CN109204602A - Miniature quadruped robot - Google Patents
Miniature quadruped robot Download PDFInfo
- Publication number
- CN109204602A CN109204602A CN201811287587.3A CN201811287587A CN109204602A CN 109204602 A CN109204602 A CN 109204602A CN 201811287587 A CN201811287587 A CN 201811287587A CN 109204602 A CN109204602 A CN 109204602A
- Authority
- CN
- China
- Prior art keywords
- quadruped robot
- crank
- motor
- output shaft
- rack
- 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
- 230000005484 gravity Effects 0.000 claims abstract description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 230000007306 turnover Effects 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000003068 static effect Effects 0.000 claims description 2
- 210000002683 foot Anatomy 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 4
- 230000005021 gait Effects 0.000 abstract description 3
- 241001465754 Metazoa Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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
Abstract
The present invention provides a kind of miniature quadruped robots, including motor, rack, crank, connecting rod, rocking bar, steering engine, weight.The pedestal of the steering engine is fixed on the rack, and steering engine can drive weight mobile, and weight can be the battery and other items of quadruped robot carrying.Moving heavy object can change the position of quadruped robot center of gravity, when quadruped robot is creeped on the ground, when center of gravity is located on the left of quadruped robot longitudinal axis, foot slides less on the ground in quadruped robot longitudinal axis left part, and quadruped robot can bend to right；When center of gravity is located on the right side of quadruped robot longitudinal axis, foot slides less on the ground in quadruped robot longitudinal axis right part, and quadruped robot can turn to the left.Climbing mechanism freedom degree of the invention is few, micromation easy to accomplish, mobile with the gait that ambles, and when only two foots land is not easy to turn on one's side, and mobile steady, turning implementation method is simple.
Description
Technical field
The present invention relates to robot field, specifically a kind of miniature quadruped robot.
Background technique
The development of robot technology has pushed robot in the application of every field, and in some cases, robot is
As indispensable equipment.When encountering uneven landform, the application of wheeled robot, caterpillar type robot is limited
System.The walking manner of some animals can adapt to uneven landform, and legged type robot is the machine using animal walking mode
People.There are many sufficient formula machines to be developed, such as Boston utility companies have developed " towser " robot.
In the prior art, legged type robot has the following problems:
1, climbing mechanism freedom degree is more, causes power device quantity more, and robot is difficult to be miniaturized.
2, the implementation method turned is complicated.
Summary of the invention
The present invention in order to solve problems in the prior art, provides a kind of miniature quadruped robot, climbing mechanism freedom degree
Few, micromation easy to accomplish is mobile with the gait that ambles, and when only two foots land is not easy to turn on one's side, and mobile steady, turning is realized
Method is simple.
The present invention provides a kind of miniature quadruped robot, including motor, rack, crank, connecting rod, rocking bar, steering engine, again
Object.The motor is fixed on the rack, when quadruped robot it is static in the horizontal plane when, motor output shaft axis and four-footed machine
It device people longitudinal axis orthogonal and is parallel to the horizontal plane, gear is fixed on motor output shaft.
The crank is connect by the first turn over pair with rack, and the first turn over secondary axis and motor output shaft axis are flat
Row.Gear is fixed on crank, the gear fixed on crank is engaged with gear fixed on motor output shaft.Crank passes through second
The connection of one end of turn over pair and connecting rod, the second turn over secondary axis are parallel with motor output shaft axis.One end of connecting rod extends, and extends
Leg of the part as quadruped robot, be fixed with foot on leg, sufficient axis is parallel with motor output shaft axis, and sufficient end crosses four
Biped robot longitudinal axis a distance only has quadruped robot when two foots land and is not easy to turn on one's side.The other end of connecting rod passes through
First rotation pair is connect with rocking bar, and the first rotation secondary axis is parallel with motor output shaft axis.Rocking bar by the second rotation pair with
Rack connection, the second rotation secondary axis are parallel with motor output shaft axis.Crank, connecting rod, rocking bar, rack form crank rocker machine
Structure.
