CN109080728A - Connecting rod foot formula mobile robot - Google Patents
Connecting rod foot formula mobile robot Download PDFInfo
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- CN109080728A CN109080728A CN201810610103.8A CN201810610103A CN109080728A CN 109080728 A CN109080728 A CN 109080728A CN 201810610103 A CN201810610103 A CN 201810610103A CN 109080728 A CN109080728 A CN 109080728A
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- connecting rod
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- rod foot
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- mobile robot
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to connecting rod foot formula mobile robots, including rack, motor, transmission parts and connecting rod foot, the connecting rod is the combination of connecting rod and foot enough, the link rod part of connecting rod foot is installed on transmission parts, the foot of connecting rod foot connect with link rod part and lower than connecting rod, there are two foots for one connecting rod foot at least front and back, for trampling to ground, realization walking.Connecting rod is provided with two pairs enough, eccentrically mounted on the transmission parts driven by motor shaft；There are two every a pair of links foots, is symmetrically arranged at left and right sides of rack, and the eccentric phase of installation is identical；Two connecting rod foot eccentric phases in rack the same side differ 180 °；The mutually switching of ipsilateral connecting rod foot, alternately walks, medianly zygomorphic connecting rod synchronizes enough to be lifted or land during walking.The present invention combines sufficient formula and shaft portion advantage, using the switching compensation campaign of multiple groups connecting rod, connecting rod singular point is overcome to lead to not the shortcomings that moving, and structure is simple, light and handy nimble.
Description
Technical field
The invention belongs to robotic technology fields, are specifically related to the walking mechanism of mobile robot.
Background technique
With China's nuclear power industry, the quick of the various fields such as rescue, military surveillance, the explosive, space flight and aviation of fire-fighting of exploring
Development, can be walked in flat ground free walker there is an urgent need to one kind and field environment and complicated landform (such as seismic ruins,
Mine disaster scene) in freely walk and the mobile robot of obstacle detouring.
The walking mechanism of existing mobile robot is broadly divided into: wheeled, crawler type, polypody, hybrid (such as wheel leg is mixed
Box-like, wheel is carried out hybrid) and special shape (such as polygon rolling type, snakelike slidingtype).Wherein, sufficient formula barrier getting over mechanism can be
It walks well under non-regular landform, the scope of application is also very wide, but its freedom degree is excessive, leads to that sport efficiency is too low, control
It makes more complex etc.；Link mechanism is relatively easy, the obstacle detouring of mechanism also may be implemented, and adaptability is stronger, but due to its mechanism
Itself there are problems that " singular point ", when link motion is to horizontal position, is easy to that stuck phenomenon occurs, causes mechanism can not be just
Often advance.
Summary of the invention
The present invention provides a kind of mobile machine of connecting rod foot formula to overcome deficiency existing for the mobile robot of the prior art
People overcomes connecting rod singular point to lead to not transport in conjunction with sufficient formula and shaft portion advantage using the switching compensation campaign of multiple groups connecting rod
Dynamic disadvantage, structure is simple, light and handy nimble, can solve general robot in the row in paddy field nonirrigated farmland, meadow sand ground, hillside fields etc.
The problems such as walking low efficiency and common wheeled (floods and droughts, wheel need to be changed) or the big weight large volume of caterpillar type robot.
Technical scheme is as follows:
A kind of connecting rod foot formula mobile robot, including rack, motor, transmission parts and connecting rod foot, the connecting rod be enough connecting rod and
The combination of foot, the link rod part of connecting rod foot is installed on transmission parts, and the foot of connecting rod foot connect with link rod part and be lower than connecting rod, and one
There are two foots for a connecting rod foot at least front and back, for trampling to ground, realization walking.
The connecting rod is provided with two pairs enough, eccentrically mounted on the transmission parts driven by motor shaft；Every a pair of links
There are two foots, is symmetrically arranged at left and right sides of rack, and the eccentric phase of installation is identical.And two connecting rod foots in rack the same side
Then eccentric phase differs 180 °.The mutually switching of ipsilateral connecting rod foot, alternately walks during walking, medianly zygomorphic
Connecting rod synchronizes enough to be lifted or lands, and at least 4 foots fall in ground every time in this way, guarantees stablizing and crossing robot for movement
Barrier.
