CN108583720A - Four-footed bionic robot with eight-rod metamorphic mechanism at waist and driving method - Google Patents
Four-footed bionic robot with eight-rod metamorphic mechanism at waist and driving method Download PDFInfo
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- CN108583720A CN108583720A CN201810497347.XA CN201810497347A CN108583720A CN 108583720 A CN108583720 A CN 108583720A CN 201810497347 A CN201810497347 A CN 201810497347A CN 108583720 A CN108583720 A CN 108583720A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 31
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- 230000008859 change Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 4
- 210000001624 hip Anatomy 0.000 description 69
- 238000010586 diagram Methods 0.000 description 19
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- 241000592274 Polypodium vulgare Species 0.000 description 8
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- 230000009471 action Effects 0.000 description 4
- 230000005021 gait Effects 0.000 description 4
- 241000239290 Araneae Species 0.000 description 3
- 241001166076 Diapheromera femorata Species 0.000 description 3
- 241000258241 Mantis Species 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
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- 241001455214 Acinonyx jubatus Species 0.000 description 1
- 241000238421 Arthropoda Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 241000124008 Mammalia Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
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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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- Combustion & Propulsion (AREA)
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- Toys (AREA)
Abstract
The invention discloses a four-footed bionic robot with an eight-rod metamorphic mechanism at the waist and a driving method thereof, wherein the four-footed bionic robot comprises a robot body and legs; the machine body is an eight-rod metamorphic mechanism which comprises eight hinge pairs which are sequentially connected to form a closed loop, wherein the rotating axes of the fifth hinge pair, the sixth hinge pair and the second hinge pair are parallel to each other, and the rotating axes of the seventh hinge pair, the eighth hinge pair and the fourth hinge pair are parallel to each other; the fifth hinge pair and the eighth hinge pair are vertical to the rotation axis of the first hinge pair, and the rotation axes of the sixth hinge pair and the seventh hinge pair are vertical to the rotation axis of the second hinge pair; the eight-rod metamorphic mechanism is applied to the waist of the four-footed bionic robot, the metamorphic mechanism is enabled to change the mechanism structure and the degree of freedom in the motion process through different driving modes, the change of the waist structure is realized, and the waist can be folded left and right, so that the waist structure of various animals can be better simulated, and the bionic of various animals is realized.
Description
Technical field
The present invention relates to bio-robot technical field, more particularly to a kind of waist is imitative using the four-footed of eight bar metamorphic mechanisms
Raw robot and driving method.
Background technology
Polypody bionic machine robot mechanism is simple and flexible, and bearing capacity is strong, stability is good, can not only be in the non-structural of complexity
It walks on road surface, easily across larger obstacle (such as trench, rock), and can be realized and be fast moved with dynamic gait.
Polypody bio-robot can replace people to complete many dangerous operations, in military affairs, mining, nuclear power industry, celestial body detecting, disappear
The fields such as anti-rescue, construction industry, agricultural felling, teaching amusement have broad application prospects.
However, traditional polypody bio-robot is when imitating animal, focus has focused largely on leg structure, and for waist
Portion's structure is usually not given to pay close attention to too much.Traditional polypody bio-robot waist generally uses rigid structure.Its shortcoming is that：
1) waist is immovable, only plays support and article carrying platform, cuts little ice to the fortune dynamic posture of robot.2) polypody
The waist of bio-robot rigid structure can not change its shape, and the relative position of each leg of robot remains unchanged, robot
Can only by change leg posture realize walk, run, the actions such as avoidance and turning, waist to the movement of bio-robot with
Adaptability adjusting cut little ice, and rigidity waist structure significantly limit robot overall work space and flexibly
Degree.3) polypody bio-robot rigidity waist strongly limits regulation performance of the robot to itself center of gravity so that robot row
The stability margin very little walked, there are critical stable state in gait, walking process is unstable.4) in terms of gait planning, rigid waist
Bio-robot gait it is limited, cannot achieve the upper and lower action for bending over, facing upward waist, swaying one's hips similar to animal.5) rigid waist
It can not play the role of bumper and absorbing shock, while also limit the speed of travel.6) traditional bio-robot can only imitate specific one
Kind animal, cannot imitate the form of many animals simultaneously.
Invention content
In view of this, the present invention provides the four-leg bionic robot and driving side of a kind of waist using eight bar metamorphic mechanisms
Method, deformable, flexibly, adaptive ability is stronger.
