CN110077486A - A kind of bionical eight sufficient specialized robot - Google Patents
A kind of bionical eight sufficient specialized robot Download PDFInfo
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- CN110077486A CN110077486A CN201910401095.0A CN201910401095A CN110077486A CN 110077486 A CN110077486 A CN 110077486A CN 201910401095 A CN201910401095 A CN 201910401095A CN 110077486 A CN110077486 A CN 110077486A
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- motor
- bionical
- walking mechanism
- sufficient
- lead screw
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- 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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses the sufficient specialized robots of one kind bionical eight of robotic technology field, aim to solve the problem that wheeled in the prior art and caterpillar type robot locomitivity deficiency in complicated ground environment technical problem, a kind of bionical eight sufficient specialized robot, including trunk, trunk is left, respectively there are four mechanical foots in right two sides, the mechanical foot includes first walking mechanism and the second walking mechanism, first walking mechanism is connected by rack and trunk, second walking mechanism and first walking mechanism are connect with the rotor of motor 2 and stator respectively, first walking mechanism and the second walking mechanism, which are worked in coordination, realizes trunk smooth motion.Bionical eight sufficient specialized robot of the present invention can imitate a variety of eight sufficient class biologies, such as spider, crab, whole movement velocity is adjustable, and compact-sized, reliable performance, variation flexibly have obstacle crossing function by institutional adjustment.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of bionical eight sufficient specialized robot.
Background technique
Wheeled and caterpillar type robot due to the advantages that movement speed is fast, sport efficiency is skilful, easy to control, reliable performance,
The always preferred type of ground mobile robot.But it is imitated to complicated landform environmental suitability, kinematic dexterity, movement
All there is obvious limitation in rate etc., wheeled and caterpillar type robot.People's urgent need one kind can be in complex environment
The robot of operation, relative to wheeled and caterpillar type robot, Multifeet walking robot be especially eight biped robots have it is superpower
Adaptive capacity to environment, while it is small to ground failure, flexibility ratio is high, and its redundancy structure also ensures and loses fortune in one leg
Equally guarantee stable walking in the case where kinetic force.The sufficient bio-robot design of optimization eight, it is bionical just to become domestic and international eight foot
The research hotspot and difficult point of robot.Currently, deep not enough for the research of the eight bionical specialized robots of foot both at home and abroad, mechanism
Design not enough optimization, can only imitate the movement of single eight sufficient class biologies and movement velocity is unadjustable, have significant limitations.
Summary of the invention
The purpose of the present invention is to provide a kind of bionical eight sufficient specialized robots, to solve wheeled in the prior art and crawler belt
The technical problem of formula robot locomitivity deficiency in complicated ground environment.
In order to achieve the above objectives, the technical scheme adopted by the invention is that: a kind of bionical eight sufficient specialized robot, including body
Dry, trunk arranged on left and right sides respectively has four mechanical foots, and the mechanical foot includes first walking mechanism and the second walking mechanism, and first
Walking mechanism is connected by rack and trunk, the second walking mechanism and first walking mechanism respectively with the rotor and stator of motor 2
Connection, first walking mechanism and the second walking mechanism work in coordination and realize trunk smooth motion.
The mechanical sufficient equidistant arrangement in four, the left side, it is upper identical with kinematic pair connection in mechanism design；The right side
Four mechanical sufficient equidistant arrangements, it is upper identical with kinematic pair connection in mechanism design；The machinery foot of arranged on left and right sides is set in mechanism
Meter connect complete mirror symmetry with kinematic pair.
The first walking mechanism includes swing rod, and swing rod one end and the rotor of motor 1 are connected, and the other end is determined with motor 2
Son is connected, and the rotor of motor 2 and the second walking mechanism are connected；The stator and rack of motor 1 are connected.
Motor 1 and motor 2 are with self-locking stepper motor.