Further, what connecting rod was sufficient is equipped at least three kinds of optional schemes:
Scheme 1 is: short essentially identical in two ipsilateral connecting rod foot lengths of rack, the front and rear part of link rod part is separately mounted to identical
On transmission parts, but coaxially different phases when installing, 180 ° of phase phase difference, and one in the inner part one in the outer part, two connecting rod foots
Alternately walk, it is non-interference.
Scheme 2 is: in the ipsilateral two connecting rods foot of rack, one is long and the other is short, the front and rear part difference of the link rod part of each connecting rod foot
It is mounted on different transmission parts, short connecting rod is arranged in the inner part enough, and long connecting rod is arranged in the outer part enough, and front and back is more too short
Connecting rod foot, long and short two connecting rods are alternately walked enough, non-interference.
Scheme 3 is: arranging before and after two ipsilateral connecting rod foots of rack, and the side spin of front left side and right lateral side is installed enough
Eccentric phase is identical, and the eccentric phase that the connecting rod of left rear side and forward right side is installed enough is identical, alternately walks, non-interference.
Further preferably, the transmission parts of same root connecting rod foot front and back end are connected by a transmission device, to guarantee this
The problem of foot of one rhizopodium rear and front end can land simultaneously, overcome singular point.
Further preferably, motor is divided into left side drive motor group and right side drive motors group, every side driving motor group setting
One or two equal motor drives two sets or four sets of transmission parts by transmission device, and then drives ipsilateral connecting rod foot.
Further preferably, the foot of the connecting rod foot is two, is connected to rear and front end or the connecting rod foot of link rod part
Foot position it is multiple, be connected to the rear and front end and centre of link rod part.
This connecting rod legged type robot is in linear motion, connecting rod foot mutually switching, each time with symmetrically at least 4 foots connect
Tread surface, the rotating forward by controlling motor invert, and steadily straight ahead retreats.
It is ipsilateral by 180 ° of phase difference of connecting rod foot phase of electric unit allocation bilateral symmetry position when turning to initial state
Interior outside connecting rod foot phase also differs 180 °；When needing left steering, control left side drive motor group reversion, right side drive motors group
It rotates forward；When needing to turn right, control right side drive motors group reversion, left side drive motor group is rotated forward, and steering can be realized.
Advantages of the present invention is as follows:
1, movement mechanism of the invention combines the advantage of part connecting rod and sufficient formula, and the mutual motion switch of multiple groups connecting rod foot begins
At least 4 foot contact ground are kept eventually, and held stationary state in motion process makes it have better adaptive capacity to environment.
2, the present invention mainly uses symmetrical structure, keeps ipsilateral control motor rotation phase identical using transmission device, makes
It has very high sport efficiency.
3, the present invention makes entire mechanism cooperate during obstacle detouring, energy by connecting rod eccentrically mounted phase difference enough
It is enough easily to clear the jumps.
To sum up, present invention incorporates sufficient formulas and shaft portion advantage, using the switching compensation campaign of multiple groups connecting rod, together
Side controls motor by the double action forced synchronism of transmission device and connecting rod, and connecting rod singular point is overcome to lead to not lacking for movement
Point, meanwhile, the movement mechanism of sufficient formula makes its action convenience, and mass motion is high-efficient, has structure simple, succinct reliable, efficiency
Height, earth's surface adaptability is good, the strong advantage of obstacle climbing ability, solves general robot in paddy field nonirrigated farmland, meadow sand ground, hillside fields etc.
The problems such as weight large volume of wheel efficiency low and common wheeled (floods and droughts, need to change wheel) or caterpillar type robot is big.Using
Range is wide, and the shifting walked in uneven terrain (paddy field, sand ground etc.) and ground grading is needed for mobile robot, barrier-exceeding vehicle etc.
Dynamic equipment uses.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of connecting rod foot formula mobile robot；
Fig. 2 is the arrangement and phase relation schematic diagram of the connecting rod foot of connecting rod foot formula mobile robot；
Fig. 3 is the turning original state figure of connecting rod foot formula mobile robot；
Fig. 4 is the schematic diagram of the left-hand rotation of connecting rod foot formula mobile robot；
Fig. 4 (1)-Fig. 4 (4) is counterclockwise motion procedure chart；
Fig. 5 is the schematic diagram of the right-hand rotation of connecting rod foot formula mobile robot；
Fig. 5 (1)-Fig. 5 (4) is right turn movements procedure chart；
Fig. 6 (1)-Fig. 6 (6) is the obstacle detouring procedure chart of connecting rod foot formula mobile robot.