Two connecting rods in front pass through a second turn over pair respectively and the crank in front connects, two connecting rods point at rear
It is not connected by the crank at a second turn over pair and rear.When the motor rotates, the crank in front, rear crank rotation side
To consistent, velocity of rotation is identical, the opposite in phase of two link motions in front, the phase phase of two link motions at rear
Instead, the phase of two link motions in left side is identical.
The pedestal of the steering engine is fixed on the rack.Steering engine can drive weight mobile, and weight can be four-footed machine
The battery and other items that people carries.Moving heavy object can change the position of quadruped robot center of gravity, when quadruped robot on the ground
When creeping, when center of gravity is located on the left of quadruped robot longitudinal axis, foot is in quadruped robot longitudinal axis left part on ground
Upper sliding is few, and quadruped robot can bend to right；When center of gravity is located on the right side of quadruped robot longitudinal axis, foot is in four-footed machine
People's longitudinal axis right part is slided less on the ground, and quadruped robot can turn to the left.
The beneficial effects of the invention are that:
1, the quadruped robot climbing mechanism freedom degree is few, drives four legs, micromation easy to accomplish using a motor.
2, the quadruped robot is mobile with the gait that ambles, and when only two foots land is not easy to turn on one's side, mobile steady.
3, quadruped robot turning implementation method is simple.
Detailed description of the invention
Fig. 1 is axonometric drawing of the invention.
Fig. 2 is left view of the invention.
Fig. 3 is the axonometric drawing of motor of the present invention.
Fig. 4 is the axonometric drawing of the frame of the invention.
Fig. 5 is the axonometric drawing of crank of the present invention.
Fig. 6 is the axonometric drawing of connecting rod of the present invention.
Fig. 7 is the axonometric drawing of rocking bar of the present invention.
Fig. 8 is the axonometric drawing of steering engine of the present invention.
Fig. 9 is the axonometric drawing of weight of the present invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
The present invention provides a kind of miniature quadruped robots, as shown in Figure 1 and Figure 2.The quadruped robot includes motor 1, machine
Frame 2, crank 3, connecting rod 4, rocking bar 5, steering engine 6, weight 7.The motor 1 is fixed in rack 2, when quadruped robot is still in
When on horizontal plane, 1 output shaft axis of motor and quadruped robot longitudinal axis orthogonal and it is parallel to the horizontal plane, 1 output shaft of motor
On be fixed with gear.Motor 1 is as shown in figure 3, rack 2 is as shown in Figure 4.
The crank 3 is connect by the first turn over pair with rack 2, the first turn over secondary axis and 1 output shaft axis of motor
In parallel.Crank 3 is as shown in Figure 5.It is fixed with gear on crank 3, is fixed on the gear and 1 output shaft of motor fixed on crank 3
Gear engagement.Crank 3 is connect by the second turn over pair with one end of connecting rod 4, the second turn over secondary axis and 1 output shaft axis of motor
In parallel.Connecting rod 4 is as shown in Figure 6.One end of connecting rod 4 extends, leg 8 of the extended part as quadruped robot, is fixed on leg 8
Foot 9,9 axis of foot are parallel with 1 output shaft axis of motor, and quadruped robot longitudinal axis a distance is crossed in 9 ends of foot, make four-footed
Robot, which only has when two foots land, to be not easy to turn on one's side.The other end of connecting rod 4 is connect by the first rotation pair with rocking bar 5, the first rotation
Secondary axis is parallel with 1 output shaft axis of motor.Rocking bar 5 is as shown in Figure 7.Rocking bar 5 is connect by the second rotation pair with rack 2, the
Two rotation secondary axis are parallel with 1 output shaft axis of motor.Crank 3, connecting rod 4, rocking bar 5, rack 2 form crank and rocker mechanism.
Two connecting rods 4 in front are connected by the crank 3 in a second turn over pair and front respectively, two connecting rods at rear
4 are connected by the crank 3 at a second turn over pair and rear respectively.When motor 1 rotates, the crank 3 in front, rear crank
3 rotation directions are consistent, and velocity of rotation is identical, the opposite in phase of two connecting rods 4 movement in front, two connecting rods 4 movement at rear
Opposite in phase, left side two connecting rods 4 movement phase it is identical.
