CN110294042A - A kind of multi-locomotion mode running gear - Google Patents
A kind of multi-locomotion mode running gear Download PDFInfo
- Publication number
- CN110294042A CN110294042A CN201910412332.3A CN201910412332A CN110294042A CN 110294042 A CN110294042 A CN 110294042A CN 201910412332 A CN201910412332 A CN 201910412332A CN 110294042 A CN110294042 A CN 110294042A
- Authority
- CN
- China
- Prior art keywords
- motor
- walking
- leg
- steering mechanism
- running gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of multi-locomotion mode running gears, including rack and at least two pairs of walking mechanisms, wherein, the walking mechanism includes: first motor, is mounted on the rack, steering mechanism, first motor seat, outside are fixedly connected with second motor for being equipped with the first walking leg；And second motor cabinet, it is mounted on steering mechanism's other end, outside is fixedly connected with the third motor for being equipped with the second walking leg.Multi-locomotion mode running gear of the invention, the landform applicability of running gear is improved with distressed structure, pass through the setting of first motor, it can be when device be located at flat road surface, it can choose into advanced motor pattern, to improve the speed of travel, be arranged by the second motor, it can select to enter general mode when device is located at roughness pavement, the moving stability of device is improved by reducing movement speed.
Description
Technical field
The present invention relates to kinematic robot fields, and in particular to a kind of multi-locomotion mode running gear.
Background technique
Robot mechanism is many kinds of on the market at present, although transformable pattern is abundant, structure change is less, is transporting
During dynamic, it is only capable of controlling the movement velocity of the revolving speed adjustment robot of motor by controller, motor pattern is relatively single.It is existing
It is needing to improve robot architecture, when robot ambulation is on the prevailing roadway with the small barrier in part, machine
People is moved forward with common walking mode, when robot can switch to quickly walking mould in the higher smooth road of flatness
Formula improves movement speed, is switched fast quick walking mode or common walking mode according to surface conditions to realize.
Summary of the invention
To overcome the shortcomings of existing technologies, the purpose of the present invention is to provide a kind of multi-locomotion mode running gears, with reality
Now quick walking mode and common walking mode are switched fast according to surface conditions.
The present invention solves technical problem and adopts the following technical scheme that
The invention proposes a kind of multi-locomotion mode running gears, comprising: rack and at least two pairs of walking mechanisms, wherein
The walking mechanism includes: first motor, is mounted on the rack, and the direction of advance of electrical axis direction and running gear is hung down
Directly；Steering mechanism is connect with the output shaft of the first motor by bracket；First motor seat is mounted on the steering mechanism
One end, outside are fixedly connected with second motor for being equipped with the first walking leg；And second motor cabinet, it is mounted on the steering
The mechanism other end, outside are fixedly connected with the third motor for being equipped with the second walking leg, wherein the walking mechanism has two
Kind walking mode, under the first walking mode, the first motor and steering mechanism keep relatively fixed, the second motor band
The first walking leg rotation is moved, the third motor drives the second walking leg rotation, under the second walking mode, described first
Walking leg and the first motor seat keep relatively fixed, and the second walking leg and second motor cabinet keep relatively fixed, and
And first walking leg and the second walking leg be staggered in 180 °, the first motor drives the steering mechanism and is mounted on turning machine
The first walking leg, the second walking leg unitary rotation on structure.
Further, the walking leg is arc-shaped rod, the shaft of the steering mechanism and the first motor seat or institute
State the transmission connection of the second motor cabinet.
Compared with prior art, beneficial effects of the present invention:
Multi-locomotion mode running gear of the invention improves the landform applicability of running gear with distressed structure, leads to
The setting of first motor is crossed, can choose into advanced motor pattern, when running gear is located at flat road surface to improve
The speed of travel is arranged by the second motor, can select to enter general mode when running gear is located at roughness pavement, pass through
Reduce the moving stability that movement speed improves 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 multi-locomotion mode running gear of the invention；
Fig. 2 is the structural schematic diagram of walking mechanism in multi-locomotion mode running gear of the invention；
Fig. 3 a and Fig. 3 b are the motion process schematic diagram under multi-locomotion mode running gear ordinary movement mode of the invention,
Wherein, Fig. 3 a shows the initial walking states of running gear during the motion, and Fig. 3 b shows running gear and is being moved through
Intermediate walking states in journey；And
Fig. 4 is the structural schematic diagram under the advanced motor pattern of multi-locomotion mode running gear of the invention.
