CN108502047A - Bionical six legged type robots walking mechanism - Google Patents
Bionical six legged type robots walking mechanism Download PDFInfo
- Publication number
- CN108502047A CN108502047A CN201810516543.7A CN201810516543A CN108502047A CN 108502047 A CN108502047 A CN 108502047A CN 201810516543 A CN201810516543 A CN 201810516543A CN 108502047 A CN108502047 A CN 108502047A
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- Prior art keywords
- pedipulator
- hinged
- walking mechanism
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- bionical
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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)
- Toys (AREA)
Abstract
The present invention discloses a kind of bionical six legged type robots walking mechanism, including substrate, the both sides of the substrate are arranged with 3 groups of connecting brackets, pedipulator before the end of preceding group of two connecting brackets is hinged one, pedipulator during the end of middle group of two connecting brackets is hinged one by movable connecting rod, pedipulator after the bottom ends of two connecting brackets is hinged one is organized afterwards, the end of pedipulator is hinged with the one end of a driving connecting rod before pedipulator and two after two, pedipulator is hinged in an output services head in the other end of two groups of driving connecting rods and two, two output services heads respectively with the output axis connection of a DC speed-reducing.This walking mechanism is arranged with three groups of pedipulators, it is connected using crank between pedipulator, pedipulator is more and joint freedom degrees are more, realize that flexible motion, dynamic stability are good, pass through the transmission of the positive and negative rotation combination crank of DC speed-reducing, realize advance and retreat and the steering of walking mechanism, adaptation to the ground ability is good, in office where can walk in shape.
Description
Technical field
The present invention relates to a kind of robot components, and in particular to a kind of bionical six legged type robots walking mechanism.
Background technology
With the continuous development of science and technology, more and more fields are in application project robot, and walking mechanism is in machine
Very important status is occupied in device people.Walking mechanism includes wheel subclass walking mechanism and bionic mechanical leg walking mechanism, though it takes turns
Ratcheting mechanism and crawler type mechanism in subclass have been arrived and have been widely applied, but its each own advantage and disadvantage：Wheel type traveling mechanism
Possess the advantages that speed is fast, efficient, but its obstacle climbing ability is poor, landform adapts to force difference；The obstacle climbing ability of crawler type walking mechanism
It is promoted, but the flexibility and mobility under extreme terrain are insufficient；Either wheel type traveling mechanism or crawler type row
The chassis for walking mechanism is all relatively low relative to ground, when needing to pass through the water surface, can there is the risk of motor entering water.Therefore, when need
Want avoidance, when sandstone, the water surface, topography are unstable, it is wheeled to be difficult to smooth passage with crawler type walking mechanism.
Currently, mechanical leg walking mechanism is mainly two-legged type and all fours type, since leg number is less, leg joint is free
It spends less, moves underaction, dynamic stability is poor, and the joint of body will be by very big when rugged and rough steady road surface is walked
Impact force, adaptation to the ground energy force difference, the scope of application limited.
Invention content
In view of the deficienciess of the prior art, the present invention provides a kind of bionical six legged type robots walking mechanism, this walking
Mechanism is arranged with three groups of pedipulators, is connected using crank between pedipulator, and pedipulator is more and joint freedom degrees are more, realizes spirit
Work movement, dynamic stability are good, by the transmission of the positive and negative rotation combination crank of DC speed-reducing, realize the advance and retreat of walking mechanism
And turn to, adaptation to the ground ability is good, in office where can walk in shape.
In order to achieve the above object, the technical solution that the present invention takes：
The both sides of bionical six legged type robots walking mechanism, including substrate, the substrate are arranged with 3 groups in perpendicular folded structure
Connecting bracket, pedipulator before the ends of preceding group of two connecting brackets is hinged one, pedipulator is symmetrically obliquely installed before two, middle group two
The end of connecting bracket is hinged a movable connecting rod, pedipulator during the bottom ends of two movable connecting rods is hinged one, machinery in two
Leg is symmetrically obliquely installed, pedipulator after the rear bottom end for organizing two connecting brackets is hinged one, and pedipulator is symmetrically vertically arranged after two,
The end of pedipulator is hinged with the one end of a driving connecting rod before pedipulator and two after two, two groups of driving connecting rods it is another
Pedipulator is hinged in an output services head in end and two, the output with a DC speed-reducing respectively of two output services heads
Axis connection, two DC speed-reducings are fixed on by motor fixing frame on the bottom surface of substrate.