The pedestal of the steering engine 6 is fixed in rack 2.Steering engine 6 is as shown in Figure 8.Steering engine 6 can drive weight 7 mobile,
Weight 7 can be the battery and other items of quadruped robot carrying.Weight 7 is as shown in Figure 9.Moving heavy object 7 can change four-footed machine
The position of device people's center of gravity, when quadruped robot is creeped on the ground, when center of gravity is located on the left of quadruped robot longitudinal axis, foot
9 slide less on the ground in quadruped robot longitudinal axis left part, and quadruped robot can bend to right；Center of gravity is located at four
When on the right side of biped robot longitudinal axis, foot 9 slides few, four-footed machine in quadruped robot longitudinal axis right part on the ground
People can turn to the left.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of miniature quadruped robot, it is characterised in that: including motor (1), rack (2), crank (3), connecting rod (4), rocking bar
(5), steering engine (6), weight (7)；
The motor (1) is fixed on rack (2), when quadruped robot it is static in the horizontal plane when, motor (1) output shaft axis
It line and quadruped robot longitudinal axis orthogonal and is parallel to the horizontal plane, is fixed with gear on motor (1) output shaft；
The crank (3) is connect by the first turn over pair with rack (2), the first turn over secondary axis and motor (1) output shaft axis
Line is parallel；Gear is fixed on crank (3), the gear fixed on crank (3) is nibbled with gear fixed on motor (1) output shaft
It closes；Crank (3) is connect by the second turn over pair with one end of connecting rod (4), the second turn over secondary axis and motor (1) output shaft axis
In parallel；The other end of connecting rod (4) is connect by the first rotation pair with rocking bar (5), the first rotation secondary axis and motor (1) output shaft
Axis is parallel；Rocking bar (5) is connect by the second rotation pair with rack (2), the second rotation secondary axis and motor (1) output shaft axis
In parallel；Crank (3), connecting rod (4), rocking bar (5), rack (2) form crank and rocker mechanism；
Two connecting rods (4) in front are connected by the crank (3) in a second turn over pair and front respectively, two connecting rods at rear
(4) it is connected respectively by the crank (3) at a second turn over pair and rear；When motor (1) rotation when, the crank (3) in front, after
Crank (3) rotation direction of side is consistent, and velocity of rotation is identical, the opposite in phase of two connecting rods (4) movement in front, and the two of rear
The phase of the opposite in phase of a connecting rod (4) movement, two connecting rods (4) movement in left side is identical；
The pedestal of the steering engine (6) is fixed on rack (2), drives weight (7) are mobile to change four-footed machine by steering engine (6)
The position of people's center of gravity, when quadruped robot is creeped on the ground, when center of gravity is located on the left of quadruped robot longitudinal axis, four-footed
Robot bends to right；When center of gravity is located on the right side of quadruped robot longitudinal axis, quadruped robot is turned to the left.
2. miniature quadruped robot according to claim 1, it is characterised in that: one end of the connecting rod (4) extends, and prolongs
Leg (8) of the long part as quadruped robot is fixed with foot (9) on leg (8), foot (9) axis and motor (1) output shaft axis
In parallel, quadruped robot longitudinal axis is crossed in foot (9) end.