Fig. 7 is two connecting rod foot formula mobile robot Driven by Coaxial structural schematic diagram of embodiment；
Fig. 8 is the Driven by Coaxial structure oblique view of two connecting rod foot formula mobile robot of embodiment；
Fig. 9 is that the coaxial connecting rod of two connecting rod foot formula mobile robot of embodiment is arranged and phase relation schematic diagram enough；
Figure 10 is the structural schematic diagram of embodiment three-link foot formula mobile robot；
Figure 11 is the oblique view of embodiment three-link foot formula mobile robot；
Figure 12 is that the connecting rod of embodiment three-link foot formula mobile robot is arranged and phase relation schematic diagram enough；
In figure: 1, left side drive motor group, 2, right side drive motors group, 3, connecting rod foot I, 4, connecting rod foot II, 5, transmission device
Chain, 6, transmission parts, 7, fuselage, 8, foot prop, 9, the gear of transmission device.
Specific embodiment
In order to which the objects, technical solutions and advantages of invention are more clearly understood, below with reference to embodiment and attached drawing into one
Step description technical solution of the present invention, but claimed range be not limited to it is described.
Embodiment one: referring to Fig. 1, Fig. 2, connecting rod foot formula mobile robot of the invention by control side-to-side movement mechanism a left side
Side driving motor group 1, right side drive motors group 2, connecting rod foot I3, connecting rod foot II4, fixed device 6, fuselage 7, foot prop 8, composition pass
The chain 5 and gear 9 of dynamic device are formed, and the whole almost symmetry of fuselage 7, it is ipsilateral that connecting rod foot I3, connecting rod foot II4 are located at fuselage
Inner side and outer side, use is eccentrically mounted, and eccentric phase differs 180 °, ipsilateral connecting rod foot mutually switching during walking,
So that switching time is short, at least there are 4 feet to fall in ground every time, both can guarantee that barrier is crossed by the stabilization Ye Nengshi robot of movement
Hinder object.Transmission device 5 connects ipsilateral connecting rod foot, overcomes the problems, such as singular point, left side drive motor group 1 and right side drive motors
The connecting rod that group 2 controls left and right respectively moves enough.
When linear motion, the mutually switching of connecting rod foot, switching time is short, guarantees each time with symmetrically at least 4 foots contiguously
Face, the rotating forward by controlling motor invert, and can retreat than smoother stable straight ahead.
When steering, initial state such as Fig. 3 is turned to, left and right differs 180 ° with the connecting rod of position enough, ipsilateral interior outside connecting rod foot
Also 180 ° are differed, when needing left steering, the motor group 1 in left side is inverted, and the motor group 2 on right side rotates forward；It is right when needing to turn right
Side motor group 2 inverts, and the motor group 1 in left side rotates forward.
Overall structure of the present invention is referring specifically to Fig. 1, by transmission gear 9, chain 5 by the biography of ipsilateral executing mechanism
Dynamic component is connected, and to guarantee that ipsilateral executing mechanism connecting rod foot I3, the phase of connecting rod foot II4 are identical, executing mechanism is whole on fuselage
Body uses symmetrical form.Executing mechanism shape is a kind of connecting rod by after improvement, has link rod part and former and later two
Foot, making it both has the function of connecting rod or has the function of foot movement, it is known as connecting rod foot by us.It is each inside and outside connecting rod foot
One, it is ipsilateral that the connecting rod foot II4 of the connecting rod foot I3 in outside and inside by transmission parts 6 is mounted on fuselage, is all made of eccentrically mounted
On the output shaft of driving mechanism, eccentrically mounted 180 ° of carrier phase shift enough of inside and outside connecting rod, during the motion, work as outside
Connecting rod foot I3 be rotated up when will leave ground, the connecting rod foot II4 of interior survey is rotated down, and is come into contact with ground, is played branch
The effect of support, with should inside connecting rod II4 be rotated up will leave ground when, the connecting rod foot I3 in outside is rotated down, by
Ground is gradually contacted, support is played the role of, since tiled configuration is identical, each time with 4 foots and ground face contact, is being transported
Switching time is fast during dynamic, and the time that entire body empties is very short, therefore movement is more steady, passes through and controls two groups of motors
Rotating forward reversion control the forward-reverse of robot.
When steering, with 180 ° of phase difference of connecting rod foot phase of position, ipsilateral inside and outside connecting rod foot phase is also differed for left and right
180 °, when needing left steering, left side drive motor group 1 is inverted, and right side drive motors group 2 rotates forward, and entire motion process figure is such as
Fig. 4；When needing to turn right, right side drive motors group 2 is inverted, and left side drive motor group 1 rotates forward, motion process such as Fig. 5.