Have to make preceding pedipulator be convenient for leaping over obstacles and walking, while effective passing power as optimal technical scheme
Conducive to improving walking mechanism flexible motion, pedipulator can 30 ° of swing along vertical direction before two.
It avoids walking mechanism from turning on one's side to keep the balance of entire walking mechanism as optimal technical scheme, improves
The stability of walking mechanism, the length of pedipulator is set as 1.5 times of rear pedipulator in two, and pedipulator can be along perpendicular in two
Histogram swings 15 ° forwards, backwards.
Compared with prior art, the device have the advantages that：
1, this walking mechanism is arranged with three groups of pedipulators, is connected using crank between pedipulator, and pedipulator is more and joint
Degree of freedom is more, realizes that flexible motion, dynamic stability are good, real by the transmission of the positive and negative rotation combination crank of DC speed-reducing
The advance and retreat of existing walking mechanism and steering, adaptation to the ground ability is good, in office where can walk in shape.
2, the structure setting of pedipulator is scientific and reasonable before two, and pedipulator is convenient for leaping over obstacles and walking before making, while effectively
Passing power is conducive to improve walking mechanism flexible motion.
3, the structure setting of pedipulator is scientific and reasonable in two, keeps the balance of entire walking mechanism, walking mechanism is avoided to send out
Raw rollover, improves the stability of walking mechanism.
Description of the drawings
The present invention is described in further detail in the following with reference to the drawings and specific embodiments.
Fig. 1 is the structural diagram of the present invention；
Drawing reference numeral：1, substrate, 2, connecting bracket, 3, preceding pedipulator, 4, movable connecting rod, 5, middle pedipulator, 6, rear machine
Tool leg, 7, driving connecting rod, 8, output services head, 9, DC speed-reducing, 10, motor fixing frame.
Specific implementation mode
A kind of specific embodiment of the present invention, bionical six legged type robots walking mechanism, including the side's of being in shape are proposed as shown in Figure 1
Substrate 1, the both sides of the substrate 1 are arranged with 3 groups of connecting brackets 2 in perpendicular folded structure, and the present embodiment is by 3 groups of connecting brackets
On substrate 1 by two groups of bolt kits fixations, pedipulator 3 before the bottom end of preceding group of two connecting brackets 2 is hinged one, this reality
It applies example by bolt assembly to be joined, then pedipulator 3 can be rotated around hinge joint before two, and pedipulator 3 symmetrically inclines before two
The bottom end of tiltedly setting, middle group of two connecting brackets 2 is hinged a movable connecting rod 4, and the end of two movable connecting rods 4 is hinged in one
Pedipulator 5, pedipulator 5 is symmetrically obliquely installed in two, pedipulator 6 after the rear bottom end for organizing two connecting brackets 2 is hinged one, after two
Pedipulator 6 is symmetrical vertically arranged, and the end of pedipulator 3 is cut with scissors with the one end of a driving connecting rod 7 before pedipulator 6 and two after two
It connects, pedipulator 5 is hinged in an output services head 8 in the other end of two groups of driving connecting rods 7 and two, then two is sequentially connected
Bar 7 constitutes a crank mechanism, as output services head 8 rotates, to which pedipulator 6 moves after pedipulator 3 and two before drive two
Dynamic, the output axis connection with a DC speed-reducing 9, the present embodiment are arranged two output services heads 8 and wrap two output services heads 8 respectively
The eccentric turntable for including the axle sleeve and axle sleeve connection that are connect with motor output shaft by shaft coupling, at the end of two groups of driving connecting rods 7
Accordingly bolt hole is offered in portion and two on pedipulator 5, then is connect with eccentric turntable by bolt kit, realizes the coaxial of its
Rotation, two DC speed-reducings 9 are fixed on by motor fixing frame 10 on the bottom surface of substrate 1, and the present embodiment passes through bolt assembly
Motor fixing frame 10 is fixed on substrate 1, the present embodiment is realized by bolt assembly and is hinged, then articulation piece can be around hinged
Point is rotated.
Before two pedipulator 3 can 30 ° of swing along vertical direction, pedipulator 3 is convenient for leaping over obstacles and walking before making, together
Shi Youxiao passing powers are conducive to improve walking mechanism flexible motion.
