CN109878595A - A kind of walking mobile device - Google Patents
A kind of walking mobile device Download PDFInfo
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- CN109878595A CN109878595A CN201910156549.2A CN201910156549A CN109878595A CN 109878595 A CN109878595 A CN 109878595A CN 201910156549 A CN201910156549 A CN 201910156549A CN 109878595 A CN109878595 A CN 109878595A
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- walking
- bottom plate
- mobile device
- supporting leg
- steering engine
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Abstract
The invention discloses a kind of walking mobile devices, including rack and multiple hoofing part components, hoofing part component is separately mounted in the rack, hoofing part component includes branch leg walking mechanism and the incidence regulating mechanism for adjusting inclination angle inside and outside the branch leg walking mechanism, wherein, the incidence regulating mechanism includes bottom plate and crank and rocker mechanism, the bottom plate is connect with gantry rotation, the crank and rocker mechanism and bottom plate are hinged, for driving bottom plate around gantry rotation, wherein, the branch leg walking mechanism is fixedly mounted on bottom plate.Walking mobile device of the invention can be when walking mobile device be by side knock by the incidence regulating mechanism with four-bar linkage structure, by adjusting the inwardly and outwardly swing of walking supporting leg, realize the purpose for offsetting side knock, simultaneously, the present apparatus by adjusting walking supporting leg and the angle on ground can effective avoiding obstacles, to improve the mobile stability of walking mobile device.
Description
Technical field
The present invention relates to walking robot fields, and in particular to a kind of walking mobile device.
Background technique
Transformable robot mechanism is many kinds of on the market at present, although transformable pattern is abundant, designs
Product be usually applicable only to horizontal smooth road, cannot effectively adapt to rough road surface, while this robot motion
When, for the not no good solution of oscillation crosswise that the external world generates, when by horizontal force, it is easy to topple over,
This patent provides a kind of walking mobile device that can offset horizontal force.
Summary of the invention
The purpose of the present invention is to provide a kind of walking mobile devices, are made with the transverse direction generated in canceller moving process
Firmly, make device movement more steady.
For this purpose, the invention proposes a kind of walking mobile device, including rack and multiple hoofing part components, walking
Driving assembly is separately mounted in the rack, and hoofing part component includes branch leg walking mechanism and for adjusting the supporting leg row
Walk the incidence regulating mechanism at mechanism inclination angle, wherein the incidence regulating mechanism includes bottom plate and crank and rocker mechanism, the bottom plate
It is connect with gantry rotation, the crank and rocker mechanism and bottom plate are hinged, for driving bottom plate around gantry rotation, wherein the branch
Leg walking mechanism is fixedly mounted on bottom plate.
Further, the branch leg walking mechanism includes the first steering engine, power arm, walking supporting leg, swing arm, baffle,
In, first steering engine and the baffle are fixedly connected with bottom plate, described swing arm one end and panel hinge, the swing arm
The middle part pin connection of the other end and the walking supporting leg, the upper end pin connection of one end of the power arm and the walking supporting leg,
The other end of first steering engine and the power arm is sequentially connected, for drive walking supporting leg using swing arm end as fulcrum before
After swing.
Further, the crank and rocker mechanism includes the second steering engine, crank and connecting rod, second steering engine and bottom
Plate is fixedly connected, and second steering engine and crank are rotatablely connected, and one end of the crank and connecting rod passes through pin connection, the connecting rod
The other end by pin connection on bottom plate.
Walking mobile device of the invention converts walking branch for the rotary motion of the first steering engine by branch leg walking mechanism
The swing of leg, then by the mutual cooperation of four walking supporting legs, the walking of quadrupeds can be imitated, the movement of realization device,
It converts the rotary motion of the second steering engine to by the incidence regulating mechanism with four-bar linkage structure the rotation of bottom plate, and then converts
For walking supporting leg inside and outside swing, can be when walking mobile device be by side knock, by adjusting the rotation of bottom plate, in turn
The inwardly and outwardly swing of adjustment walking supporting leg, realizes the purpose for offsetting side knock, meanwhile, the present apparatus applies also for having
The road surface of barrier, by adjusting the angle of walking supporting leg and ground, can effective avoiding obstacles, so that it is mobile to improve walking
The mobile stability of device.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of walking mobile device of the invention；
Fig. 2 is the structural schematic diagram of incidence regulating mechanism in walking mobile device of the invention；
Fig. 3 is the structural schematic diagram of branch leg walking mechanism in walking mobile device of the invention；
Fig. 4 a-4f is the walking progression procedure chart of walking mobile device of the invention；And
Fig. 5 a-5d is the transverse shifting mode procedure chart of walking mobile device of the invention.