3. miniature quadruped robot according to claim 1, it is characterised in that: the weight (7) is quadruped robot
The battery of carrying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811287587.3A CN109204602A (en) | 2018-10-31 | 2018-10-31 | Miniature quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811287587.3A CN109204602A (en) | 2018-10-31 | 2018-10-31 | Miniature quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109204602A true CN109204602A (en) | 2019-01-15 |
Family
ID=64998334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811287587.3A Pending CN109204602A (en) | 2018-10-31 | 2018-10-31 | Miniature quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109204602A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228546A (en) * | 2019-06-17 | 2019-09-13 | 河海大学常州校区 | A kind of simulating crawling robot |
| CN110422246A (en) * | 2019-07-08 | 2019-11-08 | 南京航空航天大学 | Quadruped robot and movement technique |
| CN111208826A (en) * | 2020-02-18 | 2020-05-29 | 杭州云深处科技有限公司 | Four-legged robot hoof sliding gait planning method, device, equipment and readable medium |
| LU101701B1 (en) * | 2019-06-27 | 2020-12-30 | Univ Anhui Sci & Technology | Wall climbing-type rust removing device |
| WO2020258733A1 (en) * | 2019-06-25 | 2020-12-30 | 福州大学 | Constant-speed electrically-driven quadruped robot having adjustable center of gravity and method of use |
| CN112606923A (en) * | 2020-12-14 | 2021-04-06 | 中国科学院沈阳自动化研究所 | Insulator connecting rod creeping mechanism |
| WO2022016877A1 (en) * | 2020-07-21 | 2022-01-27 | 李荣仲 | Quadruped robotic dog having center of gravity adjusting mechanism |
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| CN104260800A (en) * | 2014-10-16 | 2015-01-07 | 北京理工大学 | Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker |
| CN204871278U (en) * | 2015-07-27 | 2015-12-16 | 宜春学院 | 3D prints four -footed bio -robot |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
| CN207311652U (en) * | 2017-08-24 | 2018-05-04 | 宜春学院 | A kind of four-leg bionic robot of guide rail slide block driving |
| CN207311651U (en) * | 2017-08-24 | 2018-05-04 | 宜春学院 | A kind of four-leg bionic robot with sliding slot |
| CN209080040U (en) * | 2018-10-31 | 2019-07-09 | 南京航空航天大学 | Miniature quadruped robot |
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2018
- 2018-10-31 CN CN201811287587.3A patent/CN109204602A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260800A (en) * | 2014-10-16 | 2015-01-07 | 北京理工大学 | Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker |
| CN204871278U (en) * | 2015-07-27 | 2015-12-16 | 宜春学院 | 3D prints four -footed bio -robot |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN207311652U (en) * | 2017-08-24 | 2018-05-04 | 宜春学院 | A kind of four-leg bionic robot of guide rail slide block driving |
| CN207311651U (en) * | 2017-08-24 | 2018-05-04 | 宜春学院 | A kind of four-leg bionic robot with sliding slot |
| CN209080040U (en) * | 2018-10-31 | 2019-07-09 | 南京航空航天大学 | Miniature quadruped robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228546A (en) * | 2019-06-17 | 2019-09-13 | 河海大学常州校区 | A kind of simulating crawling robot |
| WO2020258733A1 (en) * | 2019-06-25 | 2020-12-30 | 福州大学 | Constant-speed electrically-driven quadruped robot having adjustable center of gravity and method of use |
| LU101701B1 (en) * | 2019-06-27 | 2020-12-30 | Univ Anhui Sci & Technology | Wall climbing-type rust removing device |
| CN110422246A (en) * | 2019-07-08 | 2019-11-08 | 南京航空航天大学 | Quadruped robot and movement technique |
| CN110422246B (en) * | 2019-07-08 | 2021-08-06 | 南京航空航天大学 | Quadruped robot and movement method |
| CN111208826A (en) * | 2020-02-18 | 2020-05-29 | 杭州云深处科技有限公司 | Four-legged robot hoof sliding gait planning method, device, equipment and readable medium |
| CN111208826B (en) * | 2020-02-18 | 2023-06-16 | 杭州云深处科技有限公司 | Foot sliding gait planning method, device and equipment for quadruped robot and readable medium |
| WO2022016877A1 (en) * | 2020-07-21 | 2022-01-27 | 李荣仲 | Quadruped robotic dog having center of gravity adjusting mechanism |
| CN112606923A (en) * | 2020-12-14 | 2021-04-06 | 中国科学院沈阳自动化研究所 | Insulator connecting rod creeping mechanism |
| CN112606923B (en) * | 2020-12-14 | 2023-06-23 | 中国科学院沈阳自动化研究所 | Insulator connecting rod crawling mechanism |
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