The length of pedipulator 5 is set as 1.5 times of rear pedipulator 6 in two, and in two pedipulator 5 can along vertical direction before
15 ° are swung afterwards, keep the balance of entire walking mechanism, walking mechanism is avoided to turn on one's side, improve the stability of walking mechanism.
When the present invention uses：2 DC speed-reducings 9 power on, and output services head rotation is driven by its output shaft,
And then drive the movement of 3 groups of pedipulators；It, can be inconsistent by the steerings of two DC speed-reducings 9 or only when if desired turning to
One direct decelerating motor 9 works, and realizes the steering of walking mechanism.
Certainly, only the preferred embodiments of the disclosure is described in detail in conjunction with attached drawing above, not with this
Limit the practical range of the present invention, equivalence changes made by all principles under this invention, construction and structure should all be covered by this
In the protection domain of invention.
Claims (3)
1. bionical six legged type robots walking mechanism, it is characterised in that：Including substrate (1), the both sides of the substrate (1) are symmetrically set
There are 3 groups of connecting brackets (2) in perpendicular folded structure, pedipulator (3) before the bottom end of preceding group of two connecting bracket (2) is hinged one, two
Preceding pedipulator (3) is symmetrically obliquely installed, and the bottom end of middle group of two connecting bracket (2) is hinged a movable connecting rod (4), and two activities are even
Pedipulator (5) during the end of extension bar (4) is hinged one, pedipulator (5) symmetrically is obliquely installed in two, two connecting brackets of rear group (2)
Bottom end be hinged one after pedipulator (6), pedipulator (6) is symmetrical vertically arranged after two, machinery before pedipulator (6) and two after two
The end of leg (3) is hinged with the one end of a driving connecting rod (7), in the other end and two of two groups of driving connecting rods (7)
Pedipulator (5) is hinged in an output services head (8), and two output services heads (8) are defeated with a DC speed-reducing (9) respectively
Go out axis connection, two DC speed-reducings (9) are fixed on by motor fixing frame (10) on the bottom surface of substrate (1).
2. bionical six legged type robots walking mechanism according to claim 1, it is characterised in that：Pedipulator (3) can before two
30 ° of swing along vertical direction.
3. bionical six legged type robots walking mechanism according to claim 1 or 2, it is characterised in that：Pedipulator (5) in two
Length be set as 1.5 times of rear pedipulator (6), and pedipulator (5) can 15 ° of swing along vertical direction in two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810516543.7A CN108502047A (en) | 2018-05-25 | 2018-05-25 | Bionical six legged type robots walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810516543.7A CN108502047A (en) | 2018-05-25 | 2018-05-25 | Bionical six legged type robots walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108502047A true CN108502047A (en) | 2018-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810516543.7A Pending CN108502047A (en) | 2018-05-25 | 2018-05-25 | Bionical six legged type robots walking mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217310A (en) * | 2019-05-20 | 2019-09-10 | 广西机电职业技术学院 | A kind of hexapod robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100811530B1 (en) * | 2006-12-04 | 2008-03-10 | 건국대학교 산학협력단 | 6 beef or pork hocks transfer robot that use piezoelectric actuator |
| CN103612686A (en) * | 2013-12-10 | 2014-03-05 | 罗定职业技术学院 | Six-foot upright walking robot |
| CN204801920U (en) * | 2015-05-25 | 2015-11-25 | 宜春学院 | 3D prints six sufficient bio -robots |
| CN106737596A (en) * | 2017-01-11 | 2017-05-31 | 西华大学 | A kind of robot running gear |
-
2018
- 2018-05-25 CN CN201810516543.7A patent/CN108502047A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100811530B1 (en) * | 2006-12-04 | 2008-03-10 | 건국대학교 산학협력단 | 6 beef or pork hocks transfer robot that use piezoelectric actuator |
| CN103612686A (en) * | 2013-12-10 | 2014-03-05 | 罗定职业技术学院 | Six-foot upright walking robot |
| CN204801920U (en) * | 2015-05-25 | 2015-11-25 | 宜春学院 | 3D prints six sufficient bio -robots |
| CN106737596A (en) * | 2017-01-11 | 2017-05-31 | 西华大学 | A kind of robot running gear |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217310A (en) * | 2019-05-20 | 2019-09-10 | 广西机电职业技术学院 | A kind of hexapod robot |
| CN110217310B (en) * | 2019-05-20 | 2024-03-08 | 广西机电职业技术学院 | Six-foot robot |
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