CN108909871A - A kind of foot formula walking robot - Google Patents
A kind of foot formula walking robot Download PDFInfo
- Publication number
- CN108909871A CN108909871A CN201810518405.2A CN201810518405A CN108909871A CN 108909871 A CN108909871 A CN 108909871A CN 201810518405 A CN201810518405 A CN 201810518405A CN 108909871 A CN108909871 A CN 108909871A
- Authority
- CN
- China
- Prior art keywords
- ontology
- connecting rod
- stabilizer blade
- shaped connecting
- bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of sufficient formula walking robot, including ontology, rotation is provided with left front stabilizer blade, left back stabilizer blade, right anterior branch foot and right rear leg on ontology, it is characterised in that：The first Z-shaped connecting rod is connected between the left front stabilizer blade and right rear leg, right anterior branch foot and left back stabilizer blade are connected with the second Z-shaped connecting rod, the middle part rotation of ontology is provided with reciprocating disk, the two sides of reciprocating disk are respectively arranged with the first column and the second column, the first connector sleeve is provided in the first Z-shaped connecting rod, the second connector sleeve is provided in the second Z-shaped connecting rod, the lower section sliding of ontology is provided with slide bar, the rotated down of ontology is provided with swing rod, one end of swing rod is formed with external gear, the other end of swing rod offers strip groove, a sliding block is provided with below reciprocating disk, sliding block is slideably positioned in strip groove.The present invention provides a kind of sufficient formula walking robots, imitate quadruped walking posture, meanwhile, have the characteristics that structure is simple, walking stability is high.
Description
Technical field
The present invention relates to robot field more particularly to a kind of sufficient formula walking robots.
Background technique
With the continuous development of robot technology, the application field of walking robot is more and more wider.For example, existing publication number
It is disclosed for the Chinese invention of CN107672685A《A kind of robot walking device》, including robot body and connection robot
The first leg of main body, the second supporting leg, third supporting leg and the 4th supporting leg, every supporting leg lower end be respectively equipped with driving motor and
Traveling wheel, the driving motor drive traveling wheel, and the first leg lower end is equipped with the first traveling wheel, second supporting leg lower end
Equipped with the second traveling wheel, third supporting leg lower end is equipped with third traveling wheel, and the 4th supporting leg lower end is equipped with fourth line and walks wheel,
Four supporting legs are in crossing distribution, form first axle and the second axis, the driving of the first leg and third supporting leg lower end
Motor respectively drives the first traveling wheel and third traveling wheel is rotated centered on first axle, under second supporting leg and the 4th supporting leg
The driving motor at end respectively drives the second traveling wheel and fourth line is walked wheel and rotated centered on the second axis, the first axle and second
Axis is mutually perpendicular to.
For another example, the Chinese invention of Publication No. CN107685785A discloses《A kind of foot formula walking robot》, including the
One mobile holder, work system, the second mobile holder, power control system, steering system, telescopic outrigger, the first mobile holder
With telescopic outrigger is equipped on the second mobile holder, can do relative motion between the first mobile holder and the second mobile holder,
Work system can be used for respect to the first walking support motion, work system to farmland labor operation, and steering system can drive
It rotates between first mobile holder and the second mobile holder, so that robot can integrally be turned during the work time
To the movement of, tuning, power control system controls each section collaborative work, and works for entire robot and provide energy, passes through control
It makes the relative motion between the first mobile holder and the second mobile holder and cooperates the flexible of telescopic outrigger, so that robot can be with
Integrally advanced, backward movement, the movement by control work system with respect to the first mobile holder, and cooperate the first walking
Relative motion between bracket and the second mobile holder may be implemented work system and carry out uniform motion relative to the earth.
Summary of the invention
The technical problem to be solved by the present invention is to be directed to the status of the prior art, a kind of sufficient formula walking robot, mould are provided
Imitative quadruped walking posture, meanwhile, have the characteristics that structure is simple, walking stability is high.
