CN110329387A - A kind of full landform walking climbing mechanism - Google Patents
A kind of full landform walking climbing mechanism Download PDFInfo
- Publication number
- CN110329387A CN110329387A CN201910328232.2A CN201910328232A CN110329387A CN 110329387 A CN110329387 A CN 110329387A CN 201910328232 A CN201910328232 A CN 201910328232A CN 110329387 A CN110329387 A CN 110329387A
- Authority
- CN
- China
- Prior art keywords
- walking
- siding
- joint
- location
- connecting rod
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 51
- 230000009194 climbing Effects 0.000 title claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 238000009434 installation Methods 0.000 claims abstract description 31
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 210000002683 foot Anatomy 0.000 description 12
- 241000270295 Serpentes Species 0.000 description 8
- 230000036544 posture Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of full landform walking climbing mechanism, including more than one walking joint, successively movable connection between joint of walking；The walking joint includes: bracket, and bracket includes installation set and multiple mounting walls being uniformly distributed in around installation set, wherein the front end of mounting wall is fixed on installation set side wall；Transmission mechanism, including transmission shaft, transmission shaft passes through the installation set, and bearing is arranged between transmission shaft and installation set；It is set with worm screw on the transmission shaft on rear side of installation set, the worm gear with worm screw cooperation is provided on each mounting wall；Walking mechanism, including walking foot and connector.The each walking joint of the present invention has independent freedom degree, the torsion in each walking joint is realized by simple control unit and changes the angle of walking, is improved the adaptability to landform, is improved flexibility, it can be applicable in various devices or robot, realize the walking or climbing of full landform.
Description
Technical field
The present invention relates to bio-robot fields, and in particular to a kind of full landform walking climbing machine for imitating snakelike class walking
Structure has better landform adaptability and flexibility.
Background technique
Biological snake without drive foot, rely solely on itself posture variation can in barrier numerous, rough ring
It walks freely under border.This characteristic of snake causes the concern of scientific worker, constantly has the report of imitative snake robot research, so
And the variant motion study of current Fang She robot is mostly focused in plane of movement, robot passes through posture variation and interface
Frictional force realizes the movement of system.Limited with adapting to adverse circumstances or manpower, less than people in the environment of operation needs, than
As after earthquake to the cleaning of reacting furnace, the online inspection of inside of gas pipeline in the prospecting in disaster area, looking for survivors, nuclear power station
Survey etc..
Bionical snake structure has the advantage that super multiple degrees of freedom makes it have soft characteristic, being capable of abundant adaptation to the ground；
Weight average can be assigned on supporting surface；Centre of gravity can be kept, there is ultrastability；
Its disadvantage: since it is with superelevation freedom degree, more driving capabilities and control ability are needed in control；It is gone here and there
The characteristics of being coupled structure and creeping determine that it is unable to complete the task of belongings gymnastics work；It can not effectively solve the problems, such as energy supply；
Creep speed other mechanisms that compare are lower.
There is research for the bionical of class both at home and abroad now, motion morphology is broadly divided into creeping motion type and serpentine, but
It is all Shortcomings.Creeping motion type speed is ineffective compared with slow and relative to snake imitation；Serpentine adds in robot mostly
Dress wheel help moves, and can only move in the more smooth place such as cement floor, not adapt to landform complicated and changeable.
Summary of the invention
The object of the present invention is to provide a kind of structure is simple, walk climbing mechanism convenient for the full landform of control, it can be more
Easily and neatly walks and climb in various landform.
In order to realize above-mentioned task, the invention adopts the following technical scheme:
A kind of full landform is walked climbing mechanism, including more than one walking joint, successively movable between joint of walking
Connection；The walking joint includes:
Bracket, bracket include installation set and multiple mounting walls being uniformly distributed in around installation set, wherein mounting wall
Front end is fixed on installation set side wall；
Transmission mechanism, including transmission shaft, transmission shaft passes through the installation set, and is arranged between transmission shaft and installation set
Bearing；It is set with worm screw on the transmission shaft on rear side of installation set, is provided on each mounting wall and matches with the worm screw
The worm gear of conjunction；
Walking mechanism, including walking foot and connector take position at difference two to be denoted as A, B, institute on the surface of walking foot
It states different location at three on connector and is denoted as C, D, E respectively, then lead to respectively between location of C and location A, between the position D and B location
Cross the movable connection of first connecting rod；The rear end of the second connecting rod of movable connection on the position E, the front end connection of the second connecting rod
The rear end of a piece arc third connecting rod, junction are denoted as the position F；The front end of third connecting rod is movable to be connected to the B location；
On the movable wheel face for being connected to the worm gear in the position F, the position D is movable be connected to mounting wall after
End.