The waist of the present invention uses the four-leg bionic robot of eight bar metamorphic mechanisms, including body and leg；
Body is eight bar metamorphic mechanisms comprising is in turn connected to form the first axle pair, second hinge pair, third of closed loop
Hinges and the 4th hinges, first axle pair include the first toggle and the second toggle being hinged, and second hinge pair includes
The third toggle and the 4th toggle being hinged, third hinge pair include the 5th toggle and the 6th toggle being hinged, and the 4th
Hinges include the 7th toggle and the 8th toggle being hinged；
Second toggle hingedly forms the 5th hinges far from first toggle one end and third toggle, and the 4th toggle is far from third
Toggle one end hingedly forms the 6th hinges with the 5th toggle, and the 6th toggle is hinged shape far from the 5th toggle one end and the 7th toggle
At the 7th hinges, the 8th toggle hingedly forms the 8th hinge far from the 7th toggle one end and the first toggle far from second toggle one end
Chain pair；
The pivot center of the pivot center of 5th hinges, the pivot center of the 6th hinges and second hinge pair is mutually flat
Row, the pivot center of the 7th hinges, the pivot center and the 4th hinges of the 8th hinges pivot center be mutually parallel；
The pivot center of 5th hinges and the 8th hinges is perpendicular with the pivot center of first axle pair, the 6th hinge
The pivot center of chain pair and the 7th hinges is perpendicular with the pivot center of second hinge pair；
Leg is respectively arranged one on third toggle, the 4th toggle, the 7th toggle and the 8th toggle.
Further, each leg includes the first leg bar, the second leg bar and third leg bar, one end and the first leg of the second leg bar
Bar hingedly forms the 9th hinges, and the other end and the third leg bar of the second leg bar hingedly form the tenth hinges, the 9th hinges
It is parallel with the pivot center of the tenth hinges.
Further, the upper end of the first leg bar of each leg is rotatably assorted and is formed with corresponding toggle pivot center with
The pivot center of hinges residing for corresponding toggle is parallel.
Further, the length of the first toggle, the second toggle, the 5th toggle and the 6th toggle is identical, third toggle, the 4th hinge
The length of bar, the 7th toggle and the 8th toggle is identical；The length of third toggle is more than the second toggle length.
Further, when angle is equal between angle and the 6th toggle and the 7th toggle between the first toggle and the 8th toggle, the
The pivot center of one hinges is conllinear with the pivot center of third hinge pair.
The invention also discloses a kind of waists to use the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms, driving
Arbitrary three in second hinge pair, the 4th hinges, the 5th hinges, the 6th hinges, the 7th hinges and the 8th hinges
A any one or two body portions that can be driven the bio-robot along in first axle pair and third hinge pair
Point, while driving leg.
The invention also discloses a kind of waists using the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms, first
First, driving first axle is secondary or/and third hinge pair turns an angle, so that the second toggle, third toggle, the 4th toggle
With plane where the 5th toggle around the pivot center of first axle pair or/and third hinge pair relative to the 6th toggle, the 7th
Toggle, the 8th toggle and Plane Rotation where the first toggle；Then, driving second hinge pair, the 4th hinges, the 5th hinge
Any one in pair, the 6th hinges, the 7th hinges and the 8th hinges；Drive every leg simultaneously.
The invention also discloses a kind of waists using the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms, works as drive
Dynamic first axle is secondary or second hinge pair respectively rotates 180 degree, or drives first axle pair and second hinge pair simultaneously so that first
The upper surface of toggle is overlapped with the upper surface of the second toggle, the upper surface of third toggle is overlapped with the upper surface of the 8th toggle,
The upper surface of four toggles is overlapped with the upper surface of the 7th toggle, the upper surface of the 5th toggle is overlapped with the upper surface of the 6th toggle,
And the 5th hinges pivot center overlapped with the pivot center of the 8th hinges, the pivot center of second hinge pair and the 4th hinge
The pivot center of chain pair overlaps, the pivot center of the 6th hinges is overlapped with the pivot center of the 7th hinges；Reselection drives
Arbitrary three in second hinge pair, the 4th hinges, the 5th hinges, the 6th hinges, the 7th hinges and the 8th hinges
It is a；Drive every leg simultaneously.
