CN109434810A - It is a kind of for controlling the drive mechanism of robot ambulation - Google Patents
It is a kind of for controlling the drive mechanism of robot ambulation Download PDFInfo
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- CN109434810A CN109434810A CN201811533111.3A CN201811533111A CN109434810A CN 109434810 A CN109434810 A CN 109434810A CN 201811533111 A CN201811533111 A CN 201811533111A CN 109434810 A CN109434810 A CN 109434810A
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- driving
- strut
- huckle
- synchronous belt
- connecting rod
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- 230000007246 mechanism Effects 0.000 title claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 101
- 230000001360 synchronised effect Effects 0.000 claims abstract description 54
- 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 32
- 244000309466 calf Species 0.000 claims abstract description 27
- 210000000689 upper leg Anatomy 0.000 claims description 2
- 238000005457 optimization Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 9
- 210000002414 leg Anatomy 0.000 description 8
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001976 improved effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of for controlling the drive mechanism of robot ambulation, and overall structure is divided into two parts: pedestal and walking mechanism；Wherein, pedestal is divided into main body and attachment base two parts again, and walking mechanism is followed successively by huckle, calf and foot from top to bottom.Kinetic control system is then installed concentratedly on pedestal, for controlling the swing of the rotation of huckle, the swing of huckle, the sideshake of huckle, the swing of calf and foot.Thus, the drive mechanism for being used to control robot ambulation realizes the precise controlling for robot running gear each section, and most driving device centralized arrangements are on pedestal, so that compact overall structure, and the first transmission system optimization that passes through drive mechanism, only it is the synchronous rotation for realizing two huckles with a motor, improves efficiency, reduce costs simultaneously.
Description
Technical field
The invention belongs to robot architecture's technical field more particularly to a kind of drive mechanisms for controlling robot ambulation.
Background technique
Legged type robot be it is a kind of with redundant drive, highly branched chain, time-varying topology movement mechanism Intelligent robot, relate to
An and comprehensive high-tech product to biology, bionics, theory of mechanisms, sensing technology and the information processing technology etc..However
There is some disadvantages in design for existing legged type robot structure, and the control structure of leg is not fine enough, and leg is whole
Structure is not compact enough, needs number of motors to be used very more in general, completing the control moved to robot leg, will increase
The manufacturing cost of robot, especially during control leg is rotated, needing to use two motors could expire respectively
The axial rotation motion in sufficient two legs portion.
Summary of the invention
In order to solve the above technical problems, the object of the present invention is to provide a kind of for controlling the transmission knot of robot ambulation
Structure, controls leg structure fine, while guaranteeing compact-sized, and can reduce and make under the premise of guaranteeing that freedom degree is constant
With the quantity of motor, to be effectively reduced cost.
Based on this, the invention proposes a kind of transmission mechanisms comprising the first transmission system, pedestal, two set of second transmission
System and two walking mechanisms, first transmission system and two set of second transmission system are all set on the pedestal；
Two set of second transmission system and each walking mechanism are corresponded and are sequentially connected；
The walking mechanism includes sequentially connected huckle and calf, and the huckle and the base from top to bottom
Seat is connected；
First transmission system includes first driving device, the first synchronous belt wheel device, driving member and two set of first company
Bar assembly, two sets of first connecting rod components pass through the driving member respectively and the output end of first synchronous belt wheel device passes
Dynamic connection, the input terminal of first synchronous belt wheel device and the output end of the first driving device are sequentially connected, and described the
One driving device is fixedly mounted on the pedestal, and each first connecting rod component is connected with the pedestal respectively, described
First connecting rod component drives the pedestal rotation so that the walking mechanism rotates；
Second transmission system include for making the first transmission component of the huckle swing, it is described for making
Second transmission component of huckle sideshake and third transmission component for making the calf swing, and described
One transmission component, second transmission component and the third transmission component are separately mounted on the pedestal.