Further, the mounting wall includes the first siding, the second siding and third siding, wherein before the first siding
End is fixed in the installation set, and the front end of the second siding is connected to the first siding rear end, and the front end of third siding is connected to the
The side of two siding rear ends, the angle between the first siding, the second siding are obtuse angle；
From aperture at the first siding and the second siding link position inside edge, position of opening is denoted as the position G；From third wall
The aperture of plate rear end, position of opening are denoted as the position H.
Further, the walking includes pedal plate and mounting plate enough, and wherein pedal plate is triangular structure, at one end
Aperture at point, the position are the B location, and the two sides at an angle adjacent positioned at B location are symmetrically fixed with described in a pair
Mounting plate；The location A is located in one of installation plate surface, same to be formed to another mounting plate aperture at location A
Two holes of axis.
Further, the connector includes the first connecting plate, the second connecting plate and third connecting plate, wherein second
Connecting plate is located at the first connecting plate front end side, and third connecting plate is located at the second connecting plate front end side, the location of C, D
Set, the position E is located at the first connecting plate, on the second connecting plate and third connecting plate, and distinguish aperture in these three positions.
Further, the second connecting rod both ends, the equal aperture in third connecting rod both ends；The first connecting rod setting two
It is right, each equal aperture in first connecting rod both ends；It is installed respectively with a pair at the location A in the hole of one pair of them first connecting rod front end
Hole on plate is hinged, and the Kong Ze of rear end is respectively hinged at the two sides of aperture at the location of C；Another pair of first connecting rod front end
Hole is respectively hinged at the two sides in hole at B location, and coaxially hinged with the hole of the third connecting rod front end, and the hole of rear end is then distinguished
It is hinged on the two sides of the position D；
The wheel shaft of the worm gear is mounted on the H on the hole and mounting wall in the hole at the position G, on connector at the position D
Position is coaxially connected.
Further, pass through the movable connection of Hooks coupling universal coupling between adjacent walking joint；Wherein, Hooks coupling universal coupling is pacified
The front end of transmission shaft on the rear end and the latter walking joint of transmission shaft on previous walking joint.
Further, angle adjusting mechanism is additionally provided between adjacent walking joint, comprising:
It is correspondingly arranged at the steering engine frame that adjacent rows are got round by bribery on bracket, the front side of each steering engine frame, rear side are provided with the wing
Plate；
Steering engine is installed in each steering engine frame, steering engine arm is installed on the output shaft of steering engine；
It is provided between the wing plate on front side of the latter walking joint steering engine frame on steering engine arm on previous walking joint
Adjusting yoke, adjusting yoke and steering engine arm, wing plate junction use bulb joint.
The present invention has following technical characterstic:
1. this programme on completing imitative class walking mechanism, pays close attention to emphatically reduction of the bionic moving mechanism to snake movement mechanism
Degree；This programme realizes imitative class walking using more succinct mechanical structure.
2. this programme is directed to imitative class movement mechanism, a kind of link mechanism and corresponding machine-walking joint are devised.
Each walking joint is coupled by Hooks coupling universal coupling, can be connected in series by the walking joint of any number, each walking joint
With independent freedom degree, make entire mechanism that there is higher freedom degree, it is stronger to landform adaptability.It is borrowed in terms of gesture stability
Simple control unit is helped to realize the torsion in each walking joint and change the angle of walking, improves the adaptation energy to landform
Power improves flexibility, can be applicable in various devices or robot, realize the walking or climbing of full landform.