The present invention solves technical solution used by above-mentioned technical problem：A kind of foot formula walking robot, including one
Body, rotation is provided with left front stabilizer blade, left back stabilizer blade, right anterior branch foot and right rear leg on ontology, it is characterised in that：The left front branch
The first Z-shaped connecting rod is connected between foot and right rear leg, right anterior branch foot and left back stabilizer blade are connected with the second Z-shaped connecting rod, this
The upper center rotation of body is provided with a reciprocating disk, and the two sides of reciprocating disk are respectively arranged with the first column and the second column, the
It is provided with the first connector sleeve being sheathed on the first column in one Z-shaped connecting rod, is provided with and is arranged in the second Z-shaped connecting rod
The lower section sliding of the second connector sleeve on the second column, ontology is provided with slide bar, and a rack gear is provided on slide bar, ontology
Rotated down is provided with a swing rod, and one end of swing rod is formed with the external gear being engaged with rack, and the other end of swing rod offers item
Shape slot is provided with a sliding block below reciprocating disk, and sliding block is slideably positioned in strip groove, and driving motor is provided on ontology, drives
The output end of dynamic motor is provided with drive disk, and connecting rod is hingedly provided between drive disk and slide bar.
As an improvement, the rear and front end on the ontology positioned at reciprocating disk is respectively arranged with positive stop and backstop, preceding
A baffle is provided on block and backstop, shaft one end on reciprocating disk is rotatably dispose on ontology, is turned on reciprocating disk
The axis other end is rotatably dispose on baffle, on the one hand, baffle stops reciprocating disk, prevents reciprocating disk and ontology from separating；
On the other hand, baffle provides support for the shaft on reciprocating disk, improves the stability of reciprocating disk.
It improves again, headlamp and battery, battery and headlamp electrical connection is provided on ontology.
It improves again, the first Z-shaped connecting rod includes the first hyphen bar, the first long transverse lever and the first vertical bar, the first hyphen
Bar and the first long transverse lever are vertically connected at the both ends of the first vertical bar, the outer end connection of the left front stabilizer blade and the first hyphen bar, institute
State the outer end connection of right rear leg and the first long transverse lever, convenient for the molding of the first Z-shaped connecting rod, while for left front stabilizer blade and it is right after
The linkage of stabilizer blade provides safeguard.
It improves again, the second Z-shaped connecting rod includes the second hyphen bar, the second long transverse lever and the second vertical bar, the second hyphen
Bar and the second long transverse lever are vertically connected at the both ends of the second vertical bar, the outer end connection of the right anterior branch foot and the second hyphen bar, institute
The outer end connection of left back stabilizer blade and the second long transverse lever is stated, convenient for the molding of the second Z-shaped connecting rod, while being right anterior branch foot and left back
The linkage of stabilizer blade provides safeguard.
Compared with the prior art, the advantages of the present invention are as follows：During robot ambulation, driving motor drives drive disk
Rotation, drive disk are slidably reciprocated by connecting rod band moving slide-bar, and slide bar passes through rack gear and external gear band movable pendulum during sliding
Bar is swung, and swing rod has finally driven the reciprocating rotation clockwise and counterclockwise of reciprocating disk by sliding block, in addition, first is Z-shaped
Connecting rod drives left front stabilizer blade and right rear leg synchronization action, and the second Z-shaped connecting rod drives right anterior branch foot synchronous with left back stabilizer blade
Movement, when reciprocating disk rotates clockwise, left front stabilizer blade and right rear leg move forward a step, rotate counterclockwise in reciprocating disk
When, right anterior branch foot and left back stabilizer blade move forward a step, in this way, the loop cycle with reciprocating disk moves, realize robot
Left front stabilizer blade and right rear leg move forward, carry out cyclic switching between right anterior branch foot and the forward movement of left back stabilizer blade, final real
The forward movement of Xian Liao robot, in this way, the present invention imitates quadruped walking posture, meanwhile, walking simple with structure is surely
Qualitative high feature.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mesopodium formula walking robot of the embodiment of the present invention；
Fig. 2 is the attachment structure schematic diagram of swing rod, slide bar below ontology in the embodiment of the present invention.
Specific embodiment
The present invention will be described in further detail below with reference to the embodiments of the drawings.