Description of symbols
1, first motor；2, steering mechanism；
3, first motor seat；4, the second motor；
5, the first walking leg；6, the second motor cabinet；
7, third motor；8, the second walking leg；
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 multi-locomotion mode running gear, mainly comprising rack 20 and four are mounted in rack 20
Walking mechanism 10.
Specifically, as shown in Fig. 2, walking mechanism 10 includes first motor 1, steering mechanism 2, the 3, second electricity of first motor seat
Base 6, the second motor 4, first walking leg 5, the walking leg 8 of third motor 7, second；Wherein, the first walking leg 5, the second row
Walking leg 8 is arc-shaped rod, and steering mechanism 2 is rotating electric machine.
Specifically, as shown in Fig. 2, first motor 1 is fixed in rack 20, first motor 1 is vertical with steering mechanism 2 to be set
It sets, and is connected by bracket with the shaft of first motor with steering mechanism 2,2 both ends of steering mechanism are connected separately with first motor
The side of seat 3 and the second motor cabinet 6, the first motor seat 3 and the second motor cabinet 6 is respectively connected with the second motor 4, third motor
7, the first walking leg 5 is installed in the shaft of second motor 4, the second walking of installation leg 8 in the shaft of third motor 7, the
Two motors 4 and third motor 7 are respectively used to the first walking leg 5 of driving and the second walking leg 8 rotates, and then carry out movement purpose.
Specifically, the axis direction of 1 shaft of first motor is vertical with the direction of advance of running gear, first motor band turn
Steering mechanism 2 is driven to rotate when rotating to mechanism 2, the side that the plane and running gear that 2 rotational trajectory of steering mechanism is formed are advanced
To parallel.The steering mechanism 2 (rotating electric machine) can drive first motor seat 3 or the second motor cabinet 6 to rotate 180 degree, allow first
The the first walking leg 5 installed on motor cabinet 3, the second motor cabinet 6 is opposite with the direction holding of the second walking leg 8.
In multi-locomotion mode running gear of the invention, there are two types of motor patterns for the tool of walking mechanism 10:
As shown in Figure 3a and Figure 3b shows, ordinary movement mode: first motor 1 does not work, and position keeps relatively fixed, passes through control
Rotary electric machine 2 processed operates, and makes the court of first motor seat 3, the first walking leg 5 and the second walking leg 8 installed on the second motor cabinet 6
The first walking leg 5 and the second walking leg 8 is driven to rotate to consistent, then by the second motor 4, the rotation of third motor 7, realization device
Movement move ahead.
Wherein, Fig. 3 a shows initial walking states during the motion, the first walking leg 5 and the second walking leg 8
Rotation phase is staggered 180 °, and the first walking leg 5 is in the state that lands, and the second walking leg 8 is in a vertical state.Fig. 3 b is shown
Intermediate walking states in motion process, the first walking leg 5 rotation to vertical state, the second walking leg 8 rotation to the state of landing.
As shown in figure 4, advanced motor pattern: by control steering mechanism 2 (rotating electric machine) rotation, make first motor seat 3,
The direction of the first walking leg 5 installed on second motor cabinet 6 and the second walking leg 8 keep on the contrary, and make second motor 4 and
The position of first walking leg 5 keeps relatively fixed, and third motor 7 and the position of the second walking leg 8 keep relatively fixed, then leads to
The rotation of first motor 1 is crossed to drive steering mechanism 2 (rotating electric machine) and be mounted on the first row of first motor seat 3, the second motor cabinet 6
It walks the walking leg 8 of leg 5, second to rotate, the movement of realization device moves ahead.
