CN110294040A - A kind of mobile walking devices - Google Patents
A kind of mobile walking devices Download PDFInfo
- Publication number
- CN110294040A CN110294040A CN201910414556.8A CN201910414556A CN110294040A CN 110294040 A CN110294040 A CN 110294040A CN 201910414556 A CN201910414556 A CN 201910414556A CN 110294040 A CN110294040 A CN 110294040A
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- CN
- China
- Prior art keywords
- walking
- swing arm
- rack
- connecting rod
- arm
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Classifications
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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
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mobile walking devices, two pairs of walking mechanisms including rack and connection on the rack, the walking mechanism includes: bottom plate, it is fixedly connected with the rack, upper end is connected with steering engine, baffle, it is connect with the bottom plate, and is located at the shell outside, be provided with Telescopic swing arm, and it is pivotally connected with one end of the Telescopic swing arm, walking connecting rod, top is provided with power arm, and is pivotally connected with described power arm one end, the other end of middle part and the Telescopic swing arm is pivotally connected, and bottom is supported in ground；Wherein, the steering engine and the power arm other end are sequentially connected, and around one end of Telescopic swing arm are fulcrum swing for driving walking connecting rod.The mobile walking devices of the invention patent are by using hydraulic stem, it can not pass by when encountering some obstacles in walking process, double leval jib can be made to have different gaits by constantly regulate the length of hydraulic stem, its end orbit is made to can satisfy obstacle detouring to be applicable in complicated landform.
Description
Technical field
The present invention relates to walking robot fields, and in particular to a kind of mobile walking devices.
Background technique
Transformable robot mechanism is many kinds of on the market at present, although transformable pattern is abundant, the prior art
In the landform applicability of four-bar linkage structure that designs it is poor because the end orbit of double leval jib is in fixed walking process
Encountering some obstacles can not pass by, and be usually applicable only to horizontal smooth road, cannot effectively adapt to rough road surface.
Summary of the invention
For this purpose, walking connecting rod end track is adjusted to realize the purpose of the present invention is to provide a kind of mobile walking devices,
Its end orbit is set to can satisfy the needs of obstacle detouring or walking.
The present invention solves technical problem and adopts the following technical scheme that
The invention proposes a kind of mobile walking devices, two pairs of walking mechanisms including rack and connection on the rack,
It is characterized in that, the walking mechanism includes: bottom plate, is fixedly connected with the rack, upper end is connected with steering engine；Baffle, and it is described
Bottom plate connection, and it is located at the shell outside, it is provided with Telescopic swing arm, and one end pivot with the Telescopic swing arm
It connects；And walking connecting rod, top is provided with power arm, and is pivotally connected with described power arm one end, middle part and the Telescopic swing
The other end of arm is pivotally connected, and bottom is supported in ground, wherein the steering engine and the power arm other end are sequentially connected, and are used for band
Dynamic walking connecting rod is fulcrum swing around one end of Telescopic swing arm, wherein the length of the Telescopic swing arm is adjustable
Section makes its end orbit can satisfy obstacle detouring, to be applicable in complicated landform so that walking connecting rod has different gaits.
Further, the Telescopic swing arm is hydraulic stem.
The mobile walking devices of the invention patent, can be more not when encountering some obstacles in walking process by using hydraulic stem
Past can make double leval jib have different gaits, can satisfy its end orbit by constantly regulate the length of hydraulic stem
Obstacle detouring is to be applicable in complicated landform.
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 mobile walking devices of the invention；
Fig. 2 is the structural schematic diagram of walking mechanism in mobile walking devices of the invention；
Fig. 3 a-3f is the walking advance side in mobile walking devices of the invention under Telescopic swing arm regular length state
Formula procedure chart；And
Fig. 4 a-4e is the walking advance side in mobile walking devices of the invention under the adjustable state of Telescopic swing arm lengths
Formula procedure chart.
Description of symbols
1, steering engine；2, power arm；
3, walking connecting rod；4, Telescopic swing arm；
5, baffle；6, hydraulic stem；
7, bottom plate；10, walking mechanism；
20, 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. 4 is shown according to some embodiments of the present invention.
As shown in Figure 1, a kind of mobile walking devices, comprising: walking mechanism 10, rack 20, wherein the walking mechanism 10
There are four settings, is separately mounted to the front and rear ends of 20 left and right sides of rack.
Specifically, as shown in Fig. 2, the walking mechanism includes: steering engine 1, power arm 2, walking connecting rod 3, Telescopic swing
Arm 4, baffle 5 and bottom plate 7, the bottom plate 7 are horizontally arranged in the rack 20, and with 20 company of being bolted of rack
It connects, the steering engine 1 crosses the upper end that screw is fixed on described 7 one end of bottom plate, and the baffle 5 is connected on bottom plate 7, and is located at rack
20 outsides.
