CN109398527A - A kind of multi link Movable device - Google Patents
A kind of multi link Movable device Download PDFInfo
- Publication number
- CN109398527A CN109398527A CN201811315138.5A CN201811315138A CN109398527A CN 109398527 A CN109398527 A CN 109398527A CN 201811315138 A CN201811315138 A CN 201811315138A CN 109398527 A CN109398527 A CN 109398527A
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- Prior art keywords
- driving device
- connecting rod
- right connecting
- link
- lower case
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- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000036544 posture Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000005021 gait Effects 0.000 description 14
- 210000001364 upper extremity Anatomy 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 210000002683 foot Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003786 synthesis reaction 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 invention discloses a kind of multi link Movable devices, including upper housing, lower case, several leg structures, the leg structure is symmetrically distributed between upper housing and lower case, and respectively with upper housing, lower case is fixedly connected, the leg structure includes first driving device, second driving device, link mechanism, the link mechanism has a free end and two power intakes, two power intakes respectively with first driving device, the power output end of second driving device is fixedly connected, the first driving device or/and the second driving device drive link mechanism kinematic, make leg structure that there are a variety of different traveling postures.The present invention on the leg structure of each robot by being arranged two groups of power units, two groups of power unit mutual cooperation drive link mechanism kinematics, making the leg of robot has a variety of different traveling postures, robot can adjust leg posture according to different environment, different landform to pass through.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of multi link Movable device.
Background technique
Walking robot is many kinds of, can be used for the multiple fields such as military affairs, service for life, rescue and relief work and amusement.According to
Robot can be divided into wheeled robot, caterpillar type robot and legged type robot by the walking manner of robot.Wheel type machine
People and caterpillar type robot move mode are to the more demanding of ambient enviroment, therefore its application range is subject to certain restrictions.Foot
Formula robot shows very strong adaptability by its discontinuous contact characteristic in the process of walking with ground, is especially having
There is broader development prospect on the channel of barrier or on very inapproachable work-yard.Most legged type robots
Sufficient number is even number, and according to sufficient number, legged type robot can be divided into biped, four-footed, six foots and eight foots, even more.Four-footed machine
Device people can be realized walking in uneven ground and complicated landform in a manner of static walking and be realized height in a manner of dynamic walking
Speed walking, therefore be more taken seriously.
With the development of the times, requirement of the people to robot is also higher and higher, and robot will adapt to various landform, in time
Posture is adjusted, mode appropriate is selected to pass through, walk type robot is rough and uneven in surface or have the ground running operation of obstacle, than one
As mobile robot strong flexibility, mobility is good.But current walking robot mostly uses a kind of walking, Wu Faman
Steady, high speed walking requirement on the various special-shaped ground of foot.
Therefore, it is necessary to design a kind of multi link Movable device to adapt to different landform, so that robot can be suitable
Benefit passes through.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of multi link Movable devices, make the leg of robot
With two different traveling postures, robot can adjust leg posture according to different environment, different landform smoothly to lead to
It crosses.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of multi link walk type shifting is provided
Dynamic device, including upper housing, lower case, several leg structures, the leg structure are symmetrically distributed in upper housing and lower case
Between, and be fixedly connected respectively with upper housing, lower case；
The leg structure includes first driving device, the second driving device, link mechanism, and the link mechanism has one
Free end and two power intakes, two power intakes are defeated with the power of first driving device, the second driving device respectively
Outlet is fixedly connected；
The first driving device or/and the second driving device drive link mechanism kinematic have leg structure a variety of
Different traveling postures.
Further, the first driving device is identical as the structure of first driving device, including motor, electric machine support,
Transmission shaft, at least one support of bearing；
The electric machine support, the support of bearing are separately fixed between upper housing and lower case；
The motor is fixed on the side of electric machine support, and output shaft end connects by the way that one end of shaft coupling and transmission shaft is fixed
It connects；
The middle part shaft part of the transmission shaft is rotatablely connected by bearing and the support of bearing.