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 multi-locomotion mode running gear characterized by comprising rack (20) and at least two pairs of walking mechanisms (10),
Wherein, the walking mechanism (10) includes:
First motor (1) is mounted on rack (20), and electrical axis direction is vertical with the direction of advance of running gear；
Steering mechanism (2) is connect with the output shaft of the first motor (1) by bracket；
First motor seat (3), is mounted on the steering mechanism (2) one end, and outside is fixedly connected with one and is equipped with the first walking leg
(5) the second motor (4)；And
Second motor cabinet (6), is mounted on the steering mechanism (2) other end, and outside is fixedly connected with one and is equipped with the second walking
The third motor (7) of leg (8),
Wherein, there are two types of walking modes for the walking mechanism tool, under the first walking mode, the first motor (1) and steering
Mechanism (2) keeps relatively fixed, and second motor (4) drives the first walking leg (5) rotation, the third motor (7)
The second walking leg (8) rotation is driven,
Under the second walking mode, first walking leg (5) keeps relatively fixed, the second row with the first motor seat (3)
It walks leg (8) and keeps relatively fixed with second motor cabinet (6), and the first walking leg (5) and the second walking leg (8) are staggered and are in
180 °, the first motor (1) drive the steering mechanism (2) and be mounted on steering mechanism (2) the first walking leg (5),
Second walking leg (8) unitary rotation.
2. according to multi-locomotion mode running gear described in claim (1), which is characterized in that the walking leg (5) is arc
Rod piece, the shaft of the steering mechanism (2) and the first motor seat (3) or second motor cabinet (6) are sequentially connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412332.3A CN110294042B (en) | 2019-05-17 | 2019-05-17 | Multi-movement-mode walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412332.3A CN110294042B (en) | 2019-05-17 | 2019-05-17 | Multi-movement-mode walking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110294042A true CN110294042A (en) | 2019-10-01 |
| CN110294042B CN110294042B (en) | 2021-03-02 |
Family
ID=68026852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910412332.3A Active CN110294042B (en) | 2019-05-17 | 2019-05-17 | Multi-movement-mode walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110294042B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| CN102267509A (en) * | 2011-06-11 | 2011-12-07 | 吉林大学 | Symmetric bionic hexapoda walking device |
| US20120031218A1 (en) * | 2010-08-03 | 2012-02-09 | The Trustees Of The University Of Pennsylvania | Variable stiffness leg structure for multipede running robots |
| CN102785542A (en) * | 2012-08-02 | 2012-11-21 | 中国科学技术大学 | Amphibious robot with deformable foot-web compounded propulsion mechanism |
| CN104787138A (en) * | 2015-04-01 | 2015-07-22 | 上海交通大学 | Desert quadruped robot |
| CN205632719U (en) * | 2016-05-10 | 2016-10-12 | 方绍峡 | Novel six -foot biomimetic robot |
| CN206155611U (en) * | 2016-10-28 | 2017-05-10 | 广东农工商职业技术学院 | Bio -robot |
| CN106828832A (en) * | 2017-01-23 | 2017-06-13 | 西北工业大学 | A kind of bionical knife edge leg of migration mixing and crawler belt combination walking underwater robot and its control method |
| CN107097238A (en) * | 2017-03-30 | 2017-08-29 | 西北工业大学 | The underwater operation robot and its control method of a kind of migration mixing |
| CN107298137A (en) * | 2017-05-22 | 2017-10-27 | 广东职业技术学院 | One kind is lain prone horizontal walking robot |
| CN107571694A (en) * | 2017-09-20 | 2018-01-12 | 重庆大学 | Take turns web formula integration walking mechanism |
| CN108482509A (en) * | 2018-01-23 | 2018-09-04 | 夏荧 | Wheel leg travelling robot |
| CN208165136U (en) * | 2018-03-16 | 2018-11-30 | 长安大学 | A kind of arc leg formula multi-foot robot |