Description of symbols
1, the first steering engine；2, power arm；
3, walking supporting leg；4, swing arm；
5, baffle；6, the second steering engine；
7, crank；8, connecting rod；
9, bottom plate；10, branch leg walking mechanism；
20, incidence regulating mechanism；30, rack.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1-Fig. 5 is shown according to some embodiments of the present invention.
As shown in Figure 1, a kind of walking mobile device, includes rack 30, branch leg walking mechanism 10, incidence regulating mechanism 20.
Wherein, there are four branch leg walking mechanism 10 and incidence regulating mechanism 20 are all provided with, it is separately mounted to the front and back of 30 left and right sides of rack
Both ends, and branch leg walking mechanism 10 is fixedly mounted on incidence regulating mechanism 20.
In some embodiments, as shown in Fig. 2, incidence regulating mechanism 20 includes by the second steering engine 6, crank 7,8 groups of connecting rod
At crank and rocker mechanism and bottom plate 9, wherein rear and front end outside the bottom plate 9 has protrusion, and the bottom plate 9 passes through convex
It rises and is rotatablely connected with rack 30, second steering engine 6 is located at outside the separate raised side of bottom plate 9, and is bolted on rack
On 30.
In some embodiments, as shown in Fig. 2, Fig. 5 a- Fig. 5 d, the output shaft of second steering engine 6 by shaft coupling with
Crank 7 is rotatablely connected, and one end of the crank 7 and connecting rod 8 passes through pin connection, and the other end of connecting rod 8 is by pin connection in bottom plate 9
On, when the rotation of the second steering engine 6, crank 7 rotates and drives connecting rod 8 mobile, and then drives bottom plate 9 with the central axis where protrusion
Line is rotation axis run-off the straight rotation, realizes the purpose of adjustment bottom plate 9 and ground-angle.
In some embodiments, as shown in Figure 3, Figure 4, the branch leg walking mechanism 10 include the first steering engine 1, power arm 2,
Walking supporting leg 3, swing arm 4, baffle 5, wherein first steering engine 1 and the baffle 5 are fixed by screws on bottom plate 9,
First steering engine 1 is connected with one end of power arm 2 by shaft coupling transmission, the other end and walking supporting leg 3 of the power arm 2
Upper end connected by pin rotation, one end of the swing arm 4 is movably arranged on baffle 5 by Screw, the pendulum
The other end of swing arm 4 is connect by pin with the middle part of the walking supporting leg 3.
Wherein, as shown in Fig. 3 and Fig. 4 a- Fig. 4 f, when the work of the first steering engine 1, first steering engine 1 is rotated and is driven
Power arm 2 moves in a circle, and power arm 2 drives walking supporting leg 3 using one end of swing arm 4 as fulcrum swing again, passes through control
The rotation sequence for making multiple first steering engines 1, makes four branch leg walking mechanisms 10 cooperate, the walking mesh of device may be implemented
's.
In some embodiments, walking mobile device further includes several sensors and control device, control device respectively with
Sensor, the first steering engine 1, the connection of 6 signal of the second steering engine, sensor are used to detect the stress condition in mobile device motion process
And judging whether road surface has barrier, control device controls the second steering engine 6 by related data and works, and then reaches and avoid hindering
Hinder object and adjust the purpose of the walking mobile device degree of balance, keeps walking mobile device more stable in complex road surface movement.
As shown in Fig. 5 a- Fig. 5 d, in walking mobile device moving process, when lateral thrust of the device by side,
Incidence regulating mechanism 20 start to work, make walk supporting leg 3 top to stress side tilt, i.e., by the center of gravity of whole device to by
Power side is mobile, as shown in Figure 5 c, corresponding lateral thrust is offset, to make held stationary in device moving process.
