CN108545123B - Lower limb structure of foot type robot - Google Patents
Lower limb structure of foot type robot Download PDFInfo
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- CN108545123B CN108545123B CN201810273563.6A CN201810273563A CN108545123B CN 108545123 B CN108545123 B CN 108545123B CN 201810273563 A CN201810273563 A CN 201810273563A CN 108545123 B CN108545123 B CN 108545123B
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- rod
- steering engine
- frame body
- driving
- connecting rod
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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
Abstract
The application discloses low limbs structure of sufficient robot, including first support body, the drive of simulation shank first support body simulation shank action first steering wheel, the second support body, the drive of simulation thigh second steering wheel, the third support body and the drive of simulation buttock of second support body simulation thigh action the third steering wheel of third support body simulation buttock action, a serial communication port, first steering wheel, second steering wheel and third steering wheel are all located on the base plate of the buttock position of robot, first steering wheel is connected through first link mechanism first support body, the second steering wheel passes through second link mechanism and connects the second support body. This application sets up in the position that is close to the buttock through first steering wheel, second steering wheel and the third steering wheel with drive shank, thigh and buttock concentrate for the weight distribution of robot is concentrated, the focus is stable.
Description
Technical Field
The application relates to the technical field of robots, in particular to a lower limb structure of a foot type robot.
Background
The multi-foot robot is a special robot imitating multi-foot organisms, and compared with the traditional wheeled and tracked robots, the foot type robot can deal with various non-structural terrains, so that the multi-foot robot can be widely applied to the aspects of search and rescue, survey and the like. And the leg structure is the core.
In terms of leg structures of existing foot robots, most of the existing foot robots adopt a mode that a drive is placed at a joint to drive the robots. The structure increases the weight of the leg of the robot, which is not beneficial to energy saving; meanwhile, due to the dispersion of the weight, the center of gravity of the robot is unstable and is difficult to control.
Content of application
The technical problem that this application will be solved provides a low limbs structure of sufficient robot, sets up in the position of being close to the buttock through first steering wheel, second steering wheel and the third steering wheel with drive shank, thigh and buttock concentrate for the weight distribution of robot is more concentrated, the focus is stable.
In order to solve the technical problem, the application provides a low limbs structure of sufficient robot, including first support body, the drive of simulation shank first support body simulation shank action first steering wheel, the second support body, the drive of simulation thigh second support body simulation thigh action second steering wheel, the third support body and the drive of simulation buttock of third support body simulation buttock action, first steering wheel, second steering wheel and third steering wheel are all located on the base plate of the buttock position of robot, first steering wheel passes through first link mechanism and connects first support body, the second steering wheel passes through second link mechanism and connects the second support body.
Furthermore, the first link mechanism and the second link mechanism are both parallelogram mechanisms, the first link mechanism comprises four first links connected end to end in sequence, two adjacent first links are connected in a relatively rotatable manner through a first rotating shaft, one of the two opposite first links is used as a first driving rod, the other is used as a first driven rod, the first steering engine is connected with the first driving rod to drive the first driving rod to rotate around the first rotating shaft at one end of the first driving rod, the first frame body is fixed relative to the first driven rod or the first frame body is used as a first driven rod, the second link mechanism comprises a set of opposite second links, one of the two second links is used as a second driving rod, the other is used as a second driven rod, the second steering engine is connected with the second driving rod to drive the second driving rod to rotate around the second rotating shaft at one end of the second driving rod, the robot comprises a first steering engine, a second driving rod, a second driven rod, a connecting rod, a third rotating shaft, a fourth rotating shaft, a connecting rod and a fourth rotating shaft, wherein the connecting rod is arranged between the second driving rod and the second driven rod, the connecting rod is as long as the connecting rod and the second rotating shaft are arranged between the second driving rod and the second driven rod, one end of the connecting rod is rotatably connected with the second driving rod through the third rotating shaft, the other end of the connecting rod is rotatably connected with the second driven rod through the fourth rotating shaft, one end of the second driven rod is rotatably arranged on the connecting part through the fifth rotating shaft, the second frame body is relatively fixed with the second driven rod or serves as the second frame body, and the first steering engine and the output shaft of the second steering.
Furthermore, the first driven rod is a sector piece simulating a knee, the arc edge of the sector piece faces the front of the robot, and the first frame body and the sector piece are relatively fixed.
Further, the second frame body is used as the second passive rod.
Furthermore, this application still includes an mounting panel, the mounting panel is located on the third support body, first steering wheel with the second steering wheel is installed from bottom to top respectively on the mounting panel.