Using the motion switch of this sufficient formula, robot can be made to be relatively easy to and cleared the jumps, if Fig. 6 is entire gets over
The schematic diagram of barrier process.During obstacle detouring, barrier such as Fig. 6 (2), figure are costed in the front end of the connecting rod foot I3 in outside for robot
It shown in 6(3), then gradually moves forward, barrier such as Fig. 6 (4) is costed in the front end connecting rod foot II4 of interior survey, tilting of car body, and flat
The similar mutual switching by connecting rod foot I3, connecting rod foot II4 in ground is walked forward, with the rear end of back link foot II4 and connecting rod foot I3
Barrier is costed, and barrier and ground face contact such as Fig. 6 (5) are left in front end, final entire body clears the jumps, and realizes whole
A obstacle detouring process.
In the above structure, ipsilateral a pair of links foot, front and back end is to be driven respectively by different transmission parts, i.e. a connecting rod foot
When driven by the 1st, 4 axis, driven by the 2nd, 3 axis when another connecting rod foot.
Embodiment two: in the present invention, there are also plurality of installation forms for connecting rod foot, and referring to Fig. 7, Fig. 8, robot is by control left and right
Left side drive motor group 1, the right side drive motors group 2 of movement mechanism, executing mechanism connecting rod foot I3, connecting rod foot II4, transmission parts
6, fuselage 7, foot prop 8, the chain 5 and gear 9 for forming transmission device are formed, connecting rod foot I3, the whole almost symmetry of fuselage 7 connects
Bar foot II4 is located at ipsilateral inner side and outer side, and use is eccentrically mounted, and eccentric phase differs 180 °.Ipsilateral a pair of links foot front and back
End is respectively by identical transmission parts (coaxial difference phase) driving, i.e., front end is driven by the 1st axis, and rear end is driven by the 4th axis.Machine
People's overall structure is sufficient by ipsilateral executing mechanism connecting rod foot I3, connecting rod by transmission gear 9, chain 5 referring specifically to Fig. 7
II4 is connected, and to guarantee that ipsilateral executing mechanism phase is identical, executing mechanism integrally uses symmetrical form.Executing mechanism is
A kind of connecting rod by after improvement, making it both has the function of connecting rod or has the function of foot movement.The form of inside and outside connecting rod
As shown in figure 9, by transmission device 6 to be mounted on fuselage 7 ipsilateral by outside connecting rod foot I3 and inner link foot II4, be all made of it is eccentrically mounted,
Eccentrically mounted 180 ° of phase phase difference, such as 180 ° of phase phase difference of the eccentrically mounted point A and B of Fig. 9 of inside and outside connecting rod foot I3 and II4.This
The motion mode of embodiment is identical as examples detailed above, is slightly different on installation form.
Embodiment three: referring to Figure 10, Figure 11, the present invention can also be that ipsilateral a pair of links foot front and back end is different respectively
Transmission device eccentric drive, i.e. by the 1st, 3 axis, rear end is driven by the 2nd, 4 axis for front end, and connecting rod foot I3, connecting rod foot II4 are located at same
The inner side and outer side of side, use is eccentrically mounted, and eccentric phase differs 180 °, such as Figure 12, the phase phase difference of eccentrically mounted point A and B
180°.Motion mode with it is above-mentioned be that embodiment is identical, be slightly different on installation form.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of connecting rod foot formula mobile robot, including rack, motor, transmission parts, it is characterised in that: it further include connecting rod foot,
The connecting rod is the combination of connecting rod and foot enough, and the link rod part of connecting rod foot is installed on transmission parts, the foot and connecting rod of connecting rod foot
Portion connects and is lower than connecting rod, and there are two foots for a connecting rod foot at least front and back, for trampling to ground, realization walking；
The connecting rod is provided with two pairs enough, eccentrically mounted on the transmission parts driven by motor shaft；Every a pair of links has enough
It two, is symmetrically arranged at left and right sides of rack, the eccentric phase of installation is identical；The eccentric phase of two connecting rods foot in rack the same side
180 ° of phase difference；The mutually switching of ipsilateral connecting rod foot, alternately walks during walking, and medianly zygomorphic connecting rod is same enough
Step is lifted or lands, and at least 4 foots fall in ground every time in this way, guarantees stablizing and robot being made to clear the jumps for movement.