Optionally, the pedestal includes the attachment base that main body and two are connected to the main body two sides, each described big
The upper end of leg is connected by the attachment base with the main body respectively, and the first driving device is fixedly mounted on the master
On body, the driving member is sequentially connected by first synchronous belt wheel device and the output end of the first driving device, institute
It states first connecting rod component to be connected with attachment base one-to-one correspondence, and each second transmission system is respectively corresponded and is mounted on respectively
On the attachment base.
Optionally, the driving member is lead screw, and first synchronous belt wheel device includes that the first driving wheel and first are driven
Wheel, first driving wheel are connected with the output end of the first driving device, first driven wheel and the lead screw phase
Connection, two sets of first connecting rod components are connected to the two sides of the lead screw.
Optionally, the first connecting rod component includes the first strut and the second strut, the first end of first strut
It being hinged with the first end of second strut, the second end of first strut is connected with the lead screw, and described
The second end of two struts is connected with the attachment base.
Optionally, first transmission component includes the second synchronous belt wheel device, the second driving device and the first retarder,
Second synchronous belt wheel device include the second driving wheel and the second driven wheel, the output end of second driving device with it is described
Second driving wheel is connected, and second driven wheel is connected by first retarder with the huckle, and described second
The power of driving device passes to first retarder by second synchronous belt wheel device, so that first retarder
Drive the huckle swing.
Optionally, second transmission component includes third synchronous belt wheel device, third driving device and the second retarder,
The third synchronous belt wheel device includes third driving wheel and third driven wheel, the output end of the third driving device with it is described
Third driving wheel is connected, and the third driven wheel is connected by second retarder with the huckle, the third
The power of driving device passes to second retarder by the third synchronous belt wheel device, so that second retarder
Drive the huckle sideshake.
Optionally, the third transmission component includes fourth drive device, the 4th synchronous belt wheel device and second connecting rod group
Part, the 4th synchronous belt wheel device include the 4th driving wheel and the 4th driven wheel, the output end of the fourth drive device with
4th driving wheel is connected, and the 4th driven wheel is connected by the second connecting rod component with the calf, institute
The power for stating fourth drive device passes to the second connecting rod component by the 4th synchronous belt wheel device, so that described
Two link assemblies drive the calf swing.
Optionally, the second connecting rod component includes third strut and the 4th strut, the first end of the third strut
It being hinged with the first end of the 4th strut, the second end of the third strut is connected with the third driven wheel,
The second end of second strut is connected with the calf.
Optionally, the walking mechanism further includes foot, and the foot is connected to the lower end of the calf, the thigh
Third transmission system is provided in portion, the third transmission system and the foot are sequentially connected, so that the foot rotates.
Optionally, the third transmission system includes the 5th driving device, the first connection turntable, the second connection turntable and company
Wiring, the output end of the 5th driving device connect turntable with described first and are connected, and the first connection turntable passes through institute
It states connecting line and connect turntable with described second and be connected, the second connection turntable is connected with the foot.
The implementation of the embodiments of the present invention has the following beneficial effects:
Drive mechanism for controlling robot ambulation of the invention includes the first transmission system, pedestal, two set of second biography
Dynamic system and two walking mechanisms, the first transmission system and two set of second transmission system are all set on pedestal.
First transmission system is used to control the swing of huckle, and the second transmission system is for controlling the lateral of huckle
It swings, the swing of the axial rotation and calf of huckle, realizes the Precise control to walking mechanism entirety, especially
, the first transmission system is only needed using a first driving device, and be can be realized by driving member and first connecting rod component
The axial rotation of huckle, under the premise of not reducing freedom degree, entirety can be effectively reduced in the quantity of driving device needed for reducing
Cost.In addition, the first transmission component, the second transmission component and third transmission component are respectively mounted on the base, so that driving device
Compare concentration, the walking mechanism of robot can be optimized, allow the characteristics of compact layout of huckle, saves space.
