CN109910030B - Robot based on plane link mechanism - Google Patents
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- CN109910030B CN109910030B CN201910344447.3A CN201910344447A CN109910030B CN 109910030 B CN109910030 B CN 109910030B CN 201910344447 A CN201910344447 A CN 201910344447A CN 109910030 B CN109910030 B CN 109910030B
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Abstract
The invention discloses a robot based on a plane connecting rod mechanism, which comprises a trunk and foot mechanisms symmetrically connected to two sides of the trunk, wherein each foot mechanism comprises a plurality of feet, each foot comprises a five-rod mechanism, and each five-rod mechanism comprises a crank rocker mechanism and a first swing rod and a second swing rod which are connected with the crank rocker mechanism; the crank-rocker mechanism comprises a rack, a rocker, a crank and a connecting rod, wherein the rack is rotationally connected to the trunk, one end of the crank is rotationally connected to the bottom end of the rack, the other end of the crank is rotationally connected with one end of the connecting rod, one end of the rocker is connected to the top end of the rack, and the other end of the rocker is connected with the other end of the connecting rod; a screw rod is rotationally connected in the connecting rod, and a slide rod is connected on the screw rod in a threaded manner; one end of the second swing rod is rotatably connected with the machine frame and the rocker to form a complex hinge, the other end of the second swing rod is rotatably connected with one end of the first swing rod, and the other end of the first swing rod is rotatably connected with the slide rod; the invention avoids the dead point of the hinge four-bar mechanism and the phenomenon of easy locking.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot based on a planar link mechanism.
Background
For a long time, the wheel type and crawler type robots are always the preferred type of ground mobile robots due to the advantages of high moving speed, ingenious moving efficiency, convenient control, reliable performance and the like. However, both wheeled and tracked robots have significant limitations in terms of adaptability to complex terrain environments, motion flexibility, motion efficiency, and the like. People urgently need a robot capable of working in a complex environment, compared with wheeled robots and tracked robots, a multi-legged walking robot, particularly an eight-legged robot, has super-strong environment adaptability, small damage to the ground and high flexibility, and a redundant structure of the robot also ensures stable walking under the condition that one leg loses the motion capability. Therefore, gait planning research of the eight-foot robot has important value.
Research shows that a rod is vertically welded on a connecting rod of the hinge four-rod mechanism, the track of the output end of the rod can meet the requirements of a walking mechanism, and the structure has high bearing capacity, good rigidity, stable motion and low power consumption. However, the four-bar mechanism has dead points, which easily causes a locking phenomenon, and the output trajectory is fixed due to the constraint relationship between the positions and the lengths of the bars, so that the walking robot can only execute a fixed striding trajectory and cannot cross some obstacles.
Disclosure of Invention
The invention aims to provide a robot based on a planar link mechanism, so as to solve one of the defects caused by the prior art.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a robot based on a plane connecting rod mechanism comprises a trunk and foot mechanisms symmetrically connected to two sides of the trunk, wherein each foot mechanism comprises a plurality of feet, each foot comprises a five-rod mechanism, and each five-rod mechanism comprises a crank rocker mechanism and a first oscillating rod and a second oscillating rod which are connected with the crank rocker mechanism;
the crank and rocker mechanism comprises a rack, a rocker, a crank and a connecting rod, wherein the rack is rotationally connected to the trunk, one end of the crank is rotationally connected to the bottom end of the rack, the other end of the crank is rotationally connected with one end of the connecting rod, one end of the rocker is connected to the top end of the rack, and the other end of the rocker is connected with the other end of the connecting rod; a screw rod is rotationally connected in the connecting rod, and a sliding rod is connected to the screw rod in a threaded manner;
one end of the second swing rod is rotatably connected with the rack and the rocker to form a complex hinge, the other end of the second swing rod is rotatably connected with one end of the first swing rod, and the other end of the first swing rod is rotatably connected with the slide rod.
Further, the foot mechanism comprises four feet, and the four feet connected to the left side of the trunk are respectively a left first foot, a left second foot, a left third foot and a left fourth foot; the four feet connected to the right side of the trunk are respectively a right first foot, a right second foot, a right three foot and a right four foot.