2. connecting rod foot formula mobile robot according to claim 1, it is characterised in that, two ipsilateral short bases of connecting rod foot length
This is identical, and the front and rear part of link rod part is separately mounted on identical transmission parts, but coaxially different phases when installation, phase phase difference
180 °, and one in the inner part one in the outer part, two connecting rods are alternately walked enough, non-interference.
3. connecting rod foot formula mobile robot according to claim 1, it is characterised in that, ipsilateral two connecting rods foot one long one
Short, the front and rear part of the link rod part of each connecting rod foot is separately mounted on different transmission parts, and short connecting rod is arranged in the inner part enough,
Long connecting rod is arranged in the outer part enough, and the connecting rod foot that front and back is more too short, and long and short two connecting rods are alternately walked enough, non-interference.
4. connecting rod foot formula mobile robot according to claim 1, it is characterised in that, same root connecting rod foot front and back end
Transmission parts are connected by a transmission device, to guarantee that the foot of this rhizopodium rear and front end can land simultaneously, are overcome unusual
The problem of point.
5. connecting rod foot formula mobile robot according to claim 1, it is characterised in that, motor is divided into left side drive motor group
With right side drive motors group, one or two motor is arranged in every side driving motor group, drives two sets or four by transmission device
Transmission parts are covered, and then drive ipsilateral connecting rod foot.
6. connecting rod foot formula mobile robot according to claim 1, it is characterised in that, the foot of the connecting rod foot is two
A, the foot position of the rear and front end or connecting rod foot that are connected to link rod part is multiple, be connected to link rod part rear and front end and in
Between.
7. connecting rod foot formula mobile robot described in -6 according to claim 1, which is characterized in that when linear motion, connecting rod foot phase
Mutually switching contacts ground each time with symmetrically at least 4 foots, and the rotating forward by controlling motor inverts, steadily straight ahead
It retreats；
It is ipsilateral inside and outside to connect by 180 ° of phase difference of connecting rod foot phase of electric unit allocation bilateral symmetry position when turning to initial state
Bar foot phase also differs 180 °；When needing left steering, control left side drive motor group reversion, right side drive motors group is rotated forward；
When needing to turn right, control right side drive motors group reversion, left side drive motor group is rotated forward, and steering can be realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810610103.8A CN109080728B (en) | 2018-06-13 | 2018-06-13 | Connecting rod foot type mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810610103.8A CN109080728B (en) | 2018-06-13 | 2018-06-13 | Connecting rod foot type mobile robot |
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| Publication Number | Publication Date |
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| CN109080728A true CN109080728A (en) | 2018-12-25 |
| CN109080728B CN109080728B (en) | 2023-08-01 |
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| WO2011102527A1 (en) * | 2010-02-22 | 2011-08-25 | 学校法人日本大学 | Mobile robot |
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| CN102897240A (en) * | 2012-11-09 | 2013-01-30 | 西南大学 | Driving wheel combined mechanism |
| CN104691642A (en) * | 2015-03-20 | 2015-06-10 | 西南大学 | Multiphase connecting rod wheel driving mechanism |
| CN204801920U (en) * | 2015-05-25 | 2015-11-25 | 宜春学院 | 3D prints six sufficient bio -robots |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
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2018
- 2018-06-13 CN CN201810610103.8A patent/CN109080728B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090236155A1 (en) * | 2008-03-18 | 2009-09-24 | Sarjoun Skaff | Efficient Actuation and Selective Engaging and Locking Clutch Mechanisms for Reconfiguration and Multiple-behavior Locomotion of an at least Two-Appendage Robot |
| WO2011102527A1 (en) * | 2010-02-22 | 2011-08-25 | 学校法人日本大学 | Mobile robot |
| CN102267506A (en) * | 2011-07-14 | 2011-12-07 | 上海交通大学 | Double-wheel moving platform |
| CN102897240A (en) * | 2012-11-09 | 2013-01-30 | 西南大学 | Driving wheel combined mechanism |
| CN104691642A (en) * | 2015-03-20 | 2015-06-10 | 西南大学 | Multiphase connecting rod wheel driving mechanism |
| CN204801920U (en) * | 2015-05-25 | 2015-11-25 | 宜春学院 | 3D prints six sufficient bio -robots |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
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| Publication number | Publication date |
|---|---|
| CN109080728B (en) | 2023-08-01 |
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