Detailed description of the invention
Fig. 1 is a kind of for controlling the positive structure diagram of the drive mechanism of robot ambulation of the embodiment of the present invention；
Fig. 2 is a kind of for controlling the overlooking structure diagram of the drive mechanism of robot ambulation of the embodiment of the present invention；
Fig. 3 is a kind of for controlling the partial elevational structural representation of the drive mechanism of robot ambulation of the embodiment of the present invention
Figure；
Fig. 4 is a kind of for controlling the office of the second transmission system of the drive mechanism of robot ambulation of the embodiment of the present invention
The schematic elevation view of portion's structure；
Fig. 5 is a kind of for controlling the office of the second transmission system of the drive mechanism of robot ambulation of the embodiment of the present invention
The schematic side view of portion's structure；
Fig. 6 is a kind of for controlling the right side structural representation of the drive mechanism of robot ambulation of the embodiment of the present invention.
Description of symbols:
1, pedestal, 11, main body, 12, attachment base, 2, walking mechanism, 21, huckle, 22, calf, 23, foot, 3,
One transmission system, 31, first driving device, the 32, first driving wheel, 33, driving member, 34, first connecting rod component, 341, first
Bar, the 342, second strut, the 4, second transmission system, the 41, first transmission component, the 411, second driving device, 412, second is synchronous
Pulley arrangement, the 4121, second driving wheel, the 4122, second driven wheel, the 413, first retarder, the 42, second transmission component, 421,
Third driving device, 422, third synchronous belt wheel device, 4221, third driving wheel, 4222, third driven wheel, 423, second subtracts
Fast device, 431, fourth drive device, the 432, the 4th synchronous belt wheel device, the 4321, the 4th driving wheel, the 4322, the 4th driven wheel,
433, second connecting rod component, 4331, third strut, the 4332, the 4th strut, the 51, the 5th driving device, the 52, first connection turntable,
53, the second connection turntable.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "left", "right", "top", "bottom" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.
Referring to Fig. 1 to Fig. 6, a kind of transmission mechanism of the embodiment of the present invention proposition comprising the first transmission system 3, base
1, two set of second transmission system 4 of seat and two walking mechanisms 2, the first transmission system 3 and two set of second transmission system 4 are all set in
On pedestal 1；Two set of second transmission system 4 and each walking mechanism 2, which correspond, to be sequentially connected；Walking mechanism 2 includes from top to bottom
Sequentially connected huckle 21 and calf 22, and huckle 21 is connected with pedestal 1；First transmission system 3 includes the first drive
Dynamic device 31, the first synchronous belt wheel device, driving member 33 and two sets of first connecting rod components 34, two sets of first connecting rod components 34 are distinguished
It is sequentially connected by the output end of driving member 33 and the first synchronous belt wheel device, the input terminal and first of the first synchronous belt wheel device
The output end of driving device 31 is sequentially connected, and first driving device 31 is fixedly mounted on pedestal 1, and each first connecting rod component 34
It is connected respectively with pedestal 1, first connecting rod component 34 is rotated with moving base 1 so that walking mechanism 2 rotates；Second power train
System 4 includes for making the first transmission component 41 of 21 swing of huckle, for making the second of 21 sideshake of huckle to pass
Dynamic component 42 and the third transmission component for making 22 swing of calf, and the first transmission component 41, the second transmission component
42 and third transmission component be separately mounted on pedestal 1.
Based on the above structure, first driving device 31 is fixed on pedestal 1, and the output end of first driving device 31 passes through
Driving member 33 and two sets of first connecting rod components 34 are sequentially connected, and two sets of first connecting rod components 34 and two huckles 21 correspond
Ground is connected, thus the axial rotation simultaneously of two huckles 21 of control, it is worth noting that, the first transmission system 3 only need using
One first driving device 31 is changed the direction of motion of power transmitting by driving member 33, and transmitted to first connecting rod component 34,
Made needed for capable of efficiently reducing under the premise of not reducing freedom degree with can be realized the axial rotation of two huckles 21
The quantity of driving device, to effectively reduce cost；Second transmission system 4 includes for making 21 swing of huckle
First transmission component 41, the second transmission component 42 for making 21 sideshake of huckle and for making 22 swing of calf
Third transmission component, and the first transmission component 41, the second transmission component 42 and third transmission component are separately mounted to pedestal 1
On, it is thus achieved that the Precise control whole to walking mechanism 2；Due to the first transmission component 41,42 and of the second transmission component
Third transmission component is installed on pedestal 1, therefore the arrangement of driving device is more concentrated, and can optimize the vehicle with walking machine of robot
Structure 2, allows the characteristics of compact layout of huckle 21, saves space.