Detailed description of the invention
(a) of Fig. 1 is the overall structure diagram of bracket, (b) is the front view of supporting structure；
Fig. 2 is the structural schematic diagram of lower triangle；
Fig. 3 is the structural schematic diagram of upper triangle；
Fig. 4 is the structural schematic diagram of upper connecting rod；
Fig. 5 is the structural schematic diagram of lower link；
Fig. 6 is worm gear arrangement schematic diagram；
Fig. 7 is small rod structural schematic diagram；
Fig. 8 is steering engine arm configuration schematic diagram；
(a) of Fig. 9 is the overall structure diagram of single crank double swing-bar in-parallel four-bar mechanism, (b) double for single crank
The front view of swing rod in-parallel four-bar mechanism；
Figure 10 is the structural schematic diagram of claw；
(a) of Figure 11 is the structural schematic diagram of single joint, (b) is the structure right view of single joint, (c) closes to be single
The front view of section structure；
(a) of Figure 12 is the right view of three joints connection, is (b) overall structure diagram of three joints connection；
In figure: 1 bracket, 101 installation sets, 102 mounting walls, 1,021 first sidings, 1,022 second sidings, 1023 third walls
Plate, 2 walking foots, 201 pedal plates, 202 mounting plates, 3 connectors, 301 first connecting plates, 302 second connecting plates, the connection of 303 thirds
Plate, 4 second connecting rods, 5 third connecting rods, 6 worm gears, 7 first connecting rods, 8 steering engine arms, 9 bearings, 10 worm screws, 11 transmission shafts, 12 steering engines
Frame, 13 steering engines, 14 wing plates, 15 bulb joints, 16 positioning pull rods, 17 Hooks coupling universal couplings.
Specific embodiment
Walk climbing mechanism, including more than one walking joint the invention discloses a kind of full landform, walking joint it
Between successively movable connection；In the present solution, a walking joint is a mobile unit, walking can be set according to actual needs
The quantity in joint；The structure in each walking joint is identical.
The walking joint includes:
Bracket 1, bracket 1 include installation set 101 and multiple mounting walls 102 being uniformly distributed in around installation set 101,
In, the front end of mounting wall 102 is fixed on 101 side wall of installation set.Wherein, installation set 101 is hollow round tube set, the present embodiment
In around it at interval of 90 ° of layings, one mounting wall 102.As shown in (a) of Fig. 1, (b), the mounting wall 102 includes the
One siding 1021, the second siding 1022 and third siding 1023, wherein 1021 front end of the first siding is fixed on the installation set
On 101, the front end of the second siding 1022 is connected to 1021 rear end of the first siding, and the first siding 1021, the second siding 1022 are located at
Same plane；The front end of third siding 1023 is connected to the side of 1022 rear end of the second siding, the first siding 1021, the second siding
Angle between 1022 is obtuse angle；
From aperture at 1022 link position inside edge of the first siding 1021 and the second siding, position of opening is denoted as the position G；
From the 1023 rear end aperture of third siding, position of opening is denoted as the position H.
Transmission mechanism, including transmission shaft 11, transmission shaft 11 pass through the installation set 101, and in transmission shaft 11 and installation
Bearing 9 is set between set 101；It is set with worm screw 10 on the transmission shaft 11 of 101 rear side of installation set, in each mounting wall
The worm gear 6 with the worm screw 10 cooperation is provided on 102.Transmission shaft 11 is for realizing power transmitting, and 6 worm screw 10 of worm gear is matched
Closing the power-conversion for then transmitting transmission shaft 11 is walking power.There is a transmission shaft 11 in each walking joint, it is adjacent
Walking passes through the movable connection of Hooks coupling universal coupling 17 between joint；Wherein, Hooks coupling universal coupling 17 is mounted on previous (for convenient for table
State, one adjacent, walking joint is denoted as previous, another is denoted as the latter) on walking joint the rear end of transmission shaft 11 and
The latter walk joint on transmission shaft 11 front end, with realize adjacent rows get round by bribery between movable connection；By universal
The power that the latter walking transmitting of joint transmission axis 11 comes successively is passed to forward each walking joint by axis device 17；This programme
In, 10 inner hollow of worm screw, transmission shaft 11 passes through 10 middle part of worm screw and consolidates the two, then drives worm screw when transmission shaft 11 rotates
10 rotations.This programme is in actual use, it is only necessary to power mechanism be arranged at the rear portion of the last one transmission mechanism, such as electronic
Machine, then using all walking joint motions of the motor drive.