Beneficial effects of the present invention：Four-leg bionic robot and its driving of the waist of the present invention using eight bar metamorphic mechanisms
Eight bar metamorphic mechanisms, are applied to the waist of four-leg bionic robot by method, make metamorphic mechanisms by different type of drive
Changing mechanism structure state, degree of freedom during the motion realize the change of waist configuration, waist energy left and right doubling, to more preferable
All kinds of animals of imitation waist structure, realize bionical to multiclass animal.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the closed linkage schematic diagram of bio-robot of the present invention；
Fig. 2 is the structural schematic diagram of a wherein open chain for bio-robot of the present invention；
Fig. 3 is that one waist of bio-robot embodiment of the present invention is the structural schematic diagram that plane structure morphotype imitates lizard；
Fig. 4 is that one waist of bio-robot embodiment of the present invention is the structural schematic diagram that plane structure morphotype imitates doggie；
Fig. 5 is that one waist of bio-robot embodiment of the present invention is the structural schematic diagram that plane structure morphotype imitates spider；
Fig. 6 is that one waist of bio-robot embodiment of the present invention is the structural schematic diagram that plane structure morphotype imitates walkingstick；
Fig. 7 is the structural schematic diagram of one of example that two waist of bio-robot embodiment of the present invention bends right and left；
Fig. 8 is two structural schematic diagram of the example that two waist of bio-robot embodiment of the present invention bends right and left；
Fig. 9 is three structural schematic diagram of the example that two waist of bio-robot embodiment of the present invention bends right and left；
Figure 10 is the structural schematic diagram that mantis is imitated in three waist of bio-robot embodiment of the present invention or so doubling.
Specific implementation mode
Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete
Description, it is clear that described embodiment be only the present invention a part of the embodiment, instead of all the embodiments.It is based on
The embodiment of the present invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining relative position relation, motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if the spy
When determining posture and changing, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as referring to
Show or imply its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result,
Two " feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can
To be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical solution occurs
Conflicting or cannot achieve when, will be understood that the combination of this technical solution is not present, also not the present invention claims protection model
In enclosing.
- Figure 10 referring to Fig.1, Fig. 1 are the closed linkage schematic diagrames of bio-robot of the present invention, and Fig. 2 is the bionical machine of the present invention
The structural schematic diagram of the wherein open chain of device people, Fig. 3 are that one waist of bio-robot embodiment of the present invention is imitative for plane structure morphotype
The structural schematic diagram of lizard, Fig. 4 are that the structure that one waist of bio-robot embodiment of the present invention is the imitative doggie of plane structure morphotype is shown
It is intended to, Fig. 5 is that one waist of bio-robot embodiment of the present invention is the structural schematic diagram that plane structure morphotype imitates spider, and Fig. 6 is this
One waist of invention bio-robot embodiment is the structural schematic diagram that plane structure morphotype imitates walkingstick, and Fig. 7 is the bionical machine of the present invention
The structural schematic diagram of one of the example that two waist of device people embodiment bends right and left, Fig. 8 are bio-robot embodiments two of the present invention
Two structural schematic diagram of the example that waist bends right and left, Fig. 9 are that two waist of bio-robot embodiment of the present invention bends right and left
Example three structural schematic diagram, Figure 10 be three waist of bio-robot embodiment of the present invention or so doubling imitate mantis knot
Structure schematic diagram, as shown in the figure：
The waist of the present invention uses the four-leg bionic robot of eight bar metamorphic mechanisms, including body and leg；
Body is eight bar metamorphic mechanisms comprising be in turn connected to form the first axle pair 9 of closed loop, second hinge pair 10,
Third hinge pair 11 and the 4th hinges 12, first axle pair 9 the first toggle 1 and the second toggle 2 including being hinged, second
Hinges 10 include the third toggle 3 and the 4th toggle 4 being hinged, and third hinge pair 11 includes the 5th toggle being hinged
5 and the 6th toggle 6, the 4th hinges 12 include the 7th toggle 7 and the 8th toggle 8 being hinged；
Second toggle 2 hingedly forms the 5th hinges 13 far from 1 one end of the first toggle and third toggle 3, and the 4th toggle 4 is remote
Hingedly forms the 6th hinges 14 from 3 one end of third toggle and the 5th toggle 5, the 6th toggle 6 is far from 5 one end of the 5th toggle and the
Seven toggles 7 hingedly form the 7th hinges 15, and the 8th toggle 8 is far from 7 one end of the 7th toggle and the first toggle 1 far from the second toggle
2 one end hingedly form the 8th hinges 16；
The pivot center of the pivot center of 5th hinges 13, the pivot center and second hinge pair 10 of the 6th hinges 14
Be mutually parallel, the pivot center of the 7th hinges 15, the pivot center and the 4th hinges 12 of the 8th hinges 16 rotation axis
Line is mutually parallel；
The pivot center of 5th hinges 13 and the 8th hinges 16 is perpendicular with the pivot center of first axle pair 9,
The pivot center of 6th hinges 14 and the 7th hinges 15 is perpendicular with the pivot center of second hinge pair 10；
Leg is respectively arranged one on third toggle 3, the 4th toggle 4, the 7th toggle 7 and the 8th toggle 8.