Furthermore, in another set of opposite first connecting rods of the first connecting rod mechanism, one of the opposite first connecting rods is a first connecting rod, the other is a second connecting rod, the first connecting rod is a first connecting rod close to an output shaft of a first steering engine, the second connecting rod is a first connecting rod departing from the output shaft of the first steering engine, the output shaft of the first steering engine is connected with the first driving rod, the first driving rod is connected with the first connecting rod through a first bearing, one of the first driving rod and the first connecting rod is in interference fit with an inner ring of the first bearing, and the other one of the first driving rod and an outer ring of the first bearing are in interference fit.
Further, the first driving rod is connected with the second connecting rod through a second bearing, one of the first driving rod and the second connecting rod is in interference fit with an inner ring of the second bearing, and the other one of the first driving rod and the second connecting rod is in interference fit with an outer ring of the second bearing.
Furthermore, the second connecting rod is connected with the second driven rod through a third bearing, one of the second connecting rod and the second driven rod is in interference fit with an inner ring of the third bearing, and the other one of the second connecting rod and the second driven rod is in interference fit with an outer ring of the third bearing.
Furthermore, the output shaft of the first steering engine is opposite to the extending direction of the output shaft of the second steering engine, and the second frame body is detachably and fixedly connected with the first connecting rod through a connecting column.
The beneficial effect of this application is:
according to the robot, the first steering engine, the second steering engine and the third steering engine which drive the crus, the thighs and the buttocks are arranged at positions close to the buttocks in a centralized manner, so that the weight distribution of the robot is more centralized, and the center of gravity of the robot is stable; the weight of the robot is greatly reduced through the arrangement of the first connecting rod mechanism and the second connecting rod mechanism, and the energy consumption is reduced.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of the present application;
FIG. 2 is a schematic structural view of the present application from another perspective as shown in FIG. 1;
FIG. 3 is a schematic view of the leg pose of the present application at a fixed phase;
FIG. 4 is a schematic view of the leg lift position of the present application;
fig. 5 is a schematic view of the posture of the leg when lifting in the present application.
Wherein:
2 is a first frame body, 4 is a first steering engine, 6 is a second frame body, 8 is a second steering engine, 10 is a third frame body, 12 is a third steering engine, 14 is a base plate, 16 is a first driving rod, 17 is a first driven rod, 18 is a first rotating shaft, 20 is a second driving rod, 21 is a connecting part, 22 is a second driven rod, 24 is a connecting rod, 26 is a third rotating shaft, 28 is a fourth rotating shaft, 30 is a fifth rotating shaft, 31 is a mounting plate, 32 is a first connecting rod, 34 is a second connecting rod, and 35 is a connecting column.
Detailed Description
The present application is further described below in conjunction with the following figures and specific examples to enable those skilled in the art to better understand the present application and to practice it, but the examples are not intended to limit the present application.
Referring to fig. 1 to 5, a lower limb structure of a legged robot according to a preferred embodiment of the present disclosure includes a first frame 2 for simulating the movement of a lower leg, a first steering engine 4 for driving the first frame 2 to simulate the movement of a lower leg, a second frame 6 for simulating the movement of a upper leg, a second steering engine 8 for driving the second frame 6 to simulate the movement of an upper leg, a third frame 10 for simulating the movement of a hip, and a third steering engine 12 for driving the third frame 10 to simulate the movement of a hip, in order to make the weight distribution of the robot more centralized and the gravity center more stable, the first steering engine 4, the second steering engine 8 and the third steering engine 12 are preferably arranged on a base plate 14 at the hip position of the robot, in order to reduce the weight of the leg, the first steering engine 4 is connected with the first frame body 2 through a first connecting rod mechanism, and the second steering engine 8 is connected with the second frame body 6 through a second connecting rod mechanism.
Specifically, the preferred first link mechanism of this application with second link mechanism is parallelogram mechanism, and wherein, first link mechanism includes four first connecting rods that end to end connects gradually, through the relative rotatable connection of first pivot between two adjacent first connecting rods, and in two relative first connecting rods of one set of wherein, one of them is as first actuating lever 16, and the other is as first passive pole 17, first steering wheel 4 with first actuating lever 16 is connected in order to drive first actuating lever 16 is rotatory around the first pivot 18 of its one end, first support body 2 with first passive pole 17 relatively fixed or first support body 2 is as first passive pole 17, and the figure of this application shows that first support body 2 and first passive pole 17 relatively fixed's condition, wherein, first support body 2 is as the shank of robot. Preferably, the first passive rod 17 of the present application is a sector simulating a knee, and in order to make the overall structural design safe and reliable, the arc-shaped edge of the sector of the present application faces the front of the robot, and the lower leg is fixed relative to the sector. The first link mechanism and the second link mechanism are preferably parallelogram mechanisms because parallelograms have the characteristic that opposite sides are parallel to each other, the purpose of concentrating the driving device to one end can be achieved by utilizing the structure, and the weight of the leg of the robot is reduced; meanwhile, each rotation of the driving device can be transmitted to the leg part without damage, so that the control precision is ensured.