Specifically, as shown in Fig. 2, 2 one end of the power arm is connected by shaft coupling with the steering engine 1, the power arm 2
The other end and described 3 one end of walking connecting rod by pin connection, described 4 one end of Telescopic swing arm in the walking connecting rod 3
By pin connection, the other end of Telescopic swing arm 4 is hinged with the baffle 5 and is connect by Screw in portion.
Wherein, Telescopic swing arm 4 is made of hydraulic stem 6, and then the length of the adjustable Telescopic swing arm 4.
The process that mobile walking devices walking of the invention is advanced is as follows:
As shown in Fig. 3 a- Fig. 3 f, steering engine 1 is rotated along rotation counterclockwise, driving power arm 2, and walking connecting rod 3 is driven to swing row
It walks, the length of Telescopic swing arm 4 remains unchanged in mobile walking devices moving process, so that the end rail of walking connecting rod 3
Mark is relatively fixed, i.e. the amplitude of fluctuation range of walking connecting rod 3 keeps in a certain range, being primarily suitable for smooth place.
Fig. 3 a shows the original state under walking devices ordinary movement mode, and four walking legs of device connect with ground
Touching.
Fig. 3 b shows the state diagram one under walking devices ordinary movement mode in walking process, two steering engines of diagonally opposing corner
1 60~90 ° of rotation counterclockwise respectively, drives two walking legs connecting with two steering engines rotated to swing backward, is in
Standby race state.
Fig. 3 c shows the state diagram two under walking devices ordinary movement mode in walking process, previous step first rotate two
A steering engine continues to rotate counterclockwise 60~90 °, and two diagonal walking legs continue up lift, other two steering engine, which also follows, to be turned
Dynamic 60~90 °, other two walking leg is driven to be swung up, is in entire walking devices and is similar to quadrupeds and trots shape
State.
Fig. 3 d shows the state diagram three under walking devices ordinary movement mode in walking process, and four steering engines are along the inverse time
Needle rotates 60~90 °, and walking leg is driven to be lifted up, and realization is walked to the right.
Fig. 3 e shows the state diagram four under walking devices ordinary movement mode in walking process, and four steering engines are along the inverse time
Needle rotates 60~90 °, and diagonal two walking legs intersection is driven to be lifted up, and realization is walked to the right.
Fig. 3 f shows the state diagram five under walking devices ordinary movement mode in walking process, and four steering engines are along the inverse time
Needle rotates 60~90 °, and drives walking leg to swing, and four walking legs are just with ground face contact, consistent with original state.
After completing this step, steering engine continuation is rotated counterclockwise according to above-mentioned steps, the operating of realization device.
When occurring higher obstacle on device advance road surface, walking connecting rod can not from lifting to corresponding height, therefore device without
Method clears the jumps.
As shown in Fig. 4 a- Fig. 4 e, hydraulic stem 6 works in mobile walking devices moving process, so that Telescopic swing arm 4
Length can be adjusted according to pavement behavior so that walking connecting rod 3 end orbit it is relatively movable, that is, walk connecting rod 3 pendulum
Dynamic amplitude range increases, and may adapt to complex site, can be by making liquid when there is higher obstacle on device advance road surface
The end height of 6 telescopic adjustment of compression bar walking connecting rod, so as to quick across obstacle, meanwhile, pass through the end for adjusting walking connecting rod 3
Track is held, between walking connecting rod 3 can be increased when being contacted with ground, is made more stable in whole device moving process.
Fig. 4 a shows the state diagram one under walking devices Obstacle Negotiation mode in walking process, two steering engines of diagonally opposing corner
1 60~90 ° of rotation counterclockwise respectively, drives two walking legs connecting with two steering engines rotated to swing backward, is in
Standby race state.
Fig. 4 b shows the state diagram two under walking devices Obstacle Negotiation mode in walking process, previous step first rotate two
A steering engine continues to rotate counterclockwise 60~90 °, and two diagonal walking legs continue up lift, other two steering engine, which also follows, to be turned
Dynamic 60~90 °, other two walking leg is driven to be swung up, is in entire walking devices and is similar to quadrupeds and trots shape
State.
Fig. 4 c shows the state diagram three under walking devices Obstacle Negotiation mode in walking process, and four steering engines are along the inverse time
Needle rotates 60~90 °, and walking leg is driven to be lifted up, and realization is walked to the right；Wherein, in moving process, walking devices
Sensor detects that road surface ahead has barrier, and signal is passed to control module by sensor, and control module passes through control again
Hydraulic stem 6 extends, and the height for lifting walking leg upwards is got higher, can be with across obstacle.
Fig. 4 d shows the state diagram four under walking devices Obstacle Negotiation mode in walking process, and four steering engines are along the inverse time
Needle rotates 60~90 °, and diagonal two walking legs intersection is driven to be lifted up, and realization is walked to the right.Wherein, hydraulic stem is in
Elongation state, walking leg height is higher, and obstacle detouring may be implemented.
Fig. 4 e shows the state diagram five under walking devices Obstacle Negotiation mode in walking process, and four steering engines are along the inverse time
Needle rotates 60~90 °, and drives walking leg to swing, and four walking legs are just with ground face contact, consistent with original state.
After completing this step, steering engine continuation is rotated counterclockwise according to above-mentioned steps, the operating of realization device.
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 mobile walking devices, special including rack (20) and two pairs of walking mechanisms (10) being connected on rack (20)
Sign is that the walking mechanism (10) includes:
Bottom plate (7) is fixedly connected with the rack (20), and upper end is connected with steering engine (1)；
Baffle (5) is connect with the bottom plate (7), and is located on the outside of the rack (20), is provided with Telescopic swing arm (4), and
It is pivotally connected with one end of the Telescopic swing arm (4)；And
It walks connecting rod (3), top is provided with power arm (2), and is pivotally connected with the power arm (2) one end, and middle part is stretched with described
The other end of contracting swing arm (4) is pivotally connected, and bottom is supported in ground,
Wherein, the steering engine (1) and the power arm (2) other end are sequentially connected, for driving walking connecting rod (3) around scalable
One end of swing arm (4) is fulcrum swing,
Wherein, the adjustable in length of the Telescopic swing arm (4) makes its end so that walking connecting rod (3) has different gaits
End track can satisfy obstacle detouring, to be applicable in complicated landform.
2. mobile walking devices according to claim 1, which is characterized in that the Telescopic swing arm (4) is hydraulic stem
(6)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414556.8A CN110294040A (en) | 2019-05-17 | 2019-05-17 | A kind of mobile walking devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414556.8A CN110294040A (en) | 2019-05-17 | 2019-05-17 | A kind of mobile walking devices |
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| Publication Number | Publication Date |
|---|---|
| CN110294040A true CN110294040A (en) | 2019-10-01 |
Family
ID=68026871
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910414556.8A Pending CN110294040A (en) | 2019-05-17 | 2019-05-17 | A kind of mobile walking devices |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658440A (en) * | 2020-07-06 | 2020-09-15 | 中国科学院合肥物质科学研究院 | Body weight supporting mechanism based on Chebyshev |
| CN111661193A (en) * | 2020-07-20 | 2020-09-15 | 安徽工业大学 | Two-degree-of-freedom joint-driven walking leg mechanism |
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| 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 |
| CN204871277U (en) * | 2015-07-10 | 2015-12-16 | 陕西九立机器人制造有限公司 | Four -footed robot |
| CN206155611U (en) * | 2016-10-28 | 2017-05-10 | 广东农工商职业技术学院 | Bio -robot |
| CN108791562A (en) * | 2018-06-11 | 2018-11-13 | 山东大学 | A kind of transfer and the quadruped robot including the transfer |
| CN109050711A (en) * | 2018-10-29 | 2018-12-21 | 山东大学 | One kind is run quadruped robot |
| CN109398527A (en) * | 2018-11-06 | 2019-03-01 | 北京建筑大学 | A kind of multi link Movable device |
| CN109465820A (en) * | 2018-07-09 | 2019-03-15 | 马鞍山清净环保科技有限公司 | A kind of two miniature climbing robot control method of foot of bionic type |
| CN109484508A (en) * | 2018-07-09 | 2019-03-19 | 马鞍山清净环保科技有限公司 | A kind of two miniature climbing robot of foot of bionic type |
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2019
- 2019-05-17 CN CN201910414556.8A patent/CN110294040A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN204871277U (en) * | 2015-07-10 | 2015-12-16 | 陕西九立机器人制造有限公司 | Four -footed robot |
| CN206155611U (en) * | 2016-10-28 | 2017-05-10 | 广东农工商职业技术学院 | Bio -robot |
| CN108791562A (en) * | 2018-06-11 | 2018-11-13 | 山东大学 | A kind of transfer and the quadruped robot including the transfer |
| CN109465820A (en) * | 2018-07-09 | 2019-03-15 | 马鞍山清净环保科技有限公司 | A kind of two miniature climbing robot control method of foot of bionic type |
| CN109484508A (en) * | 2018-07-09 | 2019-03-19 | 马鞍山清净环保科技有限公司 | A kind of two miniature climbing robot of foot of bionic type |
| CN109050711A (en) * | 2018-10-29 | 2018-12-21 | 山东大学 | One kind is run quadruped robot |
| CN109398527A (en) * | 2018-11-06 | 2019-03-01 | 北京建筑大学 | A kind of multi link Movable device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658440A (en) * | 2020-07-06 | 2020-09-15 | 中国科学院合肥物质科学研究院 | Body weight supporting mechanism based on Chebyshev |
| CN111661193A (en) * | 2020-07-20 | 2020-09-15 | 安徽工业大学 | Two-degree-of-freedom joint-driven walking leg mechanism |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191001 |