Wherein, pedestal 1 includes the attachment base 12 that main body 11 and two are connected to 11 two sides of main body, each huckle 21
Upper end passes through attachment base 12 respectively and is connected with main body 11, and first driving device 31 is fixedly mounted on the main body 11, driving member 33
It is sequentially connected by the first synchronous belt wheel device and the output end of first driving device 31, first connecting rod component 34 and attachment base 12
One-to-one correspondence is connected, and each second transmission system 4 is respectively corresponded and is mounted on each attachment base 12.First driving device as a result,
31 are fixedly installed in motionless main body 11, and first driving device 31 is connected by driving member 33 and the transmission of first connecting rod component 34
It connects, so that attachment base 12 be driven to rotate, and then the huckle 21 for being connected to attachment base 12 is driven to rotate；Second transmission system 4 packet
Multiple driving devices are included, are arranged on attachment base 12, so that compact-sized.
Further, driving member 33 is lead screw, and the first synchronous belt wheel device 32 includes that the first driving wheel 321 and first is driven
Wheel, the first driving wheel 321 are connected with the output end of first driving device 31, and the first driven wheel is connected with driving member 33, and two
Set first connecting rod component 34 is connected to the two sides of driving member 33.Further, first connecting rod component 34 includes the first strut
341 and second strut 342, the first end of the first end of the first strut 341 and the second strut 342 is hinged, the first strut
341 the second end is connected with driving member 33, and the second end of the second strut 342 is connected with attachment base 12；First driving
Device 31 is motor, and the output end of first driving device 31 is the output shaft of motor, and lead screw can be defeated by first driving device 31
The rotary motion of outlet is converted into linear motion and is delivered separately to two sets of first connecting rod components 34, and two sets of first connecting rod components 34 are again
Two attachment bases 12 are driven to rotate respectively, in addition, two sets of first connecting rod components 34 pass through the first strut 341 and the second strut 342
Hingedly can further compress horizontal space, to reduce the distance between two walking mechanisms 2, so that structure is more compact.
In the present embodiment, the first transmission component 41 includes the second driving device 411,412 and of the second synchronous belt wheel device
First retarder 413, the second synchronous belt wheel device 412 include the second driving wheel 4121 and the second driven wheel 4122, the second driving
The output end of device 411 is connected with the second driving wheel 4121, and the second driven wheel 4122 passes through the first retarder 413 and huckle
21 are connected；Second driving device 411 is motor, and the output end of the second driving device 411 outputs power to the second synchronous belt
Second driving wheel 4121 of wheel apparatus 412 is driven the second driven wheel of the second synchronous belt wheel device 412 by the second driving wheel 4121
4122 start turning, and the rotation of the second driven wheel 4122 passes through the first retarder 413 again and carries out after suitably slowing down, then drives big
Leg 21 carries out swing.
Second transmission component 42 includes third synchronous belt wheel device 422, third driving device 421 and the second retarder 423,
Third synchronous belt wheel device 422 includes third driving wheel 4221 and third driven wheel 4222, the output end of third driving device 421
It is connected with third driving wheel 4221, third driven wheel 4222 is connected by the second retarder 423 with huckle 21, and second subtracts
Fast device 423 is connected with huckle 21；Third driving device 421 is motor, and the output end of third driving device 421 is defeated by power
The third driving wheel 4221 of third synchronous belt wheel device 422 is arrived out, and third driving wheel 4221 is transferred to third synchronous belt wheel device
422 third driven wheel 4222, third driven wheel 4222 transfer power to after the second retarder 423 slowed down, then by
The power that two retarders 423 are exported drives huckle 21 to carry out sideshake.