The second link mechanism of the present application includes a set of relative second links, one of the two second links is as the second driving lever 20, the other is as the second driven lever 22, the second steering engine 8 is connected with the second driving lever 20 to drive the second driving lever 20 to rotate around the second rotating shaft of one end thereof, in order to further lighten the weight of the robot and make the center of gravity stable, the second link mechanism of the present application is a parallelogram mechanism, and one of the four lever pieces is a virtual lever piece, the first steering engine is provided with a connecting portion 21, a virtual lever is formed between the connecting portion 21 and the second rotating shaft, a connecting rod 24 with the same length as the connecting portion 21 to the second rotating shaft axis line is arranged between the second driving lever 20 and the second driven lever 22, one end of the connecting rod 24 is connected with the second driving lever 20 in a relatively rotatable manner through a third rotating shaft 26, the other end of connecting rod 24 with second passive pole 22 is through the relative rotatable connection of fourth pivot 28, the one end of second passive pole 22 is rotatable through a fifth pivot 30 locate connecting portion 21, second support body 6 with second passive pole 22 is relatively fixed or second support body 6 is as the second passive pole, what the drawing of this application shows is that second support body 6 is as the condition of second passive pole 22, wherein second support body 6 is as the thigh of robot. The output shafts of the first steering engine 4 and the second steering engine 8 and the first rotating shaft and the second rotating shaft are parallel to the left and right directions of the robot.
In order to make the structure more compact, this application still includes an mounting panel 31, mounting panel 31 is located on the third support body 10, first steering wheel 4 with second steering wheel 8 is installed from bottom to top respectively on mounting panel 31.
Specifically, one of the opposite first connecting rods of the other group of the first connecting rod mechanisms is a first connecting rod 32, the other is a second connecting rod 34, the first connecting rod 32 is a first connecting rod close to an output shaft of the first steering engine 4, the second connecting rod 34 is a first connecting rod departing from the output shaft of the first steering engine, the output shaft of the first steering engine is connected with the first driving rod 16, the first driving rod 16 is connected with the first connecting rod 32 through a first bearing, one of the first driving rod 16 and the first connecting rod 32 is in interference fit with an inner ring of the first bearing, and the other one of the first driving rod 16 and an outer ring of the first bearing is in interference fit. The first driving rod 16 and the second connecting rod 34 are connected through a second bearing, one of the first driving rod 16 and the second connecting rod 34 is in interference fit with an inner ring of the second bearing, and the other one is in interference fit with an outer ring of the second bearing. The second connecting rod 34 is connected with the second driven rod 22 through a third bearing, one of the second connecting rod 34 and the second driven rod 22 is in interference fit with an inner ring of the third bearing, and the other one is in interference fit with an outer ring of the third bearing. The extending direction of the output shaft of the first steering engine 4 is opposite to that of the output shaft of the second steering engine 8, and the second frame body 6 is detachably and fixedly connected with the first connecting rod 32 through a connecting column 35.
The above-described embodiments are merely preferred embodiments for fully illustrating the present application, and the scope of the present application is not limited thereto. The equivalent substitution or change made by the person skilled in the art on the basis of the present application is within the protection scope of the present application. The protection scope of this application is subject to the claims.