When there is barrier in walking mobile device moving process, in supporting leg mobile route of walking, incidence regulating mechanism
20 start to work, and are inclined outwardly or slope inwardly by the supporting leg 3 that will walk, as shown in Fig. 5 b and Fig. 5 d, avoid hindering accordingly
Hinder object, walking mobile device is allow to pass through obstacle road surface.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (2)
1. a kind of walking mobile device characterized by comprising
Rack (30), and
Multiple hoofing part components are separately mounted on the rack (30), including branch leg walking mechanism (10) and for adjusting
The incidence regulating mechanism (20) at branch leg walking mechanism (10) inclination angle,
Wherein, the incidence regulating mechanism (20) includes bottom plate (9) and crank and rocker mechanism, the bottom plate (9) and rack (30)
Rotation connection, the crank and rocker mechanism and bottom plate (9) hingedly, for driving bottom plate around gantry rotation, wherein the supporting leg row
Mechanism (10) is walked to be fixedly mounted on bottom plate (9).
2. walking mobile device according to claim 1, which is characterized in that the branch leg walking mechanism (10) includes first
Steering engine (1), power arm (2), walking supporting leg (3), swing arm (4) and baffle (5), wherein first steering engine (1) and institute
It states baffle (5) to be fixedly connected with bottom plate (9), hingedly, the swing arm (4) is another for described swing arm (4) one end and baffle (5)
It sells the upper end of the middle part pin connection at end and walking supporting leg (3), one end of the power arm (2) and walking supporting leg (3)
Connection, the other end transmission connection of first steering engine (1) and the power arm (2), for driving walking supporting leg (3) to swing
Arm (4) end is fulcrum swing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910156549.2A CN109878595B (en) | 2019-03-01 | 2019-03-01 | Walking moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910156549.2A CN109878595B (en) | 2019-03-01 | 2019-03-01 | Walking moving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109878595A true CN109878595A (en) | 2019-06-14 |
| CN109878595B CN109878595B (en) | 2021-01-29 |
Family
ID=66930315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910156549.2A Active CN109878595B (en) | 2019-03-01 | 2019-03-01 | Walking moving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109878595B (en) |
Citations (9)
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| KR100621122B1 (en) * | 2002-08-28 | 2006-09-07 | 혼다 기켄 고교 가부시키가이샤 | Legged mobile robot |
| CN102616297A (en) * | 2012-04-11 | 2012-08-01 | 中国人民解放军国防科学技术大学 | Wheel leg compound motion platform |
| CN104176145A (en) * | 2014-08-22 | 2014-12-03 | 西北工业大学 | Asymmetric wheel leg type all-directional moving chassis |
| US20140379198A1 (en) * | 2011-12-12 | 2014-12-25 | Hitachi, Ltd. | Mobile Object |
| CN204871277U (en) * | 2015-07-10 | 2015-12-16 | 陕西九立机器人制造有限公司 | Four -footed robot |
| CN107117222A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of hydraulic-driven step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107472395A (en) * | 2017-09-19 | 2017-12-15 | 泸县玉流机械制造有限责任公司 | Four-footed machinery beast |
| CN107651033A (en) * | 2017-08-04 | 2018-02-02 | 浙江工贸职业技术学院 | A kind of leg wheel hybrid hydraulic pedipulator |
| US10189519B2 (en) * | 2015-05-29 | 2019-01-29 | Oregon State University | Leg configuration for spring-mass legged locomotion |
-
2019
- 2019-03-01 CN CN201910156549.2A patent/CN109878595B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100621122B1 (en) * | 2002-08-28 | 2006-09-07 | 혼다 기켄 고교 가부시키가이샤 | Legged mobile robot |
| US20140379198A1 (en) * | 2011-12-12 | 2014-12-25 | Hitachi, Ltd. | Mobile Object |
| CN102616297A (en) * | 2012-04-11 | 2012-08-01 | 中国人民解放军国防科学技术大学 | Wheel leg compound motion platform |
| CN104176145A (en) * | 2014-08-22 | 2014-12-03 | 西北工业大学 | Asymmetric wheel leg type all-directional moving chassis |
| US10189519B2 (en) * | 2015-05-29 | 2019-01-29 | Oregon State University | Leg configuration for spring-mass legged locomotion |
| CN204871277U (en) * | 2015-07-10 | 2015-12-16 | 陕西九立机器人制造有限公司 | Four -footed robot |
| CN107117222A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of hydraulic-driven step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107651033A (en) * | 2017-08-04 | 2018-02-02 | 浙江工贸职业技术学院 | A kind of leg wheel hybrid hydraulic pedipulator |
| CN107472395A (en) * | 2017-09-19 | 2017-12-15 | 泸县玉流机械制造有限责任公司 | Four-footed machinery beast |
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| Publication number | Publication date |
|---|---|
| CN109878595B (en) | 2021-01-29 |
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