Wherein, each leg include the first leg bar 17, the second leg bar 18 and third leg bar 19, one end of the second leg bar 18 with
First leg bar 17 hingedly forms the 9th hinges 20, and the other end and the third leg bar 19 of the second leg bar 18 hingedly form the tenth hinge
The pivot center of pair 21, the 9th hinges 20 and the tenth hinges 21 is parallel.
Wherein, the upper end of the first leg bar 17 of each leg is rotatably assorted and is formed with corresponding toggle pivot center with
The pivot center of hinges residing for corresponding toggle is parallel；The upper end of first leg bar 17 of i.e. each leg and corresponding toggle
Form revolute pair 22.
Wherein, the first toggle 1, the second toggle 2, the 5th toggle 5 are identical with the length of the 6th toggle 6, third toggle 3,
Four toggles 4, the 7th toggle 7 are identical with the length of the 8th toggle 8；The length of third toggle 3 is more than 2 length of the second toggle.
Wherein, when angle is equal between angle and the 6th toggle 6 and the 7th toggle 7 between the first toggle 1 and the 8th toggle 8,
The pivot center of first axle pair 9 is conllinear with the pivot center of third hinge pair 11.
In the present invention, body includes altogether eight turning joints, chooses different driving methods, and different final machines can be obtained
Volume morphing, to imitate different zoomorphisms, as shown in Fig. 2, driving second hinge pair 10, the 4th hinges 12, the 5th hinge
Arbitrary three in secondary 13, the 6th hinges 14, the 7th hinges 15 and the 8th hinges 16 along with first axle pair 9 and the
Any one in three hinges 11 or two body parts that can be driven the bio-robot, while leg is driven, it can make
Polypody bio-robot of the present invention imitates a variety of different zoomorphisms.Specific embodiment is as follows：
Embodiment one, waist use the four-leg bionic robot of eight bar metamorphic mechanisms, and at eight bar metamorphic mechanisms of waist
In flat state.
If Fig. 3, Fig. 4, Fig. 5, Fig. 6 are that the eight-linkage mechanism of the waist of the present invention is in the embodiment of plane structure state, including one
A closed chain and four open chains.The closed chain is by the first toggle 1 connected in sequence, the second toggle 2, third toggle 3, the 4th toggle
4, the eight bar metamorphic mechanisms that the 5th toggle 5, the 6th toggle 6, the 7th toggle 7 and the 8th toggle 8 are constituted.
Under the driving method of this embodiment, as shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, the first leg bar 17 in four open chains is
Rotated respectively by revolute pair 22 and the 7th toggle 7, the 8th toggle 8, third toggle 3 and the 4th toggle 4 it is hinged, four open chains with
The axis and the 7th hinges of four revolute pairs 22 between 7th toggle 7, the 8th toggle 8, third toggle 3 and the 4th toggle 4
15 axis is parallel, that is, is located at the axis of the axis and the 4th hinges 12 of the revolute pair 22 of the 7th toggle 7 and the 8th toggle 8 two
The axis of two parallel, positioned at third toggle 3 and the 4th toggle 4 revolute pairs 22 of line is parallel with the axis of second hinge pair 10；
Four revolute pairs 22 are all fallen in the plane at 19 place of the first leg bar 17, the second leg bar 18 and third leg bar.
Driving third hinge pair 11 and first axle pair 9 drive third hinge pair 11 to be rotated with first axle pair 9 simultaneously
Certain equal angular so that the first toggle 1 and the second toggle 2 keep conllinear and the 6th toggle 6 and the 5th toggle 5 conllinear, the
The axis of seven hinges 15 is parallel with the axis of the 5th hinges 13；With this by Bian Bao four-leg bionics of the present invention robot waist
Eight-linkage mechanism is determined as plane structure state.
In the present embodiment, the 7th hinges 15, the 5th hinges 13, the 8th hinges 16, second hinge pair 10, the are selected
Arbitrary three in four hinges 12, the 6th hinges 14 are used as driving；Meanwhile the 9th hinge in every open chain of driving
Secondary 20, the tenth hinges 21 and the revolute pair 22 for connecting closed chain and open chain.
Below by the 7th hinges 15, the 5th hinges 13 and the 6th hinges 14 chosen in closed chain, in open chain
The 9th hinges 20, the tenth hinges 21 and connection closed chain and open chain revolute pair 22 be driving joint illustrate.