Furthermore, a sole is connected to the sliding rod, and a spring is fixedly connected between the sole and the sliding rod.
The invention has the advantages that:
1. the foot plane five-bar mechanism is composed of a crank rocker mechanism and a two-stage bar group consisting of two swing bars, so that the phenomenon that the hinge four-bar mechanism is easy to lock due to dead points is avoided;
2. a spring is fixedly connected between the sole and the sliding rod, so that the rigid and flexible design is realized while the mechanism is ensured to have better rigidity, and the energy consumption is reduced;
3. the combined design of the connecting rod and the ball screw mechanism enables the track of the foot mechanism to be adjustable, the output track of the foot mechanism to be variable, the stepping speed of the whole eight-foot robot can be adjusted under the condition that the rotating speed of the motor is not changed, or the obstacle crossing function can be realized when an obstacle is met.
Drawings
FIG. 1 is a schematic view of the overall structure of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a foot of a robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the motion of the foot of a robot according to an embodiment of the present invention;
FIG. 4 is a diagram of the trajectory of the sole of a foot of a robot in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a torso structure of a robot in accordance with an embodiment of the present invention;
fig. 6 is a front view and a plan view of a link of a robot according to an embodiment of the present invention.
Wherein: 1. a left foot; 2. the left two feet; 3. left three feet; 4. the left four feet; 5. a right foot; 6. the right two feet; 7. the right three feet; 8. the right four feet; 9. a torso; 101. a first stepper motor; 102. an aperture; 103. a frame; 104. a servo motor; 105. a rocker; 106. a crank; 107. a connecting rod; 108. a slide bar; 109. a spring; 110. the sole of a foot; 111. a first swing link; 112. a second swing link; 113. a second stepping motor; 114. a coupling; 115. and a lead screw.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
As shown in fig. 1 to 6, a robot based on a planar link mechanism comprises a trunk 9 and foot mechanisms symmetrically connected to two sides of the trunk 9, wherein each foot mechanism comprises a plurality of feet, each foot comprises a five-bar mechanism, and each five-bar mechanism comprises a crank-rocker mechanism and a first swing rod 111 and a second swing rod 112 connected with the crank-rocker mechanism; the crank and rocker mechanism comprises a rack 103, a rocker 105, a crank 106 and a connecting rod 107, wherein the rack 103 is rotatably connected to the trunk 9, one end of the crank 106 is rotatably connected to the bottom end of the rack 103, the other end of the crank 106 is rotatably connected with one end of the connecting rod 107, one end of the rocker 105 is connected to the top end of the rack 103, and the other end of the rocker 105 is connected with the other end of the connecting rod 107; a lead screw 115 is rotationally connected in the connecting rod 107, and a slide rod 108 is connected on the lead screw 115 in a threaded manner; one end of the second swing link 112 is rotatably connected with the frame 103 and the rocker 105 to form a complex hinge, the other end is rotatably connected with one end of the first swing link 111, and the other end of the first swing link 111 is rotatably connected with the slide rod 108.
As shown in fig. 1 to 6, a robot based on a planar linkage mainly includes: the left foot mechanism comprises nine parts, namely a left foot 1, a left foot 2, a left foot 3, a left foot 4, a right foot 5, a right foot 6, a right foot 7, a right foot 8 and a trunk 9, wherein the foot mechanism design and the kinematic pair connection which are bilaterally symmetrical are completely the same and are in mirror symmetry in space. Eight feet are all composed of a plane five-rod mechanism, a stator of a first stepping motor 101 with self-locking is fixedly connected with the trunk 9, a hole 102 is drilled on a foot frame 103, and the hole 102 is fixedly connected with a rotating shaft of the first stepping motor 101 with self-locking. By the rotation of the first stepping motor 101, the eight-legged robot can change direction at any time during the movement. The first stepping motors 101 at the eight hinged parts move independently, so that various gaits can be realized.