Third transmission component includes fourth drive device 431, the 4th synchronous belt wheel device 432,433 and of second connecting rod component
Third retarder, the 4th synchronous belt wheel device 432 include the 4th driving wheel 4321 and the 4th driven wheel 4322, fourth drive device
431 output end is connected with the 4th driving wheel 4321, and the 4th driven wheel 4322 passes through second connecting rod component 433 and calf 22
It is connected, fourth drive device 431 and the 4th synchronous belt wheel device 432 are sequentially connected, the 4th synchronous belt wheel device 432 and second
Link assembly 433 is sequentially connected, and second connecting rod component 433 and third retarder are sequentially connected, third retarder and calf 22
It is connected；Fourth drive device 431 is motor, and the output end of fourth drive device 431 imparts power to the 4th synchronous pulley
4th driving wheel 4321 of device 432, the 4th driving wheel 4321 are transferred to the 4th driven wheel of the 4th synchronous belt wheel device 432
4322, the 4th driven wheel 4322 imparts power to after third retarder slowed down, then is exported by third retarder dynamic
Power drives second connecting rod component 433 to rotate, and second connecting rod component 433 drives calf 22 to carry out swing.
Wherein, second connecting rod component 433 include third strut 4331 and the 4th strut 4332, the first of third strut 4331
The first end of end and the 4th strut 4332 is hinged, and the second end of third strut 4331 is connected with the 4th driven wheel 4322
It connects, the second end of the 4th strut 4332 is connected with calf 22；Third retarder drives third strut 4331 to rotate, third
Strut 4331 drives the rotation of the 4th strut 4332, and the 4th strut 4332 drives calf 22 to carry out swing.Second connecting rod group
Part 433 hingedly avoids interfering with the structure on huckle 21 by third strut 4331 with the 4th strut 4332, makes simultaneously
It obtains compact-sized.
It should be noted that in the present embodiment, the first retarder 413, the second retarder 423 and third retarder are equal
Using harmonic speed reducer, harmonic speed reducer transmission efficiency is high, stable working, and quality is lower, can effectively reduce whole
The quality of body device, and guarantee to drive the stationarity of robot walking movement, but in other embodiments, the first retarder
413, the type of the second retarder 423 and third retarder is not limited by the present embodiment, when can according to actual needs,
Select suitable groups of reducers.
In addition, walking mechanism 2 further includes foot 23, foot 23 is connected to the lower end of calf 22, is arranged on huckle 21
There is third transmission system, third transmission system and foot 23 are sequentially connected, so that foot 23 rotates.Third transmission system includes the
Five driving devices 51, first connect turntable 52, second and connect turntable 53 and connecting line, the output end of the 5th driving device 51 and the
One connection turntable 52 is connected, and the first connection turntable 52 connect turntable 53 with second by connecting line and is connected, and the second connection turns
Disk 53 is connected with foot 23；5th driving device 51 is steering engine, and the output end of the 5th driving device 51 transfers power to the
One connection turntable 52, the first connection turntable 52 impart power to the second connection turntable 53, the second connection turntable by connecting line
53 are connected with foot 23, so that foot 23 be driven to carry out swing.
To sum up, the course of work of the drive mechanism for being used to control robot ambulation are as follows:
First transmission system 3: the output end of first driving device 31 outputs power to the of the first synchronous belt wheel device
One driving wheel 32, the first driven wheel of the first synchronous belt wheel device impart power to driving member 33, and driving member 33 transports rotation
Turn turns to the first strut 341 that linear motion passes to first connecting rod component 34, and the first strut 341 drives first connecting rod component
34 the second strut 342, the second strut 342 drives the axial rotation of attachment base 12, and then the huckle 21 of two sides is driven to carry out axis
To rotation.
