CN109178135A - A kind of double drive mode closed chain leg mechanism - Google Patents
A kind of double drive mode closed chain leg mechanism Download PDFInfo
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- CN109178135A CN109178135A CN201810947080.XA CN201810947080A CN109178135A CN 109178135 A CN109178135 A CN 109178135A CN 201810947080 A CN201810947080 A CN 201810947080A CN 109178135 A CN109178135 A CN 109178135A
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- motor
- secondary bars
- hinged
- leg
- fixation hole
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The present invention discloses a kind of double drive mode closed chain leg mechanism, it is characterised in that the leg mechanism includes leg link mechanism, first motor, the second motor and rack.Leg link mechanism includes crank, three secondary bars I, adjusting rod, two secondary bars I, three secondary bars II, foot, two secondary bars II.First motor is fixedly connected with rack, the motor shaft of first motor is fixedly connected with crank one end, the crank other end and three secondary bars, I upper end are hinged, three secondary bars, I middle part is hinged with two secondary bars, II one end, the tie rod holes of two secondary bars, II other end and rack are hinged, three secondary bars, I lower end and three secondary bars, II middle part are hinged, three secondary bars, II lower end and foot are hinged, three secondary bars, II upper end and two secondary bars, I one end are hinged, two secondary bars, I other end and adjusting rod one end are hinged, the adjusting rod other end is fixedly connected with the motor shaft of the second motor, and the second motor is fixedly connected with rack.Present invention tool has the characteristics that high efficiency and high-adaptability there are two types of operating mode is driven.
Description
Technical field
The present invention relates to walking robot technologies, and in particular to a kind of double drive mode closed chain leg mechanism.
Background technique
In nature, walking is land and amphibians move mode the most universal, is evolved by this
Ability, various foot formula animals are all over the world.Exist largely on the earth by the region of the covered grounds such as marsh, desert, mountainous region, these
The wheeled or caterpillar of local tradition is hard to reach, but many leg formula animals can grow on these ground in nature
Phase life, activity is freely.Theory and practice proves that the movement of leg formula is a kind of more extensive motion mode of applicability.Using leg
Therefore the mobile robot of formula system possesses stronger landform adaptability, and this kind of robot can be used in military transportation, clump
The various fields such as woods operation, disaster assistance, habitata, celestial body detecting, Edutainment.
Chinese patent CN104925163A discloses " a kind of four-footed leg structure of legged type robot ", the robot leg
Structure uses five-rod, possesses better carrying compared to traditional this closed chain formula leg structure of tandem leg structure
Ability, but the leg structure necessarily requires two motor co-ordinations always, control difficulty highly energy-consuming is big, working method list
One.
Summary of the invention
The present invention is single for existing walking robot leg mechanism operating mode, cannot be considered in terms of efficiency and road surface adaptability
Problem, and then a kind of double drive mode closed chain leg mechanism is provided.
Technical solution of the present invention: a kind of double drive mode closed chain leg mechanism is designed, it is characterised in that the leg mechanism
Including leg link mechanism, first motor, the second motor and rack；
The leg link mechanism includes crank, three secondary bars I, adjusting rod, two secondary bars I, three secondary bars II, foot, two secondary bars
Ⅱ；First motor is bolted to connection with fixation hole I, fixation hole II, fixation hole III, the fixation hole IV in rack, and first
The motor shaft of motor is fixedly connected by jackscrew with crank one end, and the crank other end and three secondary bars, I upper end are hinged, in three secondary bars I
Portion and two secondary bars, II one end are hinged, and the tie rod holes of two secondary bars, II other end and rack are hinged, in three secondary bars, I lower end and three secondary bars II
Portion is hinged, and three secondary bars, II lower end and foot are hinged, and three secondary bars, II upper end and two secondary bars, I one end are hinged, two secondary bars, I other end and tune
Pole one end is hinged, and the adjusting rod other end is fixedly connected by jackscrew with the motor shaft of the second motor, on the second motor and rack
Fixation hole V, fixation hole VI, fixation hole VII, fixation hole VIII be bolted to connection；The first motor and the second motor
It is connect with control system.
The control system can control leg mechanism to realize the movement of two kinds of operating modes, the first is the second motor (7)
No power, the adjusting rod (5) being fixedly connected with the second motor (7) is fixed, and leg link mechanism becomes a single-degree-of-freedom
Six-bar mechanism drives crank circumferential rotation type by first motor (2), realizes the walking movement of leg mechanism；Second is control
One motor (2) and the second motor (7) coordinated movement of various economic factors simultaneously, drive the seven-bar mechanism of two-freedom to move, and realize sufficient end track
Flexibility output.