The foot plane five-bar mechanism mainly comprises a crank rocker mechanism and a two-stage bar group consisting of two rocker bars. The crank rocker mechanism consists of a frame 103, a rocker 105, a crank 106 and a connecting rod 107, which are sequentially hinged to form a rotating pair, a servo motor 104 is arranged between the frame 103 and the crank 106, a stator of the servo motor 104 is fixedly connected with the frame 103, and a rotating shaft is fixedly connected with the crank 106; wherein the connecting rod 107 includes: the self-locking type stepping motor comprises a second stepping motor 113 with self-locking function, a coupler 114 and a lead screw 115, wherein a stator of the second stepping motor 113 is fixedly connected with the connecting rod 107, a rotor is fixedly connected with one end of the lead screw 115 through the coupler 114, and the other end of the lead screw 115 is connected with the connecting rod 107 through a bearing; the slide bar 108 and the lead screw 115 form a ball screw mechanism, the relative position of the slide bar 108 and the lead screw 115 can be adjusted during movement, the output track of the slide bar is variable, the stepping speed of the whole eight-legged robot can be adjusted under the condition that the rotating speed of the motor is not changed, or the obstacle crossing function can be realized when an obstacle is encountered, and the second stepping motor 113 can be self-locked when the relative position is appropriate. The secondary lever group is composed of a first swing lever 111 and a second swing lever 112, one end of the first swing lever 111 is hinged with the slide bar 108, the other end of the first swing lever is hinged with the second swing lever 112, and the other end of the second swing lever 112 is in complex twisting with the frame 103 and the rocker 105. According to theoretical mechanics, the first swing rod 111 is a two-force rod, and the force of the first swing rod 111 on the whole of the sliding rod 108 and the connecting rod 107 can obtain a moment at any end of the connecting rod in a simplified manner, so that the phenomenon that dead points exist when the connecting rod 107 is collinear with the crank 106 or the rocker 105, and the phenomenon of locking is easily caused is avoided. A spring 109 is fixedly connected between the sole 110 and the sliding rod 108, so that the rigid and flexible design is realized while the mechanism has better rigidity, and the energy consumption is reduced.
The frame 103 and the first stepping motor 101 connected with the trunk 9 are independent from each other, and when the walking stick is used, the phase relation between the frame 103 and the first stepping motor 101 connected with the trunk 9 can be controlled and adjusted, and a user selects a proper gait. When an obstacle is encountered, the obstacle crossing function can be realized to a certain degree by adjusting the trajectory of the tail end of the sole, and meanwhile, the stepping speed of the whole eight-foot robot can be adjusted under the condition that the rotating speed of the servo motor 104 is fixed.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (6)
1. A robot based on a plane connecting rod mechanism is characterized by comprising a trunk (9) and foot mechanisms symmetrically connected to two sides of the trunk (9), wherein each foot mechanism comprises a plurality of feet, each foot comprises a five-rod mechanism, and each five-rod mechanism comprises a crank rocker mechanism and a first swing rod (111) and a second swing rod (112) connected with the crank rocker mechanism;
the crank and rocker mechanism comprises a rack (103), a rocker (105), a crank (106) and a connecting rod (107), wherein the rack (103) is rotatably connected to the trunk (9), one end of the crank (106) is rotatably connected to the bottom end of the rack (103), the other end of the crank is rotatably connected to one end of the connecting rod (107), one end of the rocker (105) is connected to the top end of the rack (103), and the other end of the rocker (105) is connected to the other end of the connecting rod (107); a lead screw (115) is rotationally connected in the connecting rod (107), and a sliding rod (108) is connected to the lead screw (115) in a threaded manner;
one end of the second swing rod (112) is rotatably connected with the rack (103) and the rocker (105) to form a complex hinge, the other end of the second swing rod is rotatably connected with one end of the first swing rod (111), and the other end of the first swing rod (111) is rotatably connected with the sliding rod (108).
2. The planar linkage based robot according to claim 1, wherein the foot mechanism comprises four feet, the four feet connected to the left side of the trunk (9) are a left one foot (1), a left two foot (2), a left three foot (3) and a left four foot (4); the four feet connected to the right side of the trunk (9) are a right first foot (5), a right second foot (6), a right third foot (7) and a right four foot (8) respectively.