Three parts that second transmission system 4 is divided for autonomous working: for making the first of 21 swing of huckle to be driven
Component 41, the second transmission component 42 for making 21 sideshake of huckle and for passing the third of 22 swing of calf
Dynamic component, each specific course of work of transmission component are as follows:
The output end of first transmission component, 41: the second driving device 411 outputs power to the second driving wheel 4121, and second
Driven wheel 4122 transfers power to the first retarder 413, and the first retarder 413 drives huckle 21 to carry out swing；
Second transmission component 42: the output end of third driving device 421 outputs power to third driving wheel 4221, third
Driven wheel 4222 transfers power to the second retarder 423, and the second retarder 423 drives huckle 21 to carry out sideshake；
Third transmission component: the output end of fourth drive device 431 outputs power to the 4th driving wheel 4321, the 4th from
Driving wheel 4322 transfers power to the third strut 4331 of second connecting rod component 433, and third strut 4331 drives the 4th strut
4332 movements, the 4th strut 4332 drive calf 22 to carry out swing.
Third transmission system: the output end of the 5th driving device 51 outputs power to the first connection turntable 52, and first connects
Switch through disk 52 and second connection turntable 53 is imparted power to by connecting line, the second connection turntable 53 drives foot 23 to carry out front and back
It swings.
First transmission system 3, the second transmission system 4 and third transmission system work independently, and are integrated into robot jointly
Mass motion control system.
The drive mechanism for being used to control robot ambulation realizes the fine control for robot running gear 2 as a result,
System, and most driving device centralized arrangement is on pedestal 1, so that compact overall structure, it is worth mentioning at this point that, the first power train
3 optimizations by drive mechanism of system, the synchronous rotation of two huckles 21 only can be realized with a motor, can be improved effect
Rate reduces cost.
It should be understood that various information are described in the present invention using term " first ", " second " etc., but these information
It should not necessarily be limited by these terms, these terms are only used to for same type of information being distinguished from each other out.For example, not departing from the present invention
In the case where range, " first " information can also be referred to as " second " information, and similar, " second " information can also be referred to as
" first " information.
It is the preferred embodiment of the present invention above, it is noted that for those skilled in the art,
Without departing from the principle of the present invention, several improvement and deformations can also be made, these improvement and deformations are also considered as this hair
Bright protection scope.
Claims (10)
1. a kind of for controlling the drive mechanism of robot ambulation, which is characterized in that including the first transmission system, pedestal, two sets
Second transmission system and two walking mechanisms, first transmission system and two set of second transmission system are all set in described
On pedestal；
Two set of second transmission system and each walking mechanism are corresponded and are sequentially connected；
The walking mechanism includes sequentially connected huckle and calf, and the huckle and the pedestal phase from top to bottom
Connection；
First transmission system includes first driving device, the first synchronous belt wheel device, driving member and two sets of first connecting rod groups
Part, two sets of first connecting rod components pass through the driving member respectively and the output end transmission of first synchronous belt wheel device connects
It connects, the input terminal of first synchronous belt wheel device and the output end of the first driving device are sequentially connected, and described first drives
Dynamic device is fixedly mounted on the pedestal, and each first connecting rod component is connected with the pedestal respectively, and described first
Link assembly drives the pedestal rotation so that the walking mechanism rotates；
Second transmission system includes for making the first transmission component of the huckle swing, for making the thigh
Second transmission component of portion's sideshake and third transmission component for making the calf swing, and described first passes
Dynamic component, second transmission component and the third transmission component are separately mounted on the pedestal.
2. according to claim 1 for controlling the drive mechanism of robot ambulation, which is characterized in that the pedestal includes
Main body and two are connected to the attachment base of the main body two sides, and the upper end of each huckle passes through the attachment base respectively
It is connected with the main body, the first driving device is fixedly mounted on the body, and the driving member passes through described first
Synchronous belt wheel device and the output end of the first driving device are sequentially connected, the first connecting rod component and the attachment base one
One correspondence is connected, and each second transmission system is respectively corresponded and is mounted on each attachment base.