Claims (7)
1. A lower limb structure of a foot robot comprises a first frame body for simulating crus, a first steering engine for driving the first frame body to simulate crus to act, a second frame body for simulating thighs, a second steering engine for driving the second frame body to simulate thighs to act, a third frame body for simulating buttocks and a third steering engine for driving the third frame body to simulate buttocks to act, and is characterized in that the first steering engine, the second steering engine and the third steering engine are all arranged on a base plate at the buttocks position of the robot, the first steering engine is connected with the first frame body through a first connecting rod mechanism, the second steering engine is connected with the second frame body through a second connecting rod mechanism, the first connecting rod mechanism and the second connecting rod mechanism are parallelogram mechanisms, the first connecting rod mechanism comprises four first connecting rods which are sequentially connected end to end, and two adjacent first connecting rods are relatively rotatably connected through a first rotating shaft, one of the two opposite first connecting rods is used as a first driving rod, the other one is used as a first driven rod, the first steering engine is connected with the first driving rod to drive the first driving rod to rotate around a first rotating shaft at one end of the first driving rod, the first frame body and the first driven rod are relatively fixed or the first frame body is used as a first driven rod, the second connecting rod mechanism comprises a set of opposite second connecting rods, one of the two second connecting rods is used as a second driving rod, the other one is used as a second driven rod, the second steering engine is connected with the second driving rod to drive the second driving rod to rotate around a second rotating shaft at one end of the second driving rod, a connecting part is arranged on the first steering engine, a connecting rod with the length equal to that between the connecting part and the second rotating shaft axis is arranged between the second driving rod and the second driven rod, and one end of the connecting rod is relatively rotatably connected with the second driving rod through a third rotating shaft, the other end of the connecting rod with the second driven rod is connected in a relatively rotatable mode through a fourth rotating shaft, one end of the second driven rod is arranged on the connecting portion in a rotatable mode through a fifth rotating shaft, the second frame body is fixed relatively to the second driven rod or serves as the second driven rod, and the first steering engine and the output shaft of the second steering engine and the first rotating shaft and the second rotating shaft are parallel to the left and right directions of the robot.
2. The lower limb structure of the legged robot according to claim 1, wherein the first passive rod is a sector simulating a knee, the arc-shaped edge of the sector faces the front of the robot, and the first frame body is fixed relative to the sector.
3. The lower limb structure of a legged robot according to claim 1, characterized in that the second frame body acts as the second passive rod.
4. The lower limb structure of the legged robot according to claim 1, further comprising an installation plate, wherein the installation plate is disposed on the third frame body, and the first steering engine and the second steering engine are respectively installed on the installation plate from bottom to top.
5. The lower limb structure of the legged robot of claim 1, wherein one of the opposing first links of the other set of the first link mechanism is a first link, the other one of the opposing first links is a second link, the first link is a first link close to an output shaft of a first steering engine, the second link is a first link away from the output shaft of the first steering engine, the output shaft of the first steering engine is connected with the first driving rod, the first driving rod is connected with the first link through a first bearing, one of the first driving rod and the first link is in interference fit with an inner ring of the first bearing, and the other one of the first driving rod and the first link is in interference fit with an outer ring of the first bearing.
6. The lower limb structure of the legged robot according to claim 5, characterized in that the first drive rod and the second connecting rod are connected by a second bearing, one of the first drive rod and the second connecting rod is in interference fit with an inner ring of the second bearing, and the other one is in interference fit with an outer ring of the second bearing.
7. The lower limb structure of the legged robot according to claim 5, wherein the output shaft of the first steering engine and the output shaft of the second steering engine extend in opposite directions, and the second frame body and the first connecting rod are detachably and fixedly connected through a connecting column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273563.6A CN108545123B (en) | 2018-03-29 | 2018-03-29 | Lower limb structure of foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273563.6A CN108545123B (en) | 2018-03-29 | 2018-03-29 | Lower limb structure of foot type robot |
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| Publication Number | Publication Date |
|---|---|
| CN108545123A CN108545123A (en) | 2018-09-18 |
| CN108545123B true CN108545123B (en) | 2020-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810273563.6A Active CN108545123B (en) | 2018-03-29 | 2018-03-29 | Lower limb structure of foot type robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5957074A (en) * | 1982-09-27 | 1984-04-02 | Agency Of Ind Science & Technol | Three-dimensional moving machine |
| CN101850798A (en) * | 2010-03-29 | 2010-10-06 | 北京航空航天大学 | Bionic cockroach robot based on double-four link mechanism |
| CN106737578A (en) * | 2016-12-15 | 2017-05-31 | 山东大学 | A kind of quadruped robot |
| CN207029356U (en) * | 2017-07-29 | 2018-02-23 | 华南理工大学 | A kind of leg mechanism of quadruped robot |
-
2018
- 2018-03-29 CN CN201810273563.6A patent/CN108545123B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5957074A (en) * | 1982-09-27 | 1984-04-02 | Agency Of Ind Science & Technol | Three-dimensional moving machine |
| CN101850798A (en) * | 2010-03-29 | 2010-10-06 | 北京航空航天大学 | Bionic cockroach robot based on double-four link mechanism |
| CN106737578A (en) * | 2016-12-15 | 2017-05-31 | 山东大学 | A kind of quadruped robot |
| CN207029356U (en) * | 2017-07-29 | 2018-02-23 | 华南理工大学 | A kind of leg mechanism of quadruped robot |
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| Publication number | Publication date |
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| CN108545123A (en) | 2018-09-18 |
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