| CN109227544A (en) * | 2018-10-24 | 2019-01-18 | 西南交通大学 | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg |
| CN109334797A (en) * | 2018-09-13 | 2019-02-15 | 南京航空航天大学 | Dry adhesion four-footed in conjunction with hook is dwelt robot and its bionic movement method more |
-
2019
- 2019-05-17 CN CN201910412332.3A patent/CN110294042B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7249640B2 (en) * | 2001-06-04 | 2007-07-31 | Horchler Andrew D | Highly mobile robots that run and jump |
| US20120031218A1 (en) * | 2010-08-03 | 2012-02-09 | The Trustees Of The University Of Pennsylvania | Variable stiffness leg structure for multipede running robots |
| CN102267509A (en) * | 2011-06-11 | 2011-12-07 | 吉林大学 | Symmetric bionic hexapoda walking device |
| CN102785542A (en) * | 2012-08-02 | 2012-11-21 | 中国科学技术大学 | Amphibious robot with deformable foot-web compounded propulsion mechanism |
| CN104787138A (en) * | 2015-04-01 | 2015-07-22 | 上海交通大学 | Desert quadruped robot |
| CN205632719U (en) * | 2016-05-10 | 2016-10-12 | 方绍峡 | Novel six -foot biomimetic robot |
| CN206155611U (en) * | 2016-10-28 | 2017-05-10 | 广东农工商职业技术学院 | Bio -robot |
| CN106828832A (en) * | 2017-01-23 | 2017-06-13 | 西北工业大学 | A kind of bionical knife edge leg of migration mixing and crawler belt combination walking underwater robot and its control method |
| CN107097238A (en) * | 2017-03-30 | 2017-08-29 | 西北工业大学 | The underwater operation robot and its control method of a kind of migration mixing |
| CN107298137A (en) * | 2017-05-22 | 2017-10-27 | 广东职业技术学院 | One kind is lain prone horizontal walking robot |
| CN107571694A (en) * | 2017-09-20 | 2018-01-12 | 重庆大学 | Take turns web formula integration walking mechanism |
| CN108482509A (en) * | 2018-01-23 | 2018-09-04 | 夏荧 | Wheel leg travelling robot |
| CN208165136U (en) * | 2018-03-16 | 2018-11-30 | 长安大学 | A kind of arc leg formula multi-foot robot |
| CN109334797A (en) * | 2018-09-13 | 2019-02-15 | 南京航空航天大学 | Dry adhesion four-footed in conjunction with hook is dwelt robot and its bionic movement method more |
| CN109227544A (en) * | 2018-10-24 | 2019-01-18 | 西南交通大学 | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110294042B (en) | 2021-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104986233B (en) | Track swing arm type obstacle-crossing robot | |
| CN110565925B (en) | Floating robot | |
| CN110195506A (en) | Smooth out robot | |
| CN108253227B (en) | Pipeline robot applied to reservoir culvert pipe | |
| CN106394725B (en) | Micro-stepping robot | |
| CN110512672A (en) | Evener | |
| CN204938306U (en) | A kind of heavy rotating jacking apparatus | |
| CN202606954U (en) | Spline key slot milling machine | |
| CN110294042A (en) | A kind of multi-locomotion mode running gear | |
| CN201185910Y (en) | Distance type wall-climbing cleaning robot | |
| CN107054495A (en) | A kind of town road robot | |
| CN110497960A (en) | A kind of robot pivot steering system and robot moving platform | |
| CN106930203A (en) | A kind of firm traffic indication board mechanism | |
| CN105035207B (en) | Flexible-obstacle-striding steering small vehicle | |
| CN106760740B (en) | A kind of lower platen Forward rotating device | |
| CN208376917U (en) | A kind of single driving steering wheel type omnidirectional AGV vehicle | |
| CN206737509U (en) | A kind of upper strata framework reach rotating device | |
| CN107009831A (en) | A kind of town road is used can flying robot | |
| CN206265185U (en) | Micro-stepping robot | |
| CN211031303U (en) | High-efficient triaxial developments rolling press device | |
| CN206499872U (en) | The transmission component and toy of toy | |
| CN110561803B (en) | High-efficient triaxial developments rolling press device | |
| CN204615697U (en) | Electric machine control system | |
| CN107053982A (en) | One kind building municipal administration robot | |
| CN109235969A (en) | Ground angled deck formula garage parking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |