterized in that for length
For rectangular trunk unit, the number for the walking leg unit being arranged on the trunk unit is six, and trunk unit
Every long side on three walking leg units are respectively set.
5. a kind of Multifeet walking robot for flexibly turning to advance according to any claim in Claims 1 to 4,
It is characterized in that, for the trunk unit of regular pentagon, the number for the walking leg unit being arranged on the trunk unit
It it is five, and each walking leg unit is separately positioned on an apex of trunk unit.
6. a kind of Multifeet walking robot for flexibly turning to advance according to any claim in Claims 1 to 5,
It is characterized in that, for the trunk unit of regular hexagon, the number for the walking leg unit being arranged on the trunk unit
It it is six, and each walking leg unit is separately positioned on an apex of trunk unit.
7. a kind of Multifeet walking robot for flexibly turning to advance according to claim 1, which is characterized in that the electricity
Machine drive module further includes the encoder and electromagnetic brake being mounted on the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810167135.5A CN108382484A (en) | 2018-02-28 | 2018-02-28 | A kind of Multifeet walking robot for flexibly turning to advance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810167135.5A CN108382484A (en) | 2018-02-28 | 2018-02-28 | A kind of Multifeet walking robot for flexibly turning to advance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108382484A true CN108382484A (en) | 2018-08-10 |
Family
ID=63069024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810167135.5A Pending CN108382484A (en) | 2018-02-28 | 2018-02-28 | A kind of Multifeet walking robot for flexibly turning to advance |
Country Status (1)
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774811A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | A kind of small biped robot and its control method of brshless DC motor driving |
| CN109773825A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | The joint of robot and its control method of double brshless DC motor parallel drives |
| CN110027643A (en) * | 2019-05-30 | 2019-07-19 | 贾春平 | Multi-foot robot and its control method |
| CN110193848A (en) * | 2019-05-29 | 2019-09-03 | 北京理工大学 | A kind of robot integration driving joint reducing leg rotary inertia |
| CN110217311A (en) * | 2019-05-28 | 2019-09-10 | 广东省智能制造研究所 | A kind of quick quadruped robot based on coaxial parallel-connection mechanism |
| CN110406611A (en) * | 2019-08-09 | 2019-11-05 | 桂林航天工业学院 | A kind of polypody movable type engineer equipment chassis |
| CN110843953A (en) * | 2019-12-06 | 2020-02-28 | 北京理工大学 | Parallel robot leg with buffering and boosting functions |
| CN111003075A (en) * | 2019-12-16 | 2020-04-14 | 湖北第二师范学院 | High-elasticity-jump composite multi-foot robot |
| CN111137441A (en) * | 2020-01-20 | 2020-05-12 | 华南农业大学 | Folding type walking device, field walking frame, unmanned aerial vehicle and walking operation method |
| CN111301552A (en) * | 2020-02-26 | 2020-06-19 | 北京理工大学珠海学院 | Robot leg power system and control method thereof |
| CN111391935A (en) * | 2020-03-19 | 2020-07-10 | 上海工程技术大学 | Self-deformation reconfigurable multi-terrain robot |
| CN112092941A (en) * | 2020-07-30 | 2020-12-18 | 北京理工大学 | Parallel leg structure for bionic robot and bionic robot |
| CN112092939A (en) * | 2020-07-30 | 2020-12-18 | 北京理工大学 | Bionic robot with multiple motion modes |
| CN112124452A (en) * | 2020-10-13 | 2020-12-25 | 济南大学 | Multi-foot-wheel walking robot |
| CN112873220A (en) * | 2021-01-08 | 2021-06-01 | 格物创意(深圳)科技有限公司 | Polymorphic STEM educational machine people |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774811A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | A kind of small biped robot and its control method of brshless DC motor driving |
| CN109773825A (en) * | 2018-12-31 | 2019-05-21 | 南京工程学院 | The joint of robot and its control method of double brshless DC motor parallel drives |
| CN110217311A (en) * | 2019-05-28 | 2019-09-10 | 广东省智能制造研究所 | A kind of quick quadruped robot based on coaxial parallel-connection mechanism |
| CN110217311B (en) * | 2019-05-28 | 2024-01-26 | 广东省智能制造研究所 | Agile four-foot robot based on coaxial parallel mechanism |
| CN110193848A (en) * | 2019-05-29 | 2019-09-03 | 北京理工大学 | A kind of robot integration driving joint reducing leg rotary inertia |
| CN110193848B (en) * | 2019-05-29 | 2021-01-19 | 北京理工大学 | Robot integrated driving joint capable of reducing leg rotational inertia |
| CN110027643A (en) * | 2019-05-30 | 2019-07-19 | 贾春平 | Multi-foot robot and its control method |
| CN110406611A (en) * | 2019-08-09 | 2019-11-05 | 桂林航天工业学院 | A kind of polypody movable type engineer equipment chassis |
| CN110843953A (en) * | 2019-12-06 | 2020-02-28 | 北京理工大学 | Parallel robot leg with buffering and boosting functions |
| CN111003075A (en) * | 2019-12-16 | 2020-04-14 | 湖北第二师范学院 | High-elasticity-jump composite multi-foot robot |
| CN111137441A (en) * | 2020-01-20 | 2020-05-12 | 华南农业大学 | Folding type walking device, field walking frame, unmanned aerial vehicle and walking operation method |
| CN111137441B (en) * | 2020-01-20 | 2024-04-12 | 华南农业大学 | Folding walking device, field walking frame, unmanned aerial vehicle and walking operation method |
| CN111301552A (en) * | 2020-02-26 | 2020-06-19 | 北京理工大学珠海学院 | Robot leg power system and control method thereof |
| CN111301552B (en) * | 2020-02-26 | 2022-03-08 | 佛山职业技术学院 | Robot leg power system and control method thereof |
| CN111391935A (en) * | 2020-03-19 | 2020-07-10 | 上海工程技术大学 | Self-deformation reconfigurable multi-terrain robot |
| CN112092939B (en) * | 2020-07-30 | 2021-12-07 | 北京理工大学 | Wheel-leg driving combined and multi-motion mode composite operation arm four-footed robot |
| CN112092939A (en) * | 2020-07-30 | 2020-12-18 | 北京理工大学 | Bionic robot with multiple motion modes |
| CN112092941A (en) * | 2020-07-30 | 2020-12-18 | 北京理工大学 | Parallel leg structure for bionic robot and bionic robot |
| CN112124452A (en) * | 2020-10-13 | 2020-12-25 | 济南大学 | Multi-foot-wheel walking robot |
| CN112873220A (en) * | 2021-01-08 | 2021-06-01 | 格物创意(深圳)科技有限公司 | Polymorphic STEM educational machine people |
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Application publication date: 20180810 |