Drive the 7th hinges 15, the 5th hinges 13, the 6th hinges 14 so that the 6th toggle 6 and the 7th toggle 7 hang down
Directly, the second toggle 2 and third toggle 3 are vertical, and the 4th toggle 4 and the 5th toggle 5 are vertical, third hinge pair 11 and first axle pair
9 axis collinear.At this moment closed chain structure state is the rectangle as shown in Fig. 3 kinds.At this moment by driving the 9th hinges in each bar of open chain
20, the revolute pair 22 of the tenth hinges 21 and connection closed chain and each open chain so that 18 level of approximation of the second leg bar, third leg
19 near vertical of bar, plane where every open chain and the corresponding bar near normal that this bar open chain is connected in closed chain.This time-varying born of the same parents four
That sufficient bio-robot imitates is the form of lizard, such as Fig. 3.
It keeps the form of closed chain constant on the basis of Fig. 3, drives the 9th hinges 20, the tenth hinges in every open chain
21 and connect closed chain and each open chain revolute pair 22 so that the second leg bar 18 tilts down, 19 near vertical of third leg bar,
At special angle between second leg bar 18 and third leg bar 19, and to connect this in every open chain place plane and closed chain
The correspondence bar less parallel of open chain.That this time-varying born of the same parents' four-leg bionic robot imitates is the form of dog, such as Fig. 4.
Drive the 7th hinges 15, the 5th hinges 13, the 6th hinges 14 so that 6 and of the 6th toggle on the basis of Fig. 3
When the angle of 7th toggle 7 is equal with the angle of the 8th toggle 8 and the first toggle 1；Drive the 7th hinges 15, the 5th hinges
13, the 6th hinges 14 are so that the 6th toggle 6 and the 7th toggle 7, the 8th toggle 8 and the first toggle 1, the 4th toggle 4 and the 5th
Toggle 5 is at 120 degree so that the second toggle 2 is cut with scissors with third toggle 3, the 7th toggle 7 and the 8th toggle 8, third toggle 3 and the 4th
Angle between bar 4 is also 120 degree；The 9th hinges 20, the tenth hinges 21 and the connection in every open chain are driven simultaneously
The revolute pair 22 of closed chain and each open chain so that the second leg bar 18 tilts upwards, is pressed from both sides between the second leg bar 18 and third leg bar 19
Angle is 60 degree approximate, and makes every corresponding bar near normal open chain place plane and connect this bar open chain in closed chain.At this moment
That Bian Bao four-leg bionics robot imitates is the form of spider, such as Fig. 5.
On the basis of Fig. 3, proper treatment is done to eliminate to the 7th toggle 7, the 8th toggle 8, third toggle 3, the 4th toggle 4
Possible interference, the 7th hinges 15 of driving make the 6th toggle 6 and 7 angle of the 7th toggle at 0 degree, the 5th hinges 13 of driving
So that the second toggle 2 makes the 4th toggle 4 and the 5th toggle 5 at 0 with 3 angle of third toggle at 0 degree, the 6th hinges 14 of driving
Degree, thus the 7th toggle 7 and 8 angle of the 8th toggle at 20 degree, the 8th toggle 8 and 1 angle of the first toggle at 0, third toggle 3 and
Angle between 4th toggle 4 is at 20 degree；The 9th hinges 20 in every open chain, the tenth hinges 21 are driven simultaneously and are connected
Connect the revolute pair 22 of closed chain and each open chain so that the second leg bar 18 tilts upwards, between the second leg bar 18 and third leg bar 19
Angle is 60 degree approximate, and makes every corresponding bar near normal open chain place plane and connect this bar open chain in closed chain.This
That time-varying born of the same parents' four-leg bionic robot imitates is the form of walkingstick, such as Fig. 6.
Embodiment two,
Waist uses the four-leg bionic robot of eight bar metamorphic mechanisms, and eight bar metamorphic mechanisms of waist are in space structure
The situation that state, namely Bian Bao four-leg bionics of the present invention robot or so are bent over.If Fig. 7, Fig. 8, Fig. 9 are the eight of the waist of the present invention
Linkage is in the embodiment of plane structure state, including a closed chain and four open chains.The closed chain is by the connected in sequence 6th
Toggle 6, the 7th toggle 7, the 8th toggle 8, the first toggle 1, the second toggle 2, third toggle 3, the 4th toggle 4 and the 5th toggle 5
The eight bar metamorphic mechanisms constituted.
As shown in Fig. 7, Fig. 8, Fig. 9, the first leg bar 17 in four bars of open chains respectively passes through revolute pair 22 and the 7th toggle
7, the 8th toggle 8, third toggle 3 and the rotation of the 4th toggle 4 are hinged, and four bars of open chains and the 7th toggle 7, the 8th toggle 8, third are cut with scissors
The axis of four revolute pairs 22 between bar 3 and the 4th toggle 4 is parallel with the axis of the 7th hinges 15, that is, is located at the 7th toggle
7 and the 8th toggle 8 two revolute pair 22 axis it is parallel with the axis of the 4th hinges 12, be located at third toggle 3 and the 4th
The axis of two revolute pairs 22 of toggle 4 is parallel with the axis of second hinge pair 10；Four revolute pairs 22 all fall within the first leg bar
17, in the plane at 19 place of the second leg bar 18 and third leg bar.