Further, second driving device, first driving device are distributed along upper housing/lower case length direction.
Further, the link mechanism includes upper left connecting rod, upper right connecting rod, upper left connecting shaft, upper right connecting shaft, lower-left
Connecting rod, bottom right connecting rod, lower connecting shaft；
One end of the upper left connecting rod is fixedly connected with the power output end of first driving device, the other end is connected by upper left
The rotation connection of one end of spindle and left lower link；
One end of the upper right connecting rod is fixedly connected with the power output end of the second driving device, the other end is connected by upper right
One end of spindle and bottom right connecting rod is rotatablely connected；
The other end of bottom right connecting rod is rotatablely connected by the middle part of lower connecting shaft and left lower link.
Further, the brachium of the upper left connecting rod is equal with the brachium of upper right connecting rod.
Further, the left lower link is located at the arm of brachium and bottom right connecting rod between upper left connecting shaft and lower connecting shaft
Length is equal.
Further, the left lower link is " J " type structure.
Further, bar shaped is provided on the side of the upper left connecting rod, upper right connecting rod, left lower link, bottom right connecting rod
Groove.
Further, the upper housing and lower case are the frame structure of hollow out.
Further, it is provided with strip through-hole in the upper housing and lower case, the link mechanism is swingable to be passed through
Strip through-hole.
The invention has the benefit that the present invention is used as robot shell using upper housing and lower case, in upper housing and
It is uniformly distributed the design of several leg structures between lower case, passes through the phase interworking between leg structure and robot shell
It closes, robot may be implemented and passed through under various circumstances using different leg postures；Additionally by each robot
Leg structure on two groups of power units are set, two groups of power unit mutual cooperation drive link mechanism kinematics make robot
Leg has two different traveling postures, and robot can adjust leg posture according to different environment, different landform with suitable
Benefit passes through, strong environmental adaptability.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the schematic perspective view of the leg structure；
Fig. 3 is the schematic perspective view of the first driving device；
Fig. 4 is a kind of one of gait pattern schematic diagram of multi link Movable device proposed by the present invention；
Fig. 5 is the two of a kind of gait pattern schematic diagram of multi link Movable device proposed by the present invention；
In figure: 1 leg structure, 11 first driving devices, 111 motors, 112 electric machine supports, 113 transmission shafts, 114 bearing branch
Frame, 12 second driving devices, 13 link mechanisms, 131 upper left connecting rods, 132 upper right connecting rods, 133 upper left connecting shafts, 134 upper rights connect
Spindle, 135 left lower links, 136 bottom right connecting rods, 137 lower connecting shafts, 2 lower cases, 3 upper housings.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
It please refers to Fig.1 to Fig.3, a kind of multi link Movable device, including upper housing 3, lower case 2, several legs
Portion's structure 1, leg structure 1 are symmetrically distributed between upper housing 3 and lower case 2, and fix connect with upper housing 3, lower case 2 respectively
It connects.In the present embodiment, using four leg structures 1, be located at 2/ lower case 3 of upper housing it is left front, left back, right before, it is right after
Four orientation constitute quadruped robot.Upper housing 3 and lower case 2 are the frame structure of hollow out, to mitigate the entirety of robot
Weight keeps the traveling of robot more smooth.
As shown in Fig. 2, the leg structure 1 includes first driving device 11, the second driving device 12, link mechanism 13,
Link mechanism 13 has a free end and two fixing ends, free end as foothold, the lateral surface of two fixing ends respectively with
First driving device 11, the second driving device 12 power output end be fixedly connected, first driving device 11 or/and second driving
The movement of 12 drive link mechanism 13 of device, makes leg structure 1 have two different traveling postures.In the present embodiment, upper housing 3
It is provided with strip through-hole in lower case 2, so that link mechanism 13 is during the swing, it is logical that each position can pass through bar shaped
Hole, to meet the needs of the different traveling postures of leg structure 1.
