CN109911053A - A kind of multi link Form of Bionics Mechanical Legs and climbing robot - Google Patents
A kind of multi link Form of Bionics Mechanical Legs and climbing robot Download PDFInfo
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- CN109911053A CN109911053A CN201910159114.3A CN201910159114A CN109911053A CN 109911053 A CN109911053 A CN 109911053A CN 201910159114 A CN201910159114 A CN 201910159114A CN 109911053 A CN109911053 A CN 109911053A
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- connecting rod
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- rocking bar
- steering engine
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- 235000001968 nicotinic acid Nutrition 0.000 title claims abstract description 15
- 230000009194 climbing Effects 0.000 title claims abstract description 13
- 239000011159 matrix material Substances 0.000 claims abstract description 18
- 239000007787 solid Substances 0.000 claims 1
- 210000002414 leg Anatomy 0.000 description 14
- 210000000689 upper leg Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
The present invention relates to walking robot fields, and in particular to a kind of multi link Form of Bionics Mechanical Legs and climbing robot.A kind of multi link Form of Bionics Mechanical Legs, including matrix, driving part, rocking bar, first connecting rod, intermediate four-bar mechanism and output four-bar mechanism；Driving part includes steering engine and the steering engine disk that is mounted on steering engine output shaft；Output four-bar mechanism 6 and two bars of intermediate four-bar mechanism 5 are hinged, and the intermediate driving of four-bar mechanism 5 output four-bar mechanism 6 works, and export the output rod extension of four-bar mechanism 6, reach the movement of intended trajectory.Matrix, steering engine disk, rocking bar and the first connecting rod constitutes crank and rocker mechanism, and matrix is fixed frame, and steering engine disk is crank；The intermediate four-bar mechanism is made of rocking bar, first connecting rod, second connecting rod and folded plate；The output four-bar mechanism is made of one section of rocking bar, folded plate, third connecting rod and output rod.
Description
Technical field
The present invention relates to walking robot fields, and in particular to a kind of multi link Form of Bionics Mechanical Legs and climbing robot.
Background technique
The robot that bio-robot refers to mimic biology, is engaged in biological characteristic work.Concrete action is flexible, adapts to multiplexing
The environment of condition, however existing mechanism is complicated, joint mechanics are unbalanced.
State Intellectual Property Office discloses Publication No. CN105818881A in 2016.08.03, and patent name is connecting rod machine
Structure Form of Bionics Mechanical Legs and its quadruped robot, including shank bar, the main drive part of thigh and use for driving shank bar lift leg
In the thigh pair drive part taken a step of driving shank bar, further include the power output end for being successively articulated with the main drive part of thigh,
The power output end of thigh pair drive part, the first connecting rod of shank bar and both ends are hingedly connected to the dynamic of thigh pair drive part
The second connecting rod of power output end, shank bar, power output end, first connecting rod, the shank bar and of the thigh pair drive part
Two connecting rods form deformable parallelogram linkage by fulcrum of mutual hinge joint；The main drive part of thigh is
Crank and rocker mechanism, the rocking bar of the crank and rocker mechanism form power output of the thigh driving lever as the main drive part of thigh
End.
This patent is different from the technical solution of above-mentioned patent.
Summary of the invention
The object of the present invention is to provide a kind of mechanism is simple, track is abundant, and driving is simple, and the reliable multi link of stress is bionical
Pedipulator and climbing robot.
To achieve the goals above, the technical solution used in the present invention is:
A kind of multi link Form of Bionics Mechanical Legs, including matrix, driving part, rocking bar, first connecting rod, intermediate four-bar mechanism and output
Four-bar mechanism；Driving part includes steering engine and the steering engine disk that is mounted on steering engine output shaft, and steering engine is fixed on matrix,
The end of rocking bar rotates with matrix to be connect, and one end of first connecting rod and the eccentric position of steering engine disk are hinged, first connecting rod
Rotate connection in the middle part of the other end and rocking bar；Matrix, steering engine disk, rocking bar and the first connecting rod constitutes crank rocker machine
Structure, matrix are fixed frame, and steering engine disk is crank；The known movement rod piece of the two of intermediate four-bar mechanism is that rocking bar and first connect
Bar, output four-bar mechanism and two bars of intermediate four-bar mechanism are hinged, intermediate four-bar mechanism driving output double leval jib machine
Structure work, exports the output rod extension of four-bar mechanism, reaches the movement of intended trajectory.
Preferably, the intermediate four-bar mechanism is made of rocking bar, first connecting rod, second connecting rod and folded plate, wherein
Rocking bar and first connecting rod are used as power input；Second connecting rod is hinged on first connecting rod, and first connecting rod is hinged on rocking bar；Described
There are three hinge holes for setting on folded plate.
Preferably, there are four hinge joints, the second hinge joint indent to be provided with hinge column for setting on the rocking bar, the
One hinge joint and the 4th hinge joint are provided with hinge hole, and third hinge joint is provided with the hinge column of protrusion.