One, including walking foot 2 and connector 3 is arranged in walking mechanism on each mounting wall 102, in walking foot 2
Take position at difference two to be denoted as A, B on surface, three on the connector 3 at different location be denoted as C, D, E respectively, then location of C and A
Between position, pass through the movable connection of first connecting rod between the position D and B location respectively；Movable connection second connects on the position E
The rear end of extension bar, the front end of the second connecting rod connect the rear end of an arc third connecting rod 5, and junction is denoted as the position F；Third connects
The front end of bar 5 is movable to be connected to the B location；On the movable wheel face for being connected to the worm gear 6 in the position F, D
Set the movable rear end for being connected to mounting wall 102.
As shown in Fig. 2 to Fig. 9, specifically:
Walking foot 2 includes pedal plate 201 and mounting plate 202, and wherein pedal plate 201 is triangular structure, at one endpoint
Aperture, the position are the B location, and the two sides at an angle adjacent positioned at B location are symmetrically fixed with installation described in a pair
Plate 202；The location A is located in one of 202 surface of mounting plate, to another 202 aperture of mounting plate at location A, with
Form two coaxial holes.Walking foot 2 can be set with Anti-slip cover, outside it when specifically used to make it have better row
It walks, climb effect.
Such as Fig. 3, connector 3 includes the first connecting plate 301, the second connecting plate 302 and third connecting plate 303, wherein the
Two connecting plates 302 are located at 301 front end side of the first connecting plate, and third connecting plate 303 is located at 302 front end side of the second connecting plate,
The location of C, the position D, the position E are located at the first connecting plate 301, the second connecting plate 302 and third connecting plate 303
On, and aperture is distinguished in these three positions.From the point of view of the side of connector 3, as shown in (a) and (b) of Fig. 9, the position C, D, E is such as
It is sequentially connected then one triangular structure of composition, i.e., three is not arranged on the same straight line from the side.
As shown in Figures 4 to 7,4 both ends of second connecting rod, the equal aperture in 5 both ends of third connecting rod；The first connecting rod
7 two pairs of settings, each equal aperture in 7 both ends of first connecting rod.
As shown in (a) of Fig. 9, in two pairs of first connecting rods 7, the hole of 7 front end of one pair of them first connecting rod respectively with
Hole at the location A on two mounting plates 202 is hinged, and the Kong Ze of rear end is respectively hinged at the two sides of aperture at the location of C；
The hole of another pair of 7 front end of first connecting rod is respectively hinged at the two sides in hole at B location, and with 5 front end of third connecting rod
Hole is coaxially hinged, and the Kong Ze of rear end is respectively hinged at the two sides of the position D.The hole of 5 rear end of third connecting rod and 4 front end of second connecting rod
Hole junction, that is, position F, the Kong Ze of 4 rear end of second connecting rod are connected on connector 3 at the hole of the position E.
The wheel shaft of the worm gear 6 is mounted on hole and mounting wall 102 in the hole at the position G, on connector 3 at the position D
On the position H it is coaxially connected.As shown in fig. 6, non-central place offers a hole on the wheel face of worm gear 6, second connecting rod 4, third connect
The position F of 5 junction of bar is then hinged with the hole.
In the present solution, connection between Kong Yukong can there are many connection types, such as connected by shaft, pin shaft etc.
It connects.
The principle of this programme is that walking mechanism collectively forms single crank double pendulum by multi link and walking foot 2, connector 3
Bar in-parallel four-bar mechanism, the rotation of transmission shaft 11 drive worm screw 10 to rotate, and the rotation of worm screw 10 then imparts power to worm gear 6；
When worm gear 6 rotates, wheel face drives the position the F rotation of second connecting rod 4,5 junction of third connecting rod, due to the company in walking mechanism
The position D of fitting 3 is hinged on bracket 1, then, by the cooperation of each connecting rod, driving the front end of walking foot 2 when the position F rotates
It swings backward；When walking foot 2 is contacted with road surface, tube wall, the walking purpose of walking foot 2 is realized by frictional force.