Second walking mechanism includes T shape frame, and T shape frame is connected by the rotor of first through hole and motor 2；T shape frame
The stator of one transverse arm and motor 3 is connected, and the rotor of crank one end and motor 3 is connected, and the other end is hinged with connecting rod, connecting rod it is another
One end and the second through-hole on rocking bar are hinged；Third through-hole on another transverse arm of T shape frame and the boss of nut is hinged, nut
It is moved up and down under the driving of lead screw along lead screw axis；Lead screw one end is protruded into the supported hole of lead screw support base, and the other end passes through
Shaft coupling is connect with the rotor of motor 4, and the stator of motor 4 is solid by first motor fixed frame and the second motor fixing frame and rocking bar
Even, lead screw support base and rocking bar are connected.
One end of the rocking bar and spring are connected, and the other end of spring and the planar ends in vola are connected, the other end in vola
For spherical surface.
3 servo motors of the motor, the motor 4 are with self-locking stepper motor.
The axis of second through-hole is parallel with the axis of lead screw with the common vertical line of the axis of third through-hole.
Crank freedom degree in freedom degree J2, slider-crank mechanism when swing rod and crank and rocker mechanism relatively rotate
The freedom degree J4 that lead screw and nut are constituted in J3, ball screw framework is respectively positioned in XOY plane, the freedom of swing rod and rack composition
Degree J1 is located in XOZ plane.
Compared with prior art, advantageous effects of the invention:
(1) of the present invention bionical eight sufficient specialized robots can imitate a variety of eight sufficient class biologies, such as spider by institutional adjustment
Spider, crab etc., whole movement velocity is adjustable, and compact-sized, reliable performance, variation flexibly have obstacle crossing function；
(2) motor 1 on of the present invention bionical eight sufficient each mechanical foots of specialized robot, motor 2, motor 3, motor 4 are respectively only
Vertical to work in coordination, control is flexible；
(3) of the present invention bionical eight sufficient each mechanical foots of specialized robot are mutually indepedent, can be moved between each foot by adjusting
Relationship realizes a variety of gaits.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the sufficient specialized robot of one kind provided in an embodiment of the present invention bionical eight；
Fig. 2 is the structural schematic diagram of the machinery foot of the sufficient specialized robot of one kind provided in an embodiment of the present invention bionical eight；
Fig. 3 is the structural decomposition diagram of the machinery foot of the sufficient specialized robot of one kind provided in an embodiment of the present invention bionical eight；
Fig. 4 is the mechanical schematic diagram of the machinery foot of the sufficient specialized robot of one kind provided in an embodiment of the present invention bionical eight；
Fig. 5 is schematic diagram when the sufficient specialized robot of one kind provided in an embodiment of the present invention bionical eight imitates spider movement；
Fig. 6 is schematic diagram when the sufficient specialized robot of one kind provided in an embodiment of the present invention bionical eight imitates crab movement；
In figure: 1. the first from left foot L1；2. the second from left foot L2；3. left tripodia L3；4. left four-footed L4；5. one foot R1 of the right side；6. two foot R2 of the right side；7.
Right tripodia R3；8. right four-footed R4；9. trunk；101. vola；102. spring；103. rocking bar；104. lead screw support base；105. spiral shell
It is female；106. lead screw；107. first motor fixed frame；108. the second motor fixing frame；109. motor 4；110. shaft coupling；111.T
Shape frame；112. motor 3；113. swing rod；114. motor 1；115. rack；116. crank；117. connecting rod；118. motor 2；119. the
Three through-holes；120. the second through-hole；121. first through hole.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
It should be noted that in the description of the present invention, term "front", "rear", "left", "right", "upper", "lower", "inner",
The orientation or positional relationship of the instructions such as "outside" is to be merely for convenience of description originally based on orientation or positional relationship shown in the drawings
It invents rather than requires the present invention that must be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
Term "front", "rear" used in present invention description, "left", "right", "upper", "lower" refer to the direction in attached drawing, term
"inner", "outside" refer respectively to the direction towards or away from geometric center of specific component.
As shown in Figure 1, a kind of bionical eight sufficient specialized robot, comprising: trunk, mechanical foot, mechanical foot be divided into the first from left foot L1,
The second from left foot L2, left tripodia L3, left four-footed L4, one foot R1 of the right side, the right side two foot R2, right tripodia R3, right four-footed R4.Each mechanical foot in left side exists
Mechanism design connects upper identical, equidistant arrangement with kinematic pair, and each mechanical foot in right side is designed in mechanism to be connect with kinematic pair
Also identical, the machinery foot of equidistant arrangement, arranged on left and right sides connect complete mirror symmetry with kinematic pair in mechanism design.Machine
Tool passes through rack enough and is fixed on trunk.
As shown in Figure 2 and Figure 3, the rotor of swing rod one end and motor 1 is connected, and the stator of the other end and motor 2 is connected, motor 2
Rotor and T shape frame be connected；The stator and rack of motor 1 are connected, swing rod, motor 1, rack composition first walking mechanism, and first
The movement of walking mechanism realization front and rear direction.Motor 1 and motor 2 are with self-locking stepper motor.
Second walking mechanism includes T shape frame, motor 2, motor 3, crank, connecting rod, rocking bar, lead screw support base, nut, silk
Thick stick, first motor fixed frame, the second motor fixing frame, motor 4, shaft coupling, spring, vola.Second mechanism realizes mechanical foot
It lifts and is acted with withdrawal.Vola both ends of the surface one end is that the spherical surface other end is plane, and the second through-hole, the weldering of nut side are drilled on rocking bar
It is connected to the boss for being drilled with third through-hole, first through hole is drilled on T shape frame, motor 3 is servo motor, and motor 4 is with self-locking
Stepper motor.Vola planar ends and spring one end are connected, and the spring other end and rocking bar are connected, lead screw support base and first, the
Two motor fixing frames are each attached on rocking bar, and nut and lead screw and its ball of inside constitute ball screw assembly, and lead screw one end is stretched
In the supported hole for entering lead screw support base, the lead screw other end is connect by shaft coupling with the rotor of motor 4, and the stator of motor 4 passes through electricity
Machine fixed frame and rocking bar are connected.Rocking bar and connecting rod, connecting rod and crank, T shape frame and nut are all connected with into revolute pair.Crank one end with
The rotor of motor 3 is connected, and the stator of motor 3 is connected on T shape frame, constitutes the crank and rocker mechanism of rocking bar adjustable in length.This
The length of rocking bar is not equal to the absolute growth of rocking bar in crank and rocker mechanism in embodiment, is to refer to the accession to having for crank and rocker mechanism
Imitate length.
The rotor of first through hole and motor 2 on T shape frame is connected, and the stator of motor 2 and swing rod one end are connected.Swing rod is another
End and the rotor of motor 1 are connected, and the stator of motor 1 is connected on the rack.Rack and trunk are connected.Second through-bore axis on rocking bar
It is parallel with lead screw axis with the common vertical line of third through-hole axis on nut side welding boss, guaranteed in ball screw framework with this
Nut is equal to the length of rocking bar variation relative to the mobile distance of lead screw.
First through hole on T shape frame is located at the center of mass of entire space foot mechanism, avoids motor 2 from connecting with this, pendulum
When bar and crank and rocker mechanism relatively rotate, biggish eccentric moment is overcome.
As shown in figure 4, bent in freedom degree J2, slider-crank mechanism when swing rod and crank and rocker mechanism relatively rotate
The freedom degree J4 that lead screw and nut are constituted in handle freedom degree J3, ball screw framework is respectively positioned in XOY plane, swing rod and rack structure
At freedom degree J1 be located in XOZ plane.
In the embodiment of the present invention, each foot mechanism includes 4 freedom degrees, can be become by the freedom degree J1 in the face XOZ
Change the type of mimic biology；The angle between swing rod and T shape frame can be adjusted by the face XOY internal degree of freedom J2, realize obstacle detouring function
Energy；The relative position of lead screw and nut in ball screw framework can be changed by the face XOY internal degree of freedom J4, adjust crank and shake
The length of rocking bar in linkage, and then change the track of foot and ground contact points, to adjust the fortune of eight biped robots entirety
Dynamic speed.
In use, constituting freedom degree J1 by institutional adjustment, swing rod and rack first, stepper motor 1 is connected, freedom is passed through
Spend J1, the type for the eight sufficient class biologies that selection needs to imitate, such as spider, crab, state such as Fig. 5, Fig. 6 institute when moving
Show.Stepper motor 1 is self-locking.Secondly, lead screw and nut constitute freedom degree J4 in ball screw framework, stepper motor 4 is connected, is passed through
Freedom degree J4 adjusts the length of rocking bar in crank and rocker mechanism, and then changes the track of foot and ground contact points when moving, from
And the movement velocity of eight biped robots entirety is adjusted, after choosing suitable movement velocity, stepper motor 4 is self-locking.Then, it connects
Logical servo motor 3, crank and rocker mechanism movement, eight biped robots integrally travel forward speed.When encountering obstacle, swing rod and song
There is the freedom degree J2 of relative rotation between handle rocker device, connect stepper motor 2, adjusts the angle between swing rod and T shape frame, it is real
Existing obstacle crossing function.After surmounting obstacles, stepper motor 2 inverts equal angular, and mechanism reinstatement state, stepper motor 2 is self-locking, eight foots
Robot integrally moves forward.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of bionical eight sufficient specialized robot, characterized in that including trunk (9), trunk (9) arranged on left and right sides respectively has four machines
Tool foot, the mechanical foot includes first walking mechanism and the second walking mechanism, and first walking mechanism passes through rack (115) and trunk
(9) it is connected, the second walking mechanism and first walking mechanism are connect with the rotor of motor 2(118) and stator respectively, the first vehicle with walking machine
Structure and the second walking mechanism, which are worked in coordination, realizes trunk (9) smooth motion.
2. bionical eight sufficient specialized robot according to claim 1, characterized in that the equidistant row of the mechanical foot in four, the left side
Column, it is upper identical with kinematic pair connection in mechanism design；The mechanical sufficient equidistant arrangement in four, the right side, designs and transports in mechanism
Dynamic secondary connection is upper identical；The machinery foot of arranged on left and right sides connect complete mirror symmetry with kinematic pair in mechanism design.
3. bionical eight sufficient specialized robot according to claim 1, characterized in that the first walking mechanism includes swing rod
(113), swing rod (113) one end and the rotor of motor 1(114) are connected, and the stator of the other end and motor 2(118) is connected, motor 2
(118) rotor and the second walking mechanism is connected；Motor 1(114) stator and rack (115) be connected.
4. bionical eight sufficient specialized robot according to claim 3, characterized in that motor 1(114) with motor 2(118) be
With self-locking stepper motor.
5. bionical eight sufficient specialized robot according to claim 3, characterized in that second walking mechanism includes T shape
Frame (111), T shape frame (111) are connected by first through hole (121) and the rotor of motor 2(118)；
One transverse arm of T shape frame (111) and the stator of motor 3(112) are connected, and crank (116) one end turns with motor 3's)
Son is connected, and hingedly, the other end of connecting rod (117) and the second through-hole (120) on rocking bar (103) are cut with scissors for the other end and connecting rod (117)
It connects；
Hingedly, nut (105) exists third through-hole (119) on another transverse arm of T shape frame (111) and the boss of nut (105)
Along lead screw (106), axis is moved up and down under the driving of lead screw (106)；
Lead screw (106) one end is protruded into the supported hole of lead screw support base (104), and the other end passes through shaft coupling (110) and motor 4
(109) rotor connection, motor 4(109) stator pass through first motor fixed frame (107) and the second motor fixing frame (108)
It is connected with rocking bar (103), lead screw support base (104) and rocking bar (103) are connected.
6. bionical eight sufficient specialized robot according to claim 5, characterized in that one end of the rocking bar (103) and bullet
Spring (102) is connected, and the other end of spring (102) and the planar ends of vola (101) are connected, and the other end of vola (101) is spherical surface.