Preferably, the output four-bar mechanism is made of one section of rocking bar, folded plate, third connecting rod and output rod,
Wherein rocking bar and folded plate are used as power input, and output rod does power output, and the shape of output rod is folding shape.
A kind of climbing robot, pedipulator by adopting the above technical scheme, shared four legs all around, the one of oblique opposite side
Leg action is kept synchronizing, a pair of of leg of opposite side keeps asynchronous, and intermittent movement makes climbing robot completion creep.
Using the multi link Form of Bionics Mechanical Legs and climbing robot of above-mentioned technical proposal, the track of output point is by three four
The compound composition of linkage, can Walk Simulation when joint rotation, bionical effect is more preferable, preferably adapts to unused landform；Driving
Power only needs one, facilitates control, and the rigidity and precision of mechanism are also higher；The arrangement phase vertical direction of connecting rod is close, on the one hand increases
The length of pedipulator is added, on the other hand can reduce drive line angle, Impact direction can have been made to subtract close to the axial direction of connecting rod in standing state
The bending of small bar, stress are more reasonable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of intermediate four-bar mechanism.
Fig. 3 is the side view of rocking bar.
Fig. 4 is the structural schematic diagram for exporting four-bar mechanism.
Fig. 5 is the top view of climbing robot.
Specific embodiment
As shown in Figure 1, a kind of multi link Form of Bionics Mechanical Legs includes matrix 1, driving part 2, the company of rocking bar 3, first
Bar 4, intermediate four-bar mechanism 5 and output four-bar mechanism 6；Driving part 2 includes steering engine and is mounted on steering engine output shaft
Steering engine disk, steering engine are fixed on matrix 1, and the end of rocking bar 3 rotates with matrix 1 to be connect, one end of first connecting rod 4 and rudder
The eccentric position of machine disk is hinged, and the other end of first connecting rod 4 rotates with the middle part of rocking bar 3 to be connect；The matrix 1, rudder
Machine disk, rocking bar 3 and first connecting rod 4 constitute crank and rocker mechanism, and matrix 1 is fixed frame, and steering engine disk is crank；Intermediate double leval jib
The known movement rod piece of the two of mechanism 5 is rocking bar 3 and first connecting rod 4, output four-bar mechanism 6 and the two of intermediate four-bar mechanism 5
Bar is hinged, and the intermediate driving of four-bar mechanism 5 output four-bar mechanism 6 works, and exports the output rod extension of four-bar mechanism 6,
Reach the movement of intended trajectory.
As shown in Fig. 2, the intermediate four-bar mechanism 5 is by rocking bar 3, first connecting rod 4, second connecting rod 51 and 52 groups of folded plate
At wherein rocking bar 3 and first connecting rod 4 are used as power input；Second connecting rod 51 is hinged on first connecting rod 4, and first connecting rod 4 is hinged on
On rocking bar 3；There are three hinge holes for setting on the folded plate 52；The rocking bar 3 is as shown in figure 3, on rocking bar 3 there are four settings
Hinge joint, 32 indent of the second hinge joint are provided with hinge column, and the first hinge joint 31 and the 4th hinge joint 34 are provided with hinge hole,
Third hinge joint is provided with the hinge column of protrusion.
As shown in figure 4, the described output four-bar mechanism 6 is by one section of rocking bar 3, folded plate 52, third connecting rod 61 and output
Bar 62 forms, and wherein rocking bar 3 and folded plate 52 are used as power input, and output rod 62 does power output, and the shape of output rod 62 is to roll over shape,
Cuspidal locus, that is, walking posture track of end.
At work, driving part 2 rotates a kind of multi link Form of Bionics Mechanical Legs, in the crank and rocker mechanism,
So that rocking bar 3 and first connecting rod 4 swing；Then rocking bar 3 and first connecting rod 4 are as the intermediate four-bar mechanism 5 of driving drive
Movement, the folded plate 52 and rocking bar 3 of intermediate four-bar mechanism 5 drive output four-bar mechanism 6 to work as driving, last output rod
The track of 62 ends is the posture for imitating people's walking.
As shown in figure 5, a kind of climbing robot, shares four legs all around, a pair of of leg action of oblique opposite side
It keeps synchronizing, a pair of of leg of opposite side keeps asynchronous, and intermittent movement makes climbing robot completion creep.
Claims (5)
1. a kind of multi link Form of Bionics Mechanical Legs, which is characterized in that connect including matrix (1), driving part (2), rocking bar (3), first
Bar (4), intermediate four-bar mechanism (5) and output four-bar mechanism (6)；Driving part (2) includes steering engine and to be mounted on steering engine defeated
Steering engine disk on shaft, steering engine are fixed on matrix (1), and the end of rocking bar (3) rotates with matrix (1) to be connect, and first
One end of connecting rod (4) and the eccentric position of steering engine disk are hinged, and the other end of first connecting rod (4) turns with the middle part phase of rocking bar (3)
Dynamic connection；Matrix (1), steering engine disk, rocking bar (3) and the first connecting rod (4) constitutes crank and rocker mechanism, and matrix (1) is solid
Determine rack, steering engine disk is crank；The known movement rod piece of the two of intermediate four-bar mechanism (5) is rocking bar (3) and first connecting rod (4),
Output four-bar mechanism (6) and two bars of intermediate four-bar mechanism (5) are hinged, intermediate four-bar mechanism (5) driving output four
Link mechanism (6) work, exports the output rod extension of four-bar mechanism (6), reaches the movement of intended trajectory.