As shown in Figure 1, 2, the sufficient formula walking robot in this implementation, including ontology 1, left front stabilizer blade 31, left back stabilizer blade 32,
Right anterior branch foot 33, right rear leg 34, the first Z-shaped connecting rod 41, the second Z-shaped connecting rod 42, the first column 21, the second column 22,
Reciprocating disk 2, the first connector sleeve 413, the second connector sleeve 423, driving motor 5, drive disk 6, connecting rod 7, slide bar 8, swing rod 9 and sliding block
23。
Wherein, left front stabilizer blade 31, left back stabilizer blade 32, right anterior branch foot 33 and right rear leg 34 are rotatably dispose on ontology 1,
The first Z-shaped connecting rod 41 is connected between left front stabilizer blade 31 and right rear leg 34, right anterior branch foot 33 and left back stabilizer blade 32 are connected with
The upper center rotation of second Z-shaped connecting rod 42, ontology 1 is provided with a reciprocating disk 2, and the two sides of reciprocating disk 2 are respectively arranged with the
One column 21 and the second column 22 are provided with the first connection being sheathed on the first column 21 in the first Z-shaped connecting rod 41
Set 413, is provided with the second connector sleeve 423 being sheathed on the second column 22 in the second Z-shaped connecting rod 42, under ontology 1
Side's sliding is provided with slide bar 8, a rack gear 81 is provided on slide bar 8, the rotated down of ontology 1 is provided with a swing rod 9, swing rod 9
One end is formed with the external gear 91 engaged with rack gear 81, and the other end of swing rod 9 offers strip groove 92, and the lower section of reciprocating disk 2 is set
Be equipped with a sliding block 23, sliding block 23 is slideably positioned in strip groove 92, be provided with driving motor 5 on ontology 1, driving motor 5 it is defeated
Outlet is provided with drive disk 6, and connecting rod 7 is hingedly provided between drive disk 6 and slide bar 8, further, is provided with photograph on ontology 1
Bright lamp 14 and battery, battery and headlamp 14 are electrically connected.
In addition, the rear and front end on ontology 1 positioned at reciprocating disk 2 is respectively arranged with positive stop 11 and backstop 12, in front
A baffle 13 is provided on block 11 and backstop 12, shaft one end on reciprocating disk 2 is rotatably dispose on ontology 1, reciprocating disk 2
On the shaft other end be rotatably dispose on baffle 13, on the one hand, baffle 13 stops reciprocating disk 2, prevents reciprocating disk 2
It is separated with ontology 1；On the other hand, baffle 13 provides support for the shaft on reciprocating disk 2, improves the stability of reciprocating disk 2.
In addition, the first Z-shaped connecting rod 41 include the first hyphen bar 414, the first long transverse lever 412 and the first vertical bar 411, first
Hyphen bar 414 and the first long transverse lever 412 are vertically connected at the both ends of the first vertical bar 411, left front stabilizer blade 31 and the first hyphen bar 414
Outer end connection, right rear leg 34 connects with the outer end of the first long transverse lever 412, convenient for the molding of the first Z-shaped connecting rod 41, simultaneously
Linkage for left front stabilizer blade 31 and right rear leg 34 provides safeguard.
Meanwhile second Z-shaped connecting rod 42 include the second hyphen bar, the second long transverse lever 422 and the second vertical bar 421, second is short
Cross bar and the second long transverse lever 422 are vertically connected at the both ends of the second vertical bar 421, the outer end of right anterior branch foot and 33 second hyphen bars 43
Connection, left back stabilizer blade 32 connect with the outer end of the second long transverse lever 422, convenient for the molding of the second Z-shaped connecting rod 42, at the same for the right side before
The linkage of stabilizer blade 22 and left back stabilizer blade 32 provides safeguard.
During robot ambulation, driving motor 5 drives drive disk 6 to rotate, and drive disk 6 is by connecting rod 7 with moving slide-bar 8
It slidably reciprocates, slide bar 8 drives swing rod 9 to swing during sliding, through rack gear 81 and external gear 91, and swing rod 9 passes through sliding block
23 have finally driven the reciprocating rotations clockwise and counterclockwise of reciprocating disk 2, in addition, the first Z-shaped connecting rod 41 drive it is left front
34 synchronization action of stabilizer blade 31 and right rear leg, the second Z-shaped connecting rod 42 drive right anterior branch foot 33 and 32 synchronization action of left back stabilizer blade,
When reciprocating disk 2 rotates clockwise, left front stabilizer blade 31 and right rear leg 34 move forward a step, rotate counterclockwise in reciprocating disk 2
When, right anterior branch foot 33 and left back stabilizer blade 32 move forward a step, in this way, the loop cycle with reciprocating disk 2 moves, realize machine
The left front stabilizer blade 31 and right rear leg 34 of people is moved forward, is recycled between right anterior branch foot 33 and the forward movement of left back stabilizer blade 32
Switching, finally realizes the forward movement of robot, in this way, the present invention imitates quadruped walking posture, meanwhile, there is structure
Simply, the high feature of walking stability.
Claims (5)
1. a kind of foot formula walking robot, including an ontology (1), rotation is provided with left front stabilizer blade (31), left back branch on ontology (1)
Foot (32), right anterior branch foot (33) and right rear leg (34), it is characterised in that：The left front stabilizer blade (31) and right rear leg (34) it
Between be connected with the first Z-shaped connecting rod (41), right anterior branch foot (33) and left back stabilizer blade (32) are connected with the second Z-shaped connecting rod (42),
The upper center rotation of ontology (1) is provided with a reciprocating disk (2), and the two sides of reciprocating disk (2) are respectively arranged with the first column (21)
With the second column (22), the first connector sleeve being sheathed on the first column (21) is provided on the first Z-shaped connecting rod (31)
(413), the second connector sleeve (423) being sheathed on the second column (22), ontology are provided on the second Z-shaped connecting rod (42)
(1) lower section sliding is provided with slide bar (8), is provided on slide bar (8) rack gear (81), the rotated down of ontology (1) is provided with
One swing rod (9), one end of swing rod (9) are formed with the external gear (91) engaged with rack gear (81), and the other end of swing rod (9) offers
Strip groove (92) is provided with a sliding block (23) below reciprocating disk (2), and sliding block (23) is slideably positioned in strip groove (92), this
It is provided on body (1) driving motor (5), the output end of driving motor (5) is provided with drive disk (6), drive disk (6) and slide bar
(8) connecting rod (7) are hingedly provided between.
2. foot formula walking robot according to claim 1, it is characterised in that：It is located at reciprocating disk (2) on the ontology (1)
Rear and front end be respectively arranged with positive stop (11) and backstop (12), be provided with one on positive stop (11) and backstop (12)
Baffle (13), shaft one end on reciprocating disk (2) are rotatably dispose on ontology (1), and the shaft other end on reciprocating disk (2) turns
It is dynamic to be set on baffle (13).
3. foot formula walking robot according to claim 2, it is characterised in that：Headlamp is provided on the ontology (1)
(14) it is electrically connected with battery, battery and headlamp (14).
4. foot formula walking robot according to claim 2, it is characterised in that：The first Z-shaped connecting rod (41) includes
First hyphen bar (414), the first long transverse lever (412) and the first vertical bar (411), the first hyphen bar (414) and the first long transverse lever
(412) it is vertically connected at the both ends of the first vertical bar (411), the outer end company of the left front stabilizer blade (31) and the first hyphen bar (414)
It connects, the right rear leg (34) connects with the outer end of the first long transverse lever (412).