When the angle of the 6th toggle 6 and the 7th toggle 7 is equal with the angle of the 8th toggle 8 and the first toggle 1, third hinge
The axis collinear of the axis and first axle pair 9 of chain pair 11.
In the present embodiment, driving third hinge pair 11 and first axle pair 9 in any one or drive third to cut with scissors simultaneously
Chain pair 11 rotates equal angular with third turning joint so that the 6th toggle 6, the 7th toggle 7, the 8th toggle 8, the first toggle 1
Place plane is cut with scissors around third hinge pair 11 and the secondary 9 place axis of first axle relative to the second toggle 2, third toggle the 3, the 4th
Bar 4,5 place Plane Rotation of the 5th toggle select the 7th hinges 15, the 5th hinges 13, the 8th hinges 16, second hinge
Any one in secondary 10, the 4th hinges 12, the 6th hinges 14 is as driving；Meanwhile it driving described in every open chain
9th hinges 20, the tenth hinges 21 and the revolute pair 22 for connecting closed chain and open chain.The present invention can be driven to become born of the same parents four completely
Sufficient bio-robot simultaneously forms the situation that left and right is bent over, such as Fig. 7, Fig. 8, Fig. 9.
Embodiment three, waist use the four-leg bionic robot of eight bar metamorphic mechanisms, and at eight bar metamorphic mechanisms of waist
In series connection structure state.Namely the situation of Bian Bao four-leg bionics of the present invention robot waist or so doubling.
The axis of third hinge pair 11 is overlapped with the intersection of the upper surface of the 6th toggle 6 and the upper surface of the 5th toggle 5；The
The axis of one hinges 9 is overlapped with the intersection of the upper surface of the first toggle 1 and the upper surface of the second toggle 2.When 6 He of the 6th toggle
When the angle of 7th toggle 7 is equal with the angle of the 8th toggle 8 and the first toggle 1, the axis of third hinge pair 11 and the first hinge
The axis collinear of chain pair 9.
On the basis of Fig. 1, driving third hinge pair 11 rotates 180 degree or first axle pair 9 rotates 180 degree or drives simultaneously
Dynamic third hinge pair 11 and first axle pair 9 rotate 180 degree, may make the upper table of the upper surface and the 5th toggle 5 of the 6th toggle 6
Face overlaps, the upper surface of the 7th toggle 7 is overlapped with the upper surface of the 4th toggle 4, the upper surface of the 8th toggle 8 and third toggle 3
Upper surface overlap, the upper surface of the first toggle 1 is overlapped with the upper surface of the second toggle 2, the axis of the 7th hinges 15 and the
The axis of six hinges 14 overlaps, the axis of the 5th hinges 13 is overlapped with the axis of the 8th hinges 16, second hinge pair 10
Axis overlapped with the axis of the 4th hinges 12, be located at the axis of the revolute pair 22 of the 6th toggle 6 with positioned at the 4th toggle 4
The axis of revolute pair 22 overlaps, positioned at the 8th toggle 8 revolute pair 22 axis and the revolute pair 22 positioned at third toggle 3 axis
Line overlaps, this process is to complete the left and right doubling of robot waist, and at this moment closed linkage is folded into series connection 2R structure states.Such as Fig. 9.
In this embodiment, the 7th hinges 15, the 5th hinges 13, the 8th hinges 16, second hinge pair 10, the are selected
Arbitrary three in four hinges 12, the 6th hinges 14 are used as driving；Meanwhile the 9th hinge in every open chain of driving
Secondary 20, the tenth hinges 21 and the revolute pair 22 for connecting closed chain and open chain, you can drive the present invention under this structure state completely.
Below by the 7th hinges 15, the 5th hinges 13 and the 6th hinges 14 chosen in closed chain, in open chain
The 9th hinges 20, the tenth hinges 21 and connection closed chain and open chain revolute pair 22 be driving joint illustrate.
The 7th hinges 15 and the 6th hinges 14 are driven to rotate equal angular, the 5th hinges 13 and the 8th hinges 16
Rotate equal angular, second hinge pair 10 and 12 equal angular of the 4th hinges so that the 6th toggle 6 and the 7th toggle 7 (and the
Five toggles 5 and the 4th toggle 4), the 7th toggle 7 and the 8th toggle 8 (and the 4th toggle 4 and third toggle 3), the 8th toggle 8 with
First toggle 1 (and third toggle 3 and second toggle 2) angle is 150 degree approximate.This time-varying born of the same parents' four-leg bionic robot imitate be
The form of mantis, such as Figure 10.