2. a kind of multi link Form of Bionics Mechanical Legs according to claim 1, which is characterized in that the intermediate four-bar mechanism
(5) it is made of rocking bar (3), first connecting rod (4), second connecting rod (51) and folded plate (52), wherein rocking bar (3) and first connecting rod (4)
Be used as power input；Second connecting rod (51) is hinged on first connecting rod (4), and first connecting rod (4) is hinged on rocking bar (3)；Described
There are three hinge holes for setting on folded plate (52).
3. a kind of multi link Form of Bionics Mechanical Legs according to claim 1, which is characterized in that be arranged on the rocking bar (3)
There are four hinge joint, the second hinge joint (32) indent is provided with hinge column, and the first hinge joint (31) and the 4th hinge joint (34) are set
It is equipped with hinge hole, third hinge joint is provided with the hinge column of protrusion.
4. a kind of multi link Form of Bionics Mechanical Legs according to claim 1, which is characterized in that the output four-bar mechanism
(6) it is made of one section of rocking bar (3), folded plate (52), third connecting rod (61) and output rod (62), wherein rocking bar (3) and folded plate
(52) be used as power input, and output rod (62) does power output, and the shape of output rod (62) is folding shape.
5. a kind of climbing robot, using multi link Form of Bionics Mechanical Legs described in claim 1-4 any one claim,
It is characterized in that, share four legs all around, a pair of of leg action of oblique opposite side keeps synchronizing, and a pair of of leg of opposite side keeps asynchronous,
Intermittent movement makes climbing robot completion creep.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910159114.3A CN109911053B (en) | 2019-03-04 | 2019-03-04 | Multi-connecting-rod bionic mechanical leg and crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910159114.3A CN109911053B (en) | 2019-03-04 | 2019-03-04 | Multi-connecting-rod bionic mechanical leg and crawling robot |
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| Publication Number | Publication Date |
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| CN109911053A true CN109911053A (en) | 2019-06-21 |
| CN109911053B CN109911053B (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910159114.3A Active CN109911053B (en) | 2019-03-04 | 2019-03-04 | Multi-connecting-rod bionic mechanical leg and crawling robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319648A (en) * | 2020-11-09 | 2021-02-05 | 武汉理工大学 | Leg mechanism of foot type robot with switchable degrees of freedom |
| CN113086047A (en) * | 2021-04-06 | 2021-07-09 | 哈尔滨工业大学 | Multi-terrain detection vehicle |
| CN114889724A (en) * | 2022-05-18 | 2022-08-12 | 湘潭大学 | Centipede-like robot based on multiple connecting rods |
| CN114986527A (en) * | 2022-04-27 | 2022-09-02 | 江汉大学 | Bionic mechanical mantis device |
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| CN107253498A (en) * | 2017-06-07 | 2017-10-17 | 中科新松有限公司 | A kind of legged type robot leg structure and the legged type robot with it |
| CN206774093U (en) * | 2016-12-21 | 2017-12-19 | 桂林理工大学 | A kind of multi-foot robot teaching platform |
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2019
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| EP1118531A1 (en) * | 2000-01-21 | 2001-07-25 | Ecole Polytechnique Federale De Lausanne | Uneven terrain vehicle |
| US20020179342A1 (en) * | 2001-06-04 | 2002-12-05 | Quinn Roger D. | Vehicle with compliant drive train |
| CN104260800A (en) * | 2014-10-16 | 2015-01-07 | 北京理工大学 | Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319648A (en) * | 2020-11-09 | 2021-02-05 | 武汉理工大学 | Leg mechanism of foot type robot with switchable degrees of freedom |
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| CN114889724A (en) * | 2022-05-18 | 2022-08-12 | 湘潭大学 | Centipede-like robot based on multiple connecting rods |
| CN114889724B (en) * | 2022-05-18 | 2023-08-25 | 湘潭大学 | Centipede-like robot based on multiple connecting rods |
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| CN109911053B (en) | 2020-06-16 |
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Effective date of registration: 20200520 Address after: 325204 No.66, Zhaozhong Road, Zhaoping Longzhong village, Tangxia Town, Ruian City, Wenzhou City, Zhejiang Province Applicant after: Ruian Baiyi Medical Equipment Co., Ltd Address before: 315399 701, 405 Ciyong Road, Cixi City, Ningbo City, Zhejiang Province Applicant before: Lin Jialin |
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