Beneficial effects of the present invention: double drive mode closed chain leg mechanism of the present invention has single-degree-of-freedom work
Mode and two-freedom operating mode, wherein single-degree-of-freedom operating mode has that work efficiency is high, and low energy consumption, and control is simple excellent
Point can be used for the walking of flat road surface, and the flexible output of a variety of sufficient end tracks, energy may be implemented in two-freedom operating mode
Complex road surface environment, across obstacle are enough adapted to, two kinds of operating modes can flexibly switch according to different road environments, have both height
The advantages of efficiency and high-adaptability, two kinds of operating modes formd a kind of fault tolerant mechanism simultaneously, even if the failure of the second motor is asked
Topic, can also be guaranteed the basic walking ability of walking robot by first motor, improve system reliability.
Detailed description of the invention
Fig. 1 walking robot leg mechanism front overall structure three-dimensional figure；
Fig. 2 walking robot leg mechanism back side overall structure three-dimensional figure；
Fig. 3 rack three-dimensional figure；
Fig. 4 walking robot leg mechanism top view；
The quadruped robot schematic diagram that Fig. 5 is made of walking robot leg mechanism；
The hexapod robot schematic diagram that Fig. 6 is made of walking robot leg mechanism.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.But claims hereof protection scope is not limited to described
The description range of embodiment.
As shown in Figure 1, Figure 2, Figure 4 shows, a kind of double drive mode closed chain leg mechanism designed by the present invention, it is characterised in that
The leg mechanism includes leg link mechanism, first motor 2, the second motor 7 and rack 1.
As shown in Figures 1 to 4, the leg link mechanism includes crank 3, three secondary bars I 4, adjusting rod 5, two secondary bars I 6, three
Secondary bar II 8, foot 9, two secondary bars II 10；I 1f of fixation hole, II 1g of fixation hole, III 1h of fixation hole in first motor 2 and rack 1,
IV 1i of fixation hole is bolted to connection, and the motor shaft of first motor 2 is fixedly connected by jackscrew with 3 one end of crank, crank 3
The other end and three secondary bars, I 4 upper end are hinged, and the middle part of three secondary bar I 4 is hinged with two secondary bars, II 10 one end, two secondary bars, II 10 other end and
The tie rod holes 1e of rack 1 is hinged, and three secondary bars, I 4 lower end and three secondary bars, II 8 middle part are hinged, and three secondary bars, II 8 lower end and foot 9 are hinged,
Three secondary bars, II 8 upper end and two secondary bars, I 6 one end are hinged, and two secondary bars, I 6 other end and 5 one end of adjusting rod are hinged, 5 other end of adjusting rod
It is fixedly connected by jackscrew with the motor shaft of the second motor 7, the second motor 7 and V 1a of fixation hole, the fixation hole VI in rack 1
1b, VII 1c of fixation hole, VIII 1d of fixation hole are bolted to connection；The first motor 2 and the second motor 7 are and control system
Connection.
A kind of double drive mode closed chain leg mechanism, it is characterised in that the leg mechanism can be used as constituting polypody step
The modular unit pedipulator of row robot is illustrated in figure 5 the quadruped robot schematic diagram that the leg mechanism is constituted, such as schemes
6 show the hexapod robot schematic diagram that the leg mechanism is constituted.
A kind of double drive mode closed chain leg mechanism, it is characterised in that the first motor 2 and the second motor 7 should be
Servo motor equipped with self-lock type speed reducing device.
The working principle of the invention and process are as follows: a kind of double drive mode closed chain leg mechanism gathers around that there are two types of Working moulds
Formula, the first is 7 no power of the second motor, and the adjusting rod 5 being fixedly connected with the second motor 7 is fixed, leg link mechanism
As the six-bar mechanism of a single-degree-of-freedom, crank circumferential rotation type is driven by first motor 2, realizes the walking movement of leg mechanism；
Second is 7 coordinated movement of various economic factors simultaneously of control first motor 2 and the second motor, drives the seven-bar mechanism of two-freedom to move, realizes
The flexible output of sufficient end track.
Claims (4)
1. a kind of double drive mode closed chain leg mechanism, it is characterised in that the leg mechanism includes leg link mechanism, the first electricity
Machine (2), the second motor (7) and rack (1)；
The leg link mechanism include crank (3), three secondary bars I (4), adjusting rod (5), two secondary bars I (6), three secondary bars II (8),
Foot (9), two secondary bars II (10)；Fixation hole I (1f), fixation hole II (1g), fixation hole in first motor (2) and rack (1)
III (1h), fixation hole IV (1i) are bolted to connection, and the motor shaft of first motor (2) passes through jackscrew and crank (3) one end
It is fixedly connected, crank (3) other end and three secondary bar I (4) upper ends are hinged, cut with scissors in the middle part of three secondary bars I (4) with two secondary bar II (10) one end
Connect, the tie rod holes (1e) of two secondary bar II (10) other ends and rack (1) hingedly, in three secondary bar I (4) lower ends and three secondary bars II (8)
Portion is hinged, and hingedly, three secondary bar II (8) upper ends and two secondary bar I (6) one end are hinged, second mate for three secondary bar II (8) lower ends and foot (9)
Bar I (6) other end and adjusting rod (5) one end are hinged, and adjusting rod (5) other end passes through the motor shaft of jackscrew and the second motor (7)
It is fixedly connected, fixation hole V (1a), fixation hole VI (1b), fixation hole VII (1c) on the second motor (7) and rack (1), fixation
(1d) is bolted to connection in hole VIII；The first motor (2) and the second motor (7) are connect with control system.