In the present invention, waist uses the eight bar metamorphic mechanisms of space in the four-leg bionic robot of eight bar metamorphic mechanisms (i.e.
Closed chain) there are a variety of structure states, each Gou Taixia mechanisms topological structure and degree of freedom are not quite similar.
The waist mechanism (closed chain) of Bian Bao four-leg bionics of the present invention robot is deformable, can carry out movement and adaptability tune
Section.Such as when encountering relatively narrow bend, the present invention can make one angle of waist twisting, can be successfully curved rounding this
Road, and cannot then accomplish this point if it is the polypody bio-robot of rigid waist.
Bian Bao four-leg bionics of the present invention robot is deformed by waist mechanism (closed chain), and it is whole can to adjust waist (closed chain)
Center of gravity so that the center of gravity of waist is in position best in stable region always, can make in this way change born of the same parents' bio-robot operation more
Add stabilization.
Bian Bao four-leg bionics of the present invention robot may be implemented left and right and bended over, faced upward by the deformation of waist mechanism (closed chain)
Waist, the action to sway one's hips, these actions are of great advantage to the adjusting of bio-robot motion fitness, and this point is rigid waist
What robot was not accomplished.
Bian Bao four-leg bionics of the present invention robot can be in the process of running by the movement of two horizontal direction turning joints
In the running speed that plays the role of buffering and damping, while there is the waist of certain flexibility can greatly improve robot, this
Youngster can a little be confirmed from run posture and the speed of the horse of simulation and cheetah.
Bian Bao four-leg bionics of the present invention robot can not only change each item by the variation of waist mechanism (closed chain), robot
Relative position relation between leg (open chain), while the form and rigidity of waist itself can also be changed, and in summary two
Kind variation, can be combined into multiclass zoomorphism, realize to the bionical of many animals form, and then can collect the spy of all kinds of animals
It puts, such as the flexibility of reptile, the stability of insects animal, the speed of mammal, arthropods animal
Trick shares characteristic.
By analyzing the reptile lumbar spine bone structure in nature, structure corresponds to two in closed chain of the present invention
A horizontal direction turning joint.Simultaneously in view of the relative position relation of the leg of various animals, variable waist is proposed in of the invention
The concept of (variable closed chain), that is, changed two turning joints in plane eight-linkage mechanism into two conllinear horizontal directions and turned
Dynamic hinge, has obtained a kind of eight bar metamorphic mechanisms of space with a variety of structure states.Preceding four waist bars, including the 6th toggle the 6, the 7th
Toggle 7, the 8th toggle 8, the first toggle 1 and the second toggle 2 are coplanar always.Similarly, rear four waist bars, including the second toggle 2,
Three toggles 3 and the 4th toggle 4 and the 5th toggle 5 are also coplanar always.Two horizontal direction turning joint axis are all at this in closed chain
In two planes.
By regarding eight bar metamorphic mechanisms of above-mentioned space as reptile waist structure, and in eight bar metamorphic mechanisms bar of space
Part midpoint, which is arranged symmetrically leg (open chain) and can be obtained, becomes born of the same parents' bio-robot.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to compared with
Good embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the right of invention.
Claims (8)
1. a kind of waist uses the four-leg bionic robot of eight bar metamorphic mechanisms, it is characterised in that：Including body and leg；
The body is eight bar metamorphic mechanisms comprising is in turn connected to form the first axle pair, second hinge pair, third of closed loop
Hinges and the 4th hinges, the first axle pair include the first toggle and the second toggle being hinged, second hinge
Chain pair includes the third toggle and the 4th toggle being hinged, and the third hinge pair includes the 5th toggle being hinged and
Six toggles, the 4th hinges include the 7th toggle and the 8th toggle being hinged；
Second toggle hingedly forms the 5th hinges far from first toggle one end and third toggle, and the 4th toggle is separate
Third toggle one end hingedly forms the 6th hinges with the 5th toggle, and the 6th toggle is far from described 5th toggle one end
The 7th hinges are hingedly formed with the 7th toggle, the 8th toggle is cut with scissors far from described 7th toggle one end and described first
Bar hingedly forms the 8th hinges far from second toggle one end；
The rotation axis of the pivot center of 5th hinges, the pivot center and second hinge pair of the 6th hinges
Line is mutually parallel, the pivot center of the 7th hinges, the pivot center of the 8th hinges and the 4th hinges
Pivot center be mutually parallel；
Pivot center of the pivot center of 5th hinges and the 8th hinges with first axle pair mutually hangs down
Directly, pivot center of the pivot center of the 6th hinges and the 7th hinges with second hinge pair mutually hangs down
Directly；
The leg is respectively arranged one on third toggle, the 4th toggle, the 7th toggle and the 8th toggle.