It is as above-mentioned technical proposal to advanced optimize, as is illustrated by figs. 11 and 12, between adjacent walking joint also
It is provided with angle adjusting mechanism, comprising:
It is correspondingly arranged at the steering engine frame 12 that adjacent rows are got round by bribery on bracket 1, the front side of each steering engine frame 12, rear side are respectively provided with
There is wing plate 14；Steering engine 13 is installed in each steering engine frame 12, steering engine arm 8 is installed on the output shaft of steering engine 13；
It is set between the wing plate 14 of 12 front side of the latter walking joint steering engine frame on steering engine arm 8 on previous walking joint
It is equipped with adjusting yoke 16, adjusting yoke 16 and steering engine arm 8,14 junction of wing plate use bulb joint 15；Specifically, positioning pull rod
16 both ends are provided with circular ring, and bulb is provided on wing plate 14, steering engine arm 8, and the two is movable to connect and compose bulb pass
Section 15.
In the present embodiment, the mounting wall 102 on bracket 1 is arranged 4, and accordingly, walking mechanism and turbine are also provided with four.
Angle adjusting mechanism is arranged two groups between adjacent walking joint, as shown in (a) of Figure 12, wherein first group of angular adjustment machine
The steering engine frame 12 of structure is separately positioned on the mounting wall 102 of former and later two walking joint the same sides, and second group of angular adjustment machine
Structure is then set at 90 ° intervals on adjacent mounting wall 102.
The action principle of angle adjusting mechanism is that 13 output shaft of steering engine revolves on the upper angle regulating mechanism of previous walking joint
When turning, steering engine frame 12 on the latter walking joint is driven to move by steering engine arm 8, positioning pull rod 16, so that the latter be made to walk
Different angles can be presented relative to previous walking joint in joint；Since angle adjusting mechanism is successively movable connection,
When then previous angle adjusting mechanism is adjusted, the walking joint motions at rear are driven by way of linkage, are visually simulated
The movement of class biology；If you need to adjust different postures, then pass through the adjusting angle of the angle adjusting mechanism of change different location
?.Two groups of 90 ° of regulating mechanism interval layings in this programme may make walking mechanism of the subsequent walking joint relative to front
Angle is adjusted, in different directions to realize that multiple degrees of freedom is adjusted.
The present invention passes through the cooperation of walking mechanism, angle adjusting mechanism, and the posture that the present apparatus may be implemented changes to adapt to
Different applications.The present apparatus can be composed of the walking joint of any number, then with above-mentioned Liang Tao mechanism in fact
Now such as, snakelike movement, linear movement, wriggling, S-shaped are breakked away, and the adaptability to landform can be improved, it might even be possible in the duct
Walking.The present apparatus realizes the design of the walking climbing mechanism of imitative snake using mechanical structure, connection aspect use of getting round by bribery of being expert at
Hooks coupling universal coupling 17 selects steering engine 13 in terms of control to realize the angle torsion to each walking joint, and then realizes imitative snake
Class walking and climbing.
Claims (7)
- The climbing mechanism 1. a kind of full landform is walked, including more than one walking joint, successively movable company between joint of walking It connects；It is characterized in that, the walking joint includes:Bracket (1), bracket (1) include installation set (101) and multiple mounting walls being uniformly distributed in around installation set (101) (102), wherein the front end of mounting wall (102) is fixed on installation set (101) side wall；Transmission mechanism, including transmission shaft (11), transmission shaft (11) pass through the installation set (101), and transmission shaft (11) with Bearing (9) are set between installation set (101)；Worm screw (10) are set on the transmission shaft (11) on rear side of installation set (101), The worm gear (6) with the worm screw (10) cooperation is provided on each mounting wall (102)；Walking mechanism, including foot (2) and connector (3) of walking, taken on the surface for walking foot (2) at different two position be denoted as A, B, three on the connector (3) at different location be denoted as C, D, E respectively, then between location of C and location A, the position D and B location it Between respectively pass through the movable connection of first connecting rod；The rear end of the second connecting rod of movable connection on the position E, the second connecting rod Front end connects the rear end of an arc third connecting rod (5), and junction is denoted as the position F；The movable connection in front end of third connecting rod (5) In the B location；On the movable wheel face for being connected to the worm gear (6) in the position F, the position D is movable to be connected to mounting wall (102) Rear end.