5. foot formula walking robot according to claim 2, it is characterised in that：The second Z-shaped connecting rod (42) includes
Second hyphen bar, the second long transverse lever (422) and the second vertical bar (421), the second hyphen bar and the second long transverse lever (422) vertically connect
In the both ends of the second vertical bar (421), the right anterior branch foot (33) connects with the outer end of the second hyphen bar, the left back stabilizer blade (32)
It is connected with the outer end of the second long transverse lever (422).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810518405.2A CN108909871A (en) | 2018-05-27 | 2018-05-27 | A kind of foot formula walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810518405.2A CN108909871A (en) | 2018-05-27 | 2018-05-27 | A kind of foot formula walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108909871A true CN108909871A (en) | 2018-11-30 |
Family
ID=64409633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810518405.2A Pending CN108909871A (en) | 2018-05-27 | 2018-05-27 | A kind of foot formula walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108909871A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
| CN110608356A (en) * | 2019-08-20 | 2019-12-24 | 河北地质大学 | Monitoring device based on cloud computing |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59156877A (en) * | 1983-02-25 | 1984-09-06 | Agency Of Ind Science & Technol | Leg unit for multi-leg walking machine |
| CN202401883U (en) * | 2011-12-31 | 2012-08-29 | 宁波永发集团有限公司 | Bolt transmission mechanism |
| CN105035205A (en) * | 2015-08-07 | 2015-11-11 | 华南农业大学 | Mire multi-leg traveling mechanism |
| CN106108271A (en) * | 2016-08-18 | 2016-11-16 | 张浩杰 | A kind of shoes production sole quick tack hole device |
| CN107901227A (en) * | 2017-11-01 | 2018-04-13 | 郑州航空工业管理学院 | A kind of construction concrete mortar mixing stirring device |
| CN107952659A (en) * | 2017-11-16 | 2018-04-24 | 安徽永生堂药业有限责任公司 | One kind waves Sand screen from feed type |
| CN207328642U (en) * | 2017-09-08 | 2018-05-08 | 黄河科技学院 | A kind of motor-driven bio-robot of list |
-
2018
- 2018-05-27 CN CN201810518405.2A patent/CN108909871A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59156877A (en) * | 1983-02-25 | 1984-09-06 | Agency Of Ind Science & Technol | Leg unit for multi-leg walking machine |
| CN202401883U (en) * | 2011-12-31 | 2012-08-29 | 宁波永发集团有限公司 | Bolt transmission mechanism |
| CN105035205A (en) * | 2015-08-07 | 2015-11-11 | 华南农业大学 | Mire multi-leg traveling mechanism |
| CN106108271A (en) * | 2016-08-18 | 2016-11-16 | 张浩杰 | A kind of shoes production sole quick tack hole device |
| CN207328642U (en) * | 2017-09-08 | 2018-05-08 | 黄河科技学院 | A kind of motor-driven bio-robot of list |
| CN107901227A (en) * | 2017-11-01 | 2018-04-13 | 郑州航空工业管理学院 | A kind of construction concrete mortar mixing stirring device |
| CN107952659A (en) * | 2017-11-16 | 2018-04-24 | 安徽永生堂药业有限责任公司 | One kind waves Sand screen from feed type |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
| CN110329384B (en) * | 2019-07-30 | 2024-04-30 | 佛山科学技术学院 | Can avoid barrier climb net robot |
| CN110608356A (en) * | 2019-08-20 | 2019-12-24 | 河北地质大学 | Monitoring device based on cloud computing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106828651B (en) | A kind of sufficient kinematic robot of deformable wheel | |
| CN210101819U (en) | Four-footed robot based on five-bar linkage | |
| CN108909871A (en) | A kind of foot formula walking robot | |
| CN106741281A (en) | A kind of quadruped robot walking mechanism containing linear joint | |
| CN109398526A (en) | A kind of adjustable walking carrying platform in foot end track | |
| CN105667624A (en) | Electric-drive four-footed bionic robot | |
| CN104354784B (en) | A kind of biped robot of quick walk | |
| CN107298137A (en) | One kind is lain prone horizontal walking robot | |
| CN108082326A (en) | A kind of machinery bionic walking mechanism | |
| CN106178288A (en) | One is applicable to radiocurable U-shaped beam three-dimensional running fix bed | |
| CN210653418U (en) | Eight-foot bionic machine | |
| CN203370073U (en) | Flat-lying forward-moving type massage chair | |
| CN111114667B (en) | Single-motor driven multi-rod four-foot walking device | |
| CN207311655U (en) | The sufficient educational robot of one kind 12 | |
| CN113492932A (en) | Spine type bionic quadruped robot oriented to non-structural environment and operation method | |
| CN106608308A (en) | Robot | |
| CN106741282A (en) | A kind of robot leg containing linear joint | |
| CN110091936B (en) | Four-foot robot based on five-bar mechanism and gait control method | |
| CN211765936U (en) | Linear motion walking device of robot | |
| CN106584432A (en) | Five degree-of-freedom serial-parallel robot | |
| CN206934727U (en) | A kind of robot | |
| CN108502048A (en) | A kind of walking robot | |
| CN205307337U (en) | Bionical sufficient formula of taking drive control helps outfit for a journey to put | |
| CN107041647A (en) | Disassembling sofa electrically propelled chair mechanical telescopic device | |
| CN109367641B (en) | Eight-foot crawling robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181130 |
|
| RJ01 | Rejection of invention patent application after publication |