2. a kind of double drive mode closed chain leg mechanism according to claim 1, which is characterized in that the control system is controllable
Leg mechanism processed realizes the movement of two kinds of operating modes, the first is the second motor (7) no power, fixed with the second motor (7)
The adjusting rod (5) of connection is fixed, and leg link mechanism becomes the six-bar mechanism of a single-degree-of-freedom, is driven by first motor (2)
Dynamic crank circumferential rotation type, realizes the walking movement of leg mechanism；Second is that control first motor (2) and the second motor (7) are same
When the coordinated movement of various economic factors, drive the seven-bar mechanism of two-freedom to move, realize the flexible output of sufficient end track.
3. a kind of double drive mode closed chain leg mechanism according to claim 1, it is characterised in that the leg mechanism is available
Make the modular unit pedipulator of composition Multifeet walking robot.
4. a kind of double drive mode closed chain leg mechanism according to claim 2, it is characterised in that the first motor (2) and
Second motor (7) should be the servo motor equipped with self-lock type speed reducing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947080.XA CN109178135B (en) | 2018-08-20 | 2018-08-20 | Dual-drive mode closed-chain leg mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947080.XA CN109178135B (en) | 2018-08-20 | 2018-08-20 | Dual-drive mode closed-chain leg mechanism |
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| CN109178135A true CN109178135A (en) | 2019-01-11 |
| CN109178135B CN109178135B (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810947080.XA Active CN109178135B (en) | 2018-08-20 | 2018-08-20 | Dual-drive mode closed-chain leg mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450880A (en) * | 2019-07-23 | 2019-11-15 | 北京交通大学 | A kind of adjustable eight biped robot of sufficient end track |
| CN110641573A (en) * | 2019-10-29 | 2020-01-03 | 北京航空航天大学 | Closed-chain single-degree-of-freedom five-rod leg mechanism |
| CN112265593A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Series-parallel connection anthropomorphic mechanical leg |
| CN112319648A (en) * | 2020-11-09 | 2021-02-05 | 武汉理工大学 | Leg mechanism of foot type robot with switchable degrees of freedom |
| CN112590964A (en) * | 2020-12-15 | 2021-04-02 | 武汉理工大学 | Wheel-leg combined robot and control method thereof |
| CN114633822A (en) * | 2022-02-24 | 2022-06-17 | 天津理工大学 | Three-drive adjustable closed-chain leg mechanism |
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| JP2001062761A (en) * | 1999-08-30 | 2001-03-13 | Honda Motor Co Ltd | Bipedal walking leg type mobile robot |
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| CN105835090A (en) * | 2016-06-16 | 2016-08-10 | 湖北工业大学 | Recognition method for branches of plane two-freedom-degree seven-connecting-rod mechanism |
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| CN107380295A (en) * | 2017-07-17 | 2017-11-24 | 安徽工业大学 | A kind of closed chain formula walking leg mechanism |
| CN108001553A (en) * | 2017-11-20 | 2018-05-08 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
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| JP2001062761A (en) * | 1999-08-30 | 2001-03-13 | Honda Motor Co Ltd | Bipedal walking leg type mobile robot |
| CN103407507A (en) * | 2013-07-05 | 2013-11-27 | 北京交通大学 | Single-power crawling six-rod mechanism |
| CN104477270A (en) * | 2014-08-08 | 2015-04-01 | 北京交通大学 | Single-power-moved six-rod robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450880A (en) * | 2019-07-23 | 2019-11-15 | 北京交通大学 | A kind of adjustable eight biped robot of sufficient end track |
| CN110641573A (en) * | 2019-10-29 | 2020-01-03 | 北京航空航天大学 | Closed-chain single-degree-of-freedom five-rod leg mechanism |
| CN110641573B (en) * | 2019-10-29 | 2021-02-05 | 北京航空航天大学 | Closed-chain single-degree-of-freedom five-rod leg mechanism |
| CN112319648A (en) * | 2020-11-09 | 2021-02-05 | 武汉理工大学 | Leg mechanism of foot type robot with switchable degrees of freedom |
| CN112265593A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Series-parallel connection anthropomorphic mechanical leg |
| CN112265593B (en) * | 2020-11-15 | 2024-04-30 | 浙江工业大学 | Series-parallel anthropomorphic mechanical leg |
| CN112590964A (en) * | 2020-12-15 | 2021-04-02 | 武汉理工大学 | Wheel-leg combined robot and control method thereof |
| CN114633822A (en) * | 2022-02-24 | 2022-06-17 | 天津理工大学 | Three-drive adjustable closed-chain leg mechanism |
| CN114633822B (en) * | 2022-02-24 | 2024-01-16 | 天津理工大学 | Three-drive adjustable closed-chain leg mechanism |
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| CN109178135B (en) | 2020-02-07 |
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