- The climbing mechanism 2. landform as described in claim 1 complete is walked, which is characterized in that the mounting wall (102) includes the One siding (1021), the second siding (1022) and third siding (1023), wherein the first siding (1021) front end is fixed on described In installation set (101), the front end of the second siding (1022) is connected to the first siding (1021) rear end, before third siding (1023) End is connected to the side of the second siding (1022) rear end, and the angle between the first siding (1021), the second siding (1022) is blunt Angle；From aperture at the first siding (1021) and the second siding (1022) link position inside edge, position of opening is denoted as the position G； From third siding (1023) rear end aperture, position of opening is denoted as the position H.
- The climbing mechanism 3. full landform as described in claim 1 is walked, which is characterized in that the walking foot (2) includes pedal plate (201) with mounting plate (202), wherein pedal plate (201) is triangular structure, and the aperture at one endpoint, which is described B location, the two sides at an angle adjacent positioned at B location are symmetrically fixed with mounting plate described in a pair (202)；The position A Setting in one of mounting plate (202) surface, to another mounting plate (202) aperture at location A, to form coaxial two A hole.
- The climbing mechanism 4. full landform as described in claim 1 is walked, which is characterized in that the connector (3) includes first Connecting plate (301), the second connecting plate (302) and third connecting plate (303) connect wherein the second connecting plate (302) is located at first Fishplate bar (301) front end side, third connecting plate (303) are located at the second connecting plate (302) front end side, the location of C, D Set, the position E is located at the first connecting plate (301), on the second connecting plate (302) and third connecting plate (303), and this three Distinguish aperture in a position.
- The climbing mechanism 5. landform as described in claim 1 complete is walked, which is characterized in that described second connecting rod (4) both ends, the The equal aperture in three-link (5) both ends；The first connecting rod (7) is arranged two pairs, each equal aperture in first connecting rod (7) both ends；Its The hole of middle a pair of first connecting rod (7) front end is hinged with the hole at the location A on a pair of mounting plate (202) respectively, the hole of rear end Then it is respectively hinged at the two sides of aperture at the location of C；The hole of another pair of first connecting rod (7) front end is respectively hinged at B location Locate the two sides in hole, and coaxially hinged with the hole of described third connecting rod (5) front end, the Kong Ze of rear end is respectively hinged at the position D Two sides；The wheel shaft of the worm gear (6) is mounted in the hole at the position G, hole and mounting wall on connector (3) at the position D (102) position H on is coaxially connected.
- The climbing mechanism 6. full landform as described in claim 1 is walked, which is characterized in that pass through ten thousand between adjacent walking joint To shaft coupling (17) movable connection；Wherein, Hooks coupling universal coupling (17) is mounted on transmission shaft (11) on previous walking joint The front end of transmission shaft (11) on rear end and the latter walking joint.
- The climbing mechanism 7. full landform as described in claim 1 is walked, which is characterized in that also set between adjacent walking joint It is equipped with angle adjusting mechanism, comprising:It is correspondingly arranged at the steering engine frame (12) that adjacent rows are got round by bribery on bracket (1), the front side of each steering engine frame (12), rear side are all provided with It is equipped with wing plate (14)；It is equipped with steering engine (13) in each steering engine frame (12), steering engine arm (8) is installed on the output shaft of steering engine (13)；On previous walking joint on steering engine arm (8) between the wing plate (14) on front side of the latter walking joint steering engine frame (12) It is provided with adjusting yoke (16), adjusting yoke (16) and steering engine arm (8), wing plate (14) junction use bulb joint (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910328232.2A CN110329387B (en) | 2019-04-23 | 2019-04-23 | All-terrain walking climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910328232.2A CN110329387B (en) | 2019-04-23 | 2019-04-23 | All-terrain walking climbing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110329387A true CN110329387A (en) | 2019-10-15 |