As shown in figure 3, the first driving device 11 includes motor 111,113, two electric machine support 112, transmission shaft axis
Bracket 114 is held, electric machine support 112, the support of bearing 114 are separately fixed between upper housing 3 and lower case 2, and motor 111 is fixed on
The side of electric machine support 112, output shaft end is fixedly connected by shaft coupling with one end of transmission shaft 113, in transmission shaft 113
Portion's shaft part is rotatablely connected by bearing and the support of bearing 114.In the present embodiment, the second driving device 12 and first driving device 11
Structure it is identical, and the two along 3/ lower case 2 of upper housing length direction be distributed.
As shown in Fig. 2, the link mechanism 13 includes upper left connecting rod 131, upper right connecting rod 132, upper left connecting shaft 133, the right side
Upper connecting shaft 134, left lower link 135, bottom right connecting rod 136, lower connecting shaft 137.Wherein, one end of upper left connecting rod 131 and first
The power output end of driving device 11 is fixedly connected, the other end is rotated by one end of upper left connecting shaft 133 and left lower link 135
Connection, one end of upper right connecting rod 132 is fixedly connected with the power output end of the second driving device 12, the other end is connect by upper right
One end of axis 134 and bottom right connecting rod 136 is rotatablely connected, and the other end of bottom right connecting rod 136 passes through lower connecting shaft 137 and left lower link
135 middle part rotation connection.Motor 11 in the present embodiment, in one end of upper left connecting rod 131 and the first driving device 11
Output shaft end is fixedly connected, and one end of upper right connecting rod 132 is fixedly connected with 11 output shaft end of motor in the second driving device 12,
The brachium of upper left connecting rod 131 is equal with the brachium of upper right connecting rod 132 simultaneously；Left lower link 135 is " J " type structure, and it is located at
Brachium between upper left connecting shaft 133 and lower connecting shaft 137 is equal with the brachium of bottom right connecting rod 136.In this way, the first driving can be made
The function and effect of 12 linkage 13 of device 11 and the second driving device are equivalent, when first driving device 11 and the second driving dress
When setting an only job in 12, the output posture of link mechanism 13 is identical.It is apparent that any one rod piece in link mechanism 13
Swing arm length change, the function and effect of 12 linkage 13 of first driving device 11 and the second driving device just differ
Together, then two different link mechanisms 13 can be derived and export posture.Preferably, the upper left connecting rod 131, upper right connecting rod 132,
Left lower link 135, bottom right connecting rod 136 side on be provided with strip groove, with mitigate rod piece itself weight and enhancing bar
The intensity of part.
In the use of the present invention, the robot control module of the prior art is configured in robot, it can be according to control mould
In block on preset four leg structures 1 of control process control eight motors 11 operation, tool there are three types of different working conditions,
I.e. first driving device 11 works independently, and the second driving device 12 works independently, first driving device 11, the second driving device 12
It works at the same time.By in this present embodiment, the symmetrical structure of link mechanism 13 is arranged, so that the independent work of first driving device 11
Make, the second driving device 12 work independently both working condition linkages 13 function and effect it is equivalent, connecting rod machine at this time
The output posture of structure 13 is identical, is set as gait one；When first driving device 11, the second driving device 12 work at the same time, the two phase
Mutual cooperation, comprehensive function is on link mechanism 13, and the output posture of link mechanism 13 is set as gait two at this time.Therefore, often
A leg structure 1 has two different form of gait；In addition four leg structures of robot have different movement combination shapes
Formula, such as four alternating movements (walking states), four move synchronously (jump gait), diagonal two move synchronously and two sides alternating
(gait of trotting), ipsilateral two move synchronously and two sides alternating (amble gait) etc., any group of gait pattern and forms of motion
It closes, so that the synthesis Walking Mode diversification of robot, can adapt to different geographical road conditions.
Refering to Fig. 4, Fig. 5, is moved synchronously with diagonal two and two sides replace, is i.e. the paces of robot left front leg and right rear leg
Unanimously, right front leg and left back leg are walk in step with each other, and left front leg/right rear leg replaces the Walking Mode of landing with right front leg/left back leg
For, the course of work of two kinds of gaits of leg structure 1 is illustrated below, it respectively will be before left front leg, left back leg, the right side in figure
Leg, right rear leg are labeled as A1, A2, B1, B2:
It is the work of first driving device 11, the idle work of the second driving device 12 in one: four leg structure 1 of gait
Operation mode, and control with above-mentioned Walking Mode the working sequence of each leg structure 1 cooperates control by four motors
The foothold of robot leg.In this operating mode, 132 holding position of upper right connecting rod is constant, in first driving device 11
Motor 11 work, driving 131 complete cycle of upper left connecting rod is swung, and upper left connecting rod 131 drives left lower link 135 is whole to make circumference fortune
It is dynamic, form gait traveling mode as shown in Figure 4.
First driving device 11, the second driving device 12 work in two: four leg structures 1 of gait, and with above-mentioned step
The working sequence of each leg structure 1 of row scheme control controls stopping over for robot leg by eight cooperating for motor
Point.In this operating mode, motor 11 and the second driving device 12 in each leg structure 1, in first driving device 11
Interior motor is mutually coordinated, and complete cycle is swung simultaneously for driving upper left connecting rod 131, upper right connecting rod 132, and upper left connecting rod 131 drives lower-left
Connecting rod 135 is swung, upper right connecting rod 132 drives bottom right connecting rod 136 to swing, under 136 comprehensive function of lower-left swing rod 135 and bottom right swing rod
It up and down reciprocatingly swings, forms gait traveling mode as shown in Figure 5.
The present invention on the leg structure of each robot by being arranged two groups of power units, two groups of power unit phase interworkings
Drive link mechanism kinematic is closed, makes the leg of robot that there are two different traveling postures, robot can be according to different rings
Border, different landform, adjustment leg posture is to pass through, strong environmental adaptability.
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 (10)
1. a kind of multi link Movable device, it is characterised in that: including upper housing (3), lower case (2), several legs
Structure (1), the leg structure (1) are symmetrically distributed between upper housing (3) and lower case (2), and respectively with upper housing (3),
Lower case (2) is fixedly connected；
The leg structure (1) includes first driving device (11), the second driving device (12), link mechanism (13), the company
Linkage (13) have a free end and two power intakes, two power intakes respectively with first driving device (11),
The power output end of second driving device (12) is fixedly connected；
The first driving device (11) or/and the second driving device (12) drive link mechanism (13) movement, make leg structure
(1) there are a variety of different traveling postures.
2. a kind of multi link Movable device according to claim 1, it is characterised in that: the first driving device
(11) identical as the structure of first driving device (11), including motor (111), electric machine support (112), transmission shaft (113), at least
One support of bearing (114)；
The electric machine support (112), the support of bearing (114) are separately fixed between upper housing (3) and lower case (2)；
The motor (111) is fixed on the side of electric machine support (112), and output shaft end passes through shaft coupling and transmission shaft (113)
One end be fixedly connected；
The middle part shaft part of the transmission shaft (113) is rotatablely connected by bearing and the support of bearing (114).
3. a kind of multi link Movable device according to claim 1, it is characterised in that: second driving device
(12), first driving device (11) is distributed along upper housing (3)/lower case (2) length direction.
4. a kind of multi link Movable device according to claim 1, it is characterised in that: the link mechanism (13)
Including upper left connecting rod (131), upper right connecting rod (132), upper left connecting shaft (133), upper right connecting shaft (134), left lower link
(135), bottom right connecting rod (136), lower connecting shaft (137)；
One end of the upper left connecting rod (131) is fixedly connected with the power output end of first driving device (11), the other end passes through
One end of upper left connecting shaft (133) and left lower link (135) is rotatablely connected；
One end of the upper right connecting rod (132) is fixedly connected with the power output end of the second driving device (12), the other end passes through
One end of upper right connecting shaft (134) and bottom right connecting rod (136) is rotatablely connected；
The other end of bottom right connecting rod (136) is rotatablely connected by the middle part of lower connecting shaft (137) and left lower link (135).