3. according to claim 2 for controlling the drive mechanism of robot ambulation, which is characterized in that the driving member is
Lead screw, first synchronous belt wheel device include the first driving wheel and the first driven wheel, first driving wheel and described first
The output end of driving device is connected, and first driven wheel is connected with the lead screw, two sets of first connecting rod components point
It is not connected to the two sides of the lead screw.
4. according to claim 3 for controlling the drive mechanism of robot ambulation, which is characterized in that the first connecting rod
Component includes the first strut and the second strut, and the first end of first strut is mutually cut with scissors with the first end of second strut
It connects, the second end of first strut is connected with the lead screw, the second end and the attachment base of second strut
It is connected.
5. described in any item for controlling the drive mechanism of robot ambulation according to claim 2 to 4, which is characterized in that institute
Stating the first transmission component includes the second synchronous belt wheel device, the second driving device and the first retarder, second synchronous pulley
Device includes the second driving wheel and the second driven wheel, and the output end of second driving device is connected with second driving wheel
It connects, second driven wheel is connected by first retarder with the huckle, the power of second driving device
First retarder is passed to by second synchronous belt wheel device, so that first retarder drives the huckle
Swing.
6. described in any item for controlling the drive mechanism of robot ambulation according to claim 2 to 4, which is characterized in that institute
Stating the second transmission component includes third synchronous belt wheel device, third driving device and the second retarder, the third synchronous pulley
Device includes third driving wheel and third driven wheel, and the output end of the third driving device is connected with the third driving wheel
It connects, the third driven wheel is connected by second retarder with the huckle, the power of the third driving device
Second retarder is passed to by the third synchronous belt wheel device, so that second retarder drives the huckle
Sideshake.
7. described in any item for controlling the drive mechanism of robot ambulation according to claim 2 to 4, which is characterized in that institute
Stating third transmission component includes fourth drive device, the 4th synchronous belt wheel device and second connecting rod component, the 4th synchronous belt
Wheel apparatus includes the 4th driving wheel and the 4th driven wheel, and the output end of the fourth drive device is connected with the 4th driving wheel
It connects, the 4th driven wheel is connected by the second connecting rod component with the calf, and the fourth drive device is moved
Power passes to the second connecting rod component by the 4th synchronous belt wheel device, so that described in second connecting rod component drive
Calf swing.
8. according to claim 7 for controlling the drive mechanism of robot ambulation, which is characterized in that the second connecting rod
Component includes third strut and the 4th strut, and the first end of the third strut is mutually cut with scissors with the first end of the 4th strut
Connect, the second end of the third strut is connected with the third driven wheel, the second end of second strut with it is described
Calf is connected.
9. according to claim 1 for controlling the drive mechanism of robot ambulation, which is characterized in that the walking mechanism
It further include foot, the foot is connected to the lower end of the calf, and third transmission system is provided on the huckle, described
Third transmission system and the foot are sequentially connected, so that the foot rotates.
10. according to claim 9 for controlling the drive mechanism of robot ambulation, which is characterized in that the third passes
Dynamic system includes the 5th driving device, the first connection turntable, the second connection turntable and connecting line, the 5th driving device it is defeated
Outlet connect turntable with described first and is connected, and the first connection turntable connect turntable with described second by the connecting line
It is connected, the second connection turntable is connected with the foot.
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|---|---|
| CN109434810B (en) | 2024-06-14 |
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Effective date of registration: 20240725 Address after: 200000 2 / F, building 6, 128 Xiangyin Road, Yangpu District, Shanghai Patentee after: Shanghai zhuoyide robot Co.,Ltd. Country or region after: China Address before: 518000 4th floor, R & D building, Granda equipment Industrial Park, No. 33, Cuijing Road, Longtian street, Pingshan District, Shenzhen, Guangdong Patentee before: SHENZHEN XINGZHE ROBOT TECHNOLOGY CO.,LTD. Country or region before: China |