7. bionical eight sufficient specialized robot according to claim 5, characterized in that the motor 3(112) position servo electricity
Machine, the motor 4(119) it is with self-locking stepper motor.
8. bionical eight sufficient specialized robot according to claim 5, characterized in that the axis of second through-hole (120)
It is parallel with the axis of lead screw (106) with the common vertical line of the axis of third through-hole (119).
9. bionical eight sufficient specialized robot according to claim 5, characterized in that swing rod (113) and crank and rocker mechanism
Crank freedom degree J3 in freedom degree J2, slider-crank mechanism when relatively rotating, in ball screw framework lead screw (106) with
The freedom degree J4 that nut (105) is constituted is respectively positioned in XOY plane, and the freedom degree J1 that swing rod (113) is constituted with rack (115) is located at
In XOZ plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910401095.0A CN110077486B (en) | 2019-05-15 | 2019-05-15 | Bionic eight-foot special robot |
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| CN201910401095.0A CN110077486B (en) | 2019-05-15 | 2019-05-15 | Bionic eight-foot special robot |
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| CN110077486B CN110077486B (en) | 2021-06-25 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450881A (en) * | 2019-09-18 | 2019-11-15 | 苏州市职业大学 | A kind of four-rod linkage bio-robot |
| CN110497980A (en) * | 2019-09-18 | 2019-11-26 | 苏州市职业大学 | A kind of running gear of mechanical sufficient formula |
| CN111674531A (en) * | 2020-06-01 | 2020-09-18 | 哈尔滨工程大学 | Bionic machine crab single motor control two crab leg motion structure |
| CN113696993A (en) * | 2021-08-30 | 2021-11-26 | 浙江大学 | Assembled multi-legged robot with variable foot end track and control method |
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| WO2009054103A1 (en) * | 2007-10-23 | 2009-04-30 | Honda Motor Co., Ltd. | Two-legged walking robot |
| CN101570220A (en) * | 2009-06-04 | 2009-11-04 | 哈尔滨工程大学 | Reversible and amphibious multi-legged robot with variable postures |
| CN203332261U (en) * | 2013-07-01 | 2013-12-11 | 中国科学技术大学 | Multi-foot moving device based on hybrid driving mechanism |
| CN109720434A (en) * | 2018-11-28 | 2019-05-07 | 歌尔股份有限公司 | Robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1363788A (en) * | 2001-01-01 | 2002-08-14 | 熊介良 | 'Menneimasi pendulum arm' and stalking mechanical leg |
| WO2009054103A1 (en) * | 2007-10-23 | 2009-04-30 | Honda Motor Co., Ltd. | Two-legged walking robot |
| CN101570220A (en) * | 2009-06-04 | 2009-11-04 | 哈尔滨工程大学 | Reversible and amphibious multi-legged robot with variable postures |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450881A (en) * | 2019-09-18 | 2019-11-15 | 苏州市职业大学 | A kind of four-rod linkage bio-robot |
| CN110497980A (en) * | 2019-09-18 | 2019-11-26 | 苏州市职业大学 | A kind of running gear of mechanical sufficient formula |
| CN110450881B (en) * | 2019-09-18 | 2024-04-12 | 苏州市职业大学 | Four-bar linkage bionic robot |
| CN110497980B (en) * | 2019-09-18 | 2024-04-12 | 苏州市职业大学 | Mechanical foot type walking device |
| CN111674531A (en) * | 2020-06-01 | 2020-09-18 | 哈尔滨工程大学 | Bionic machine crab single motor control two crab leg motion structure |
| CN111674531B (en) * | 2020-06-01 | 2022-02-11 | 哈尔滨工程大学 | Bionic machine crab single motor control two crab leg motion structure |
| CN113696993A (en) * | 2021-08-30 | 2021-11-26 | 浙江大学 | Assembled multi-legged robot with variable foot end track and control method |
| CN113696993B (en) * | 2021-08-30 | 2022-06-17 | 浙江大学 | Assembled multi-legged robot with variable foot end track and control method |
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