5. a kind of multi link Movable device according to claim 4, it is characterised in that: the upper left connecting rod
(131) brachium is equal with the brachium of upper right connecting rod (132).
6. a kind of multi link Movable device according to claim 4, it is characterised in that: the left lower link
(135) brachium between upper left connecting shaft (133) and lower connecting shaft (137) is equal with the brachium of bottom right connecting rod (136).
7. a kind of multi link Movable device according to claim 4, it is characterised in that: the left lower link
It (135) is " J " type structure.
8. a kind of multi link Movable device according to claim 4, it is characterised in that: the upper left connecting rod
(131), strip groove is provided on the side of upper right connecting rod (132), left lower link (135), bottom right connecting rod (136).
9. a kind of multi link Movable device according to claim 1, it is characterised in that: the upper housing (3) and
Lower case (2) is the frame structure of hollow out.
10. a kind of multi link Movable device according to claim 1, it is characterised in that: the upper housing (3) and
Strip through-hole is provided in lower case (2), the link mechanism (13) is swingable to pass through strip through-hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315138.5A CN109398527A (en) | 2018-11-06 | 2018-11-06 | A kind of multi link Movable device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811315138.5A CN109398527A (en) | 2018-11-06 | 2018-11-06 | A kind of multi link Movable device |
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| Publication Number | Publication Date |
|---|---|
| CN109398527A true CN109398527A (en) | 2019-03-01 |
Family
ID=65471975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811315138.5A Pending CN109398527A (en) | 2018-11-06 | 2018-11-06 | A kind of multi link Movable device |
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| Country | Link |
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| CN (1) | CN109398527A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217314A (en) * | 2019-07-03 | 2019-09-10 | 广东仙童智能机器人科技有限公司 | A kind of robot |
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
| CN112046639A (en) * | 2020-09-29 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Biped robot |
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| EP0185820A1 (en) * | 1984-12-27 | 1986-07-02 | Odetics, Inc. | Horizontal actuator mechanism for the legs of a walking machine |
| CN101337494A (en) * | 2008-08-12 | 2009-01-07 | 北京大学 | Amphibious bionics robot |
| CN203996535U (en) * | 2014-07-17 | 2014-12-10 | 华中科技大学 | A kind of bionical quadruped robot with storage effect |
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| CN104925163A (en) * | 2015-07-10 | 2015-09-23 | 陕西九立机器人制造有限公司 | Leg structure for four feet of foot robot |
| CN204871276U (en) * | 2015-07-10 | 2015-12-16 | 陕西九立机器人制造有限公司 | Bionical shank structure that can be used to sufficient formula robot |
| CN105667630A (en) * | 2016-03-24 | 2016-06-15 | 重庆大学 | Robot leg walking mechanism and four-leg robot of robot leg walking mechanism |
| CN108639184A (en) * | 2018-06-13 | 2018-10-12 | 辽宁石油化工大学 | A kind of novel bionic joint pedipulator |
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|---|---|---|---|---|
| EP0185820A1 (en) * | 1984-12-27 | 1986-07-02 | Odetics, Inc. | Horizontal actuator mechanism for the legs of a walking machine |
| CN101337494A (en) * | 2008-08-12 | 2009-01-07 | 北京大学 | Amphibious bionics robot |
| CN203996535U (en) * | 2014-07-17 | 2014-12-10 | 华中科技大学 | A kind of bionical quadruped robot with storage effect |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294040A (en) * | 2019-05-17 | 2019-10-01 | 北京建筑大学 | A kind of mobile walking devices |
| CN110217314A (en) * | 2019-07-03 | 2019-09-10 | 广东仙童智能机器人科技有限公司 | A kind of robot |
| CN112046639A (en) * | 2020-09-29 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Biped robot |
| CN112046639B (en) * | 2020-09-29 | 2022-04-12 | 深圳市优必选科技股份有限公司 | Biped robot |
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Application publication date: 20190301 |
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