| CN110329387B CN110329387B (en) | 2024-04-09 |
Family
ID=68139763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910328232.2A Active CN110329387B (en) | 2019-04-23 | 2019-04-23 | All-terrain walking climbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110329387B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020179342A1 (en) * | 2001-06-04 | 2002-12-05 | Quinn Roger D. | Vehicle with compliant drive train |
| CN202358215U (en) * | 2011-11-25 | 2012-08-01 | 广东岭南职业技术学院 | Mechanical leg mechanism and four-legged walker |
| US20160207206A1 (en) * | 2015-01-21 | 2016-07-21 | Nippon Thompson Co., Ltd. | Multi-articulated manipulator |
| CN205836998U (en) * | 2016-08-02 | 2016-12-28 | 马鞍山市翔宇机械自动化科技有限公司 | Snake-shaped robot is taken turns in the active of Flexible Transmission more |
| CN109048988A (en) * | 2018-09-25 | 2018-12-21 | 电子科技大学 | A kind of mechanical wrist constructional device |
| CN210083392U (en) * | 2019-04-23 | 2020-02-18 | 西安建筑科技大学 | All-terrain walking and climbing mechanism |
-
2019
- 2019-04-23 CN CN201910328232.2A patent/CN110329387B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020179342A1 (en) * | 2001-06-04 | 2002-12-05 | Quinn Roger D. | Vehicle with compliant drive train |
| CN202358215U (en) * | 2011-11-25 | 2012-08-01 | 广东岭南职业技术学院 | Mechanical leg mechanism and four-legged walker |
| US20160207206A1 (en) * | 2015-01-21 | 2016-07-21 | Nippon Thompson Co., Ltd. | Multi-articulated manipulator |
| CN205836998U (en) * | 2016-08-02 | 2016-12-28 | 马鞍山市翔宇机械自动化科技有限公司 | Snake-shaped robot is taken turns in the active of Flexible Transmission more |
| CN109048988A (en) * | 2018-09-25 | 2018-12-21 | 电子科技大学 | A kind of mechanical wrist constructional device |
| CN210083392U (en) * | 2019-04-23 | 2020-02-18 | 西安建筑科技大学 | All-terrain walking and climbing mechanism |
Non-Patent Citations (2)
| Title |
|---|
| ROHAN THAKKER; AJINKYA KAMAT; SACHIN BHARAMBE: "ReBiS - Reconfigurable Bipedal Snake robot", 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 6 November 2014 (2014-11-06), pages 309 - 314 * |
| 张向伟: "蛇形管道机器人系统研究", 中国优秀硕士学位论文全文数据库 信息科技辑, no. 4, pages 10 - 19 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110329387B (en) | 2024-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110217311B (en) | Agile four-foot robot based on coaxial parallel mechanism | |
| KR100749878B1 (en) | Robot arm for humanoid robot | |
| CN106041995A (en) | Human-simulated mechanical hand | |
| CN105922244B (en) | A kind of continual curvature change robot of line driving | |
| CN205363898U (en) | Open -ended modularity arm | |
| CN206633010U (en) | A kind of snake robot with computer vision function | |
| CN104444418B (en) | Eighteen-degree-of-freedom robot with bucket | |
| CN101973320A (en) | Simulation wriggling walking device | |
| CN111331572A (en) | Snakelike-imitating inspection robot | |
| CN110496836B (en) | Gecko-like ventilation pipeline cleaning robot | |
| CN103909520A (en) | Snakelike robot with creeping and swinging function | |
| CN111519880B (en) | Parallel floating robot and control method thereof | |
| CN109733502A (en) | A kind of robot leg structure and robot | |
| CN105108753A (en) | Sucking cup type wall face operation robot | |
| CN113183164A (en) | Bionic mechanical cow based on crank-rocker mechanism and control method | |
| CN105773599A (en) | Mechanical arm | |
| CN110329387A (en) | A kind of full landform walking climbing mechanism | |
| CN109367643A (en) | A kind of Four-feet creeping bio-robot based on link mechanism | |
| CN103170965B (en) | Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod | |
| CN102390456A (en) | Biped robot | |
| CN108583709B (en) | Intermittent type formula jumping robot of both feet | |
| CN203779494U (en) | Snakelike robot with creeping and swinging functions | |
| CN106979433A (en) | A kind of screw-pushing type pipe robot | |
| CN206885200U (en) | Robot leg sole running gear | |
| CN102990674B (en) | A/B shaft parallel mechanism |
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 |