2. waist according to claim 1 uses the four-leg bionic robot of eight bar metamorphic mechanisms, it is characterised in that：It is each
The leg includes the first leg bar, the second leg bar and third leg bar, and one end of the second leg bar is hinged with the first leg bar
The 9th hinges are formed, the other end of the second leg bar hingedly forms the tenth hinges, the 9th hinge with the third leg bar
The pivot center of secondary and described tenth hinges is parallel.
3. waist according to claim 2 uses the four-leg bionic robot of eight bar metamorphic mechanisms, it is characterised in that：It is each
The pivot center that the upper end of the first leg bar of the leg is rotatably assorted and is formed with corresponding toggle and corresponding toggle institute
The pivot center of the hinges at place is parallel.
4. waist according to claim 1 uses the four-leg bionic robot of eight bar metamorphic mechanisms, it is characterised in that：It is described
First toggle, second toggle, the 5th toggle are identical with the length of the 6th toggle, the third toggle, described
4th toggle, the 7th toggle are identical with the length of the 8th toggle；The length of the third toggle is more than described second
Toggle length.
5. waist according to claim 1 uses the four-leg bionic robot of eight bar metamorphic mechanisms, it is characterised in that：When
When angle is equal between angle and the 6th toggle and the 7th toggle between one toggle and the 8th toggle, first axle is secondary to be turned
Shaft line is conllinear with the pivot center of third hinge pair.
6. waist according to claim 1 is using the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms, special
Sign is：Drive second hinge pair, the 4th hinges, the 5th hinges, the 6th hinges, the 7th hinges and the 8th hinges
In arbitrary three can be driven the bionic machine along with any one or two in first axle pair and third hinge pair
The body part of people, while driving leg.
7. waist according to claim 1 is using the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms, special
Sign is：
First, driving first axle is secondary or/and third hinge pair turns an angle, so that the second toggle, third toggle, the
Plane where four toggles and the 5th toggle is around the pivot center of first axle pair or/and third hinge pair relative to the 6th hinge
Bar, the 7th toggle, the 8th toggle and Plane Rotation where the first toggle；
Then, driving second hinge pair, the 4th hinges, the 5th hinges, the 6th hinges, the 7th hinges and the 8th hinge
Any one in pair；Drive every leg simultaneously.
8. waist according to claim 1 is using the driving method of the four-leg bionic robot of eight bar metamorphic mechanisms, special
Sign is：180 degree is respectively rotated when driving first axle is secondary or second hinge is secondary, or drives first axle secondary simultaneously and second hinge
It is secondary so that the upper surface of the first toggle is overlapped with the upper surface of the second toggle, the upper surface of third toggle is upper with the 8th toggle
Surface overlaps, the upper surface of the 4th toggle is overlapped with the upper surface of the 7th toggle, the upper surface of the 5th toggle and the 6th toggle
Upper surface overlaps, and the pivot center of the 5th hinges is overlapped with the pivot center of the 8th hinges, the rotation of second hinge pair
Axis overlaps with the pivot center of the 4th hinges, the pivot center weight of the pivot center and the 7th hinges of the 6th hinges
It closes；
Reselection drives second hinge pair, the 4th hinges, the 5th hinges, the 6th hinges, the 7th hinges and the 8th hinge
Arbitrary three in chain pair；Drive every leg simultaneously.
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| CN201810497347.XA CN108583720A (en) | 2018-05-22 | 2018-05-22 | Four-footed bionic robot with eight-rod metamorphic mechanism at waist and driving method |
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| CN201810497347.XA CN108583720A (en) | 2018-05-22 | 2018-05-22 | Four-footed bionic robot with eight-rod metamorphic mechanism at waist and driving method |
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| CN113460187A (en) * | 2021-07-20 | 2021-10-01 | 河海大学常州校区 | Climbing detection robot |
| CN113602374A (en) * | 2021-08-31 | 2021-11-05 | 天津大学 | Novel metamorphic eight-rod foldable wheel-leg robot |
| CN114251351A (en) * | 2022-01-12 | 2022-03-29 | 上海海事大学 | Bionic deployable structure and driving mechanism |
| CN114633251A (en) * | 2022-03-21 | 2022-06-17 | 北京交通大学 | Single-degree-of-freedom dung beetle bionic robot capable of moving in rolling mode |
| CN114684296A (en) * | 2022-04-08 | 2022-07-01 | 合肥学院 | Waist-driven four-footed robot walking method and gait planning method |
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