3. The robot based on the planar linkage mechanism is characterized in that a plurality of first stepping motors (101) are fixed on the trunk (9), the number of the first stepping motors (101) is the same as that of the feet, and output rotating shafts of the first stepping motors (101) are connected with the frame (103).
4. The robot based on the planar linkage mechanism is characterized in that a servo motor (104) is arranged at the joint of the frame (103) and the crank (106), the fixed end of the servo motor (104) is fixed on the frame (103), and the output end of the servo motor (104) is connected with the crank (106).
5. The robot based on the planar linkage mechanism according to claim 1, wherein a second stepping motor (113) is arranged in the connecting rod (107), a stator of the second stepping motor (113) is fixedly connected with the connecting rod (107), a rotor of the second stepping motor (113) is connected with one end of the lead screw (115) through a coupler (114), and the other end of the lead screw (115) is connected with the connecting rod (107) through a bearing.
6. The robot based on plane linkage according to claim 1, characterized in that a sole (110) is connected to the sliding rod (108), and a spring (109) is connected between the sole (110) and the sliding rod (108).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910344447.3A CN109910030B (en) | 2019-04-23 | 2019-04-23 | Robot based on plane link mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910344447.3A CN109910030B (en) | 2019-04-23 | 2019-04-23 | Robot based on plane link mechanism |
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| CN109910030A CN109910030A (en) | 2019-06-21 |
| CN109910030B true CN109910030B (en) | 2021-05-07 |
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Citations (10)
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| RU2009938C1 (en) * | 1991-07-01 | 1994-03-30 | Виктор Сергеевич Богатырев | Vehicle step propulsive device |
| CN201281657Y (en) * | 2008-08-28 | 2009-07-29 | 武汉科技大学 | Controlled plane five-rod mechanism test stand capable of implementing random movement path |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN105905183A (en) * | 2016-05-13 | 2016-08-31 | 重庆足步科技有限公司 | Upper body-halving walking device |
| CN205737792U (en) * | 2016-07-08 | 2016-11-30 | 河北工业大学 | A kind of planar five-bar mechanism flexible leg structure |
| CN107628438A (en) * | 2017-10-31 | 2018-01-26 | 王传银 | A kind of object transport robot |
| CN207972689U (en) * | 2017-11-07 | 2018-10-16 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load tablet |
| CN109178133A (en) * | 2018-08-07 | 2019-01-11 | 北京交通大学 | A kind of variable topological operation double mode walking mechanism |
| CN109398526A (en) * | 2018-10-18 | 2019-03-01 | 北京交通大学 | A kind of adjustable walking carrying platform in foot end track |
| CN109606499A (en) * | 2018-10-31 | 2019-04-12 | 南京航空航天大学 | Miniature odex |
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2019
- 2019-04-23 CN CN201910344447.3A patent/CN109910030B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2009938C1 (en) * | 1991-07-01 | 1994-03-30 | Виктор Сергеевич Богатырев | Vehicle step propulsive device |
| CN201281657Y (en) * | 2008-08-28 | 2009-07-29 | 武汉科技大学 | Controlled plane five-rod mechanism test stand capable of implementing random movement path |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN105905183A (en) * | 2016-05-13 | 2016-08-31 | 重庆足步科技有限公司 | Upper body-halving walking device |
| CN205737792U (en) * | 2016-07-08 | 2016-11-30 | 河北工业大学 | A kind of planar five-bar mechanism flexible leg structure |
| CN107628438A (en) * | 2017-10-31 | 2018-01-26 | 王传银 | A kind of object transport robot |
| CN207972689U (en) * | 2017-11-07 | 2018-10-16 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load tablet |
| CN109178133A (en) * | 2018-08-07 | 2019-01-11 | 北京交通大学 | A kind of variable topological operation double mode walking mechanism |
| CN109398526A (en) * | 2018-10-18 | 2019-03-01 | 北京交通大学 | A kind of adjustable walking carrying platform in foot end track |
| CN109606499A (en) * | 2018-10-31 | 2019-04-12 | 南京航空航天大学 | Miniature odex |
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| CN109910030A (en) | 2019-06-21 |
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