CN110466641A - Pedipulator and robot - Google Patents
Pedipulator and robot Download PDFInfo
- Publication number
- CN110466641A CN110466641A CN201910616784.3A CN201910616784A CN110466641A CN 110466641 A CN110466641 A CN 110466641A CN 201910616784 A CN201910616784 A CN 201910616784A CN 110466641 A CN110466641 A CN 110466641A
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- transmission arm
- transmission
- support arm
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- 230000005540 biological transmission Effects 0.000 claims abstract description 154
- 238000009434 installation Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 20
- 230000005484 gravity Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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
- 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
Abstract
A kind of pedipulator and robot, including the first swing arm unit, the second swing arm unit and driving assembly, the first swing arm unit and the second swing arm unit are mounted side by side on driving assembly；First swing arm unit includes the first transmission arm, the first support arm and first motor, and one end of the first transmission arm is connect with first motor, and the other end of the first transmission arm and one end of the first support arm are hinged；Second swing arm unit includes the second transmission arm, the second support arm and the second motor, and one end of the second transmission arm is connect with the second motor, and the other end of the second transmission arm and one end of the second support arm are hinged；The other end of first support arm and the other end of the second support arm are hinged.Pedipulator and robot provided by the invention, using the first swing arm unit and the second swing arm unit being mounted side by side, load and the inertia of first motor and the second motor are reduced, convenient for improving the load capacity of pedipulator, the intensity and rigidity for improving pedipulator, improve the response speed of pedipulator.
Description
Technical field
The present invention relates to robotic technology fields, especially provide a kind of pedipulator and robot.
Background technique
As mobile robot is using more and more extensive, legged type robot is since it is adaptable to landform, to ring
The demand of border transformation is few and is more and more paid attention to.Existing legged type robot mostly uses binodal swing arm structure, passes through two
A motor respectively drives hypozygal and upper joint is swung, and swing of leg part mass is larger, in order to improve impact resistance, needs
Reinforce leg structure intensity, increase leg rigidity, causes leg inertia to increase, response speed reduces, while the load of motor
Greatly, the load capacity of leg is difficult to improve.
Summary of the invention
The purpose of the present invention is to provide a kind of pedipulators, it is intended to solve robot leg swing part sub-prime in the prior art
Measure it is larger, in order to improve impact resistance, need to reinforce leg structure intensity, increase leg rigidity, cause leg inertia increase,
The technical issues of response speed reduces, while the load excessive of motor, and the load capacity of leg is difficult to improve.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of pedipulator, including the first swing arm unit,
Two swing arm units and driving assembly for driving first swing arm unit and second swing arm unit to swing, institute
It states the first swing arm unit and second swing arm unit is mounted side by side in the driving component；First swing arm unit includes
First transmission arm, the first support arm and the first motor for driving the first transmission arm swing, described first passes
One end of swing arm is connect with the first motor, and one end of the other end of first transmission arm and first support arm is cut with scissors
It connects；Second swing arm unit is including the second transmission arm, the second support arm and for driving the second transmission arm front and back pendulum
The second dynamic motor, one end of second transmission arm are connect with second motor, the other end of second transmission arm with
One end of second support arm is hinged；The other end of first support arm and the other end of second support arm are hinged.
Further, the first motor and the second motor face and interval setting；First transmission arm and institute
It states the second transmission arm to be located between the first motor and second motor, and the end of first transmission arm and institute
The shaft for stating first motor is fixedly connected, and the end of second transmission arm is fixedly connected with the shaft of second motor.
Further, between the first motor and second motor be equipped with fixing seat, one end of the fixing seat with
The shell of the first motor is fixed, and the other end of the fixing seat and the shell of second motor are fixed.
Further, the driving component includes the installation in third motor and the shaft for being fixed on the third motor
Seat, the first motor and second motor are installed in the mounting base.
Further, one end of the shell of the first motor is fixedly connected with the mounting base, and the fixing seat is fixed
In the other end of the shell of the first motor.
Further, first support arm is located at first transmission arm close to second transmission arm side, described
Second support arm is located at second transmission arm close to first transmission arm side.
Further, second support arm far from second transmission arm one end be equipped with support portion, described first
Brace is articulated with second support arm adjacent to the position of the support portion far from one end of first transmission arm.
Further, the length of first transmission arm is less than the length of first support arm, second transmission arm
Length be less than second support arm length.
Further, first transmission arm is coaxially swung with second transmission arm, first transmission arm and described
Second transmission arm equal length, the articulated position of first support arm and second support arm and first support arm with
The distance of the articulated position of first transmission arm is equal to the articulated position of first support arm and second support arm and described
Second support arm is at a distance from the articulated position of the second transmission arm.
A kind of robot is also provided, including trunk main body and the pedipulator, the driving component is fixed on described
In trunk main body.
Beneficial effects of the present invention:
Pedipulator and robot provided by the invention, using the first swing arm unit and the second swing arm unit being mounted side by side,
The first transmission arm and the second transmission arm output torque are loaded respectively by first motor and the second motor, drive pedipulator front and back
Movement reduces first motor and the second electricity so that the load of pedipulator is distributed to the first swing arm unit and the second swing arm unit
The load of machine, convenient for improving the load capacity of pedipulator；First motor and the second motor are not needed along swing, to reduce
The quality of pedipulator swing, improves the first transmission arm and the first support arm and the second transmission arm and the second support arm connects
The intensity of binding structure and the rigidity of pedipulator, reduce the quality of pedipulator, reduce swing and the left and right pendulum of pedipulator
Dynamic inertia improves the response speed of pedipulator.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the schematic perspective view of robot provided in an embodiment of the present invention；
Fig. 2 is the schematic perspective view one of pedipulator in Fig. 1；
Fig. 3 is the schematic perspective view two of pedipulator in Fig. 1；
Fig. 4 is the explosive view of pedipulator in Fig. 1；
Fig. 5 is the stereochemical structure signal of the first transmission arm in Fig. 2, the first support arm, the second transmission arm and the second support arm
Figure；
Fig. 6 is the schematic perspective view of the second support arm in Fig. 5.
Wherein, each appended drawing reference in figure:
1-trunk main body, 2-pedipulators, 10-driving assemblies, 11-third motors, 12-mounting bases, 13-are fixed
Seat, the 20-the first swing arm unit, 21-first motors, the 22-the first transmission arm, the 23-the first support arm, the 30-the second swing arm set
Part, the 31-the second motor, the 32-the second transmission arm, the 33-the second support arm, 331-support portions.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
Also referring to 1 to Fig. 6, pedipulator 2 provided by the invention is illustrated below.Pedipulator provided by the invention
2 include the first swing arm unit 20, the second swing arm unit 30 and driving assembly 10, and driving assembly 10 is for driving the first swing arm unit
20 and second swing arm unit 30 swing.First swing arm unit 20 and the second swing arm unit 30 are mounted side by side in driving assembly 10
On, i.e. the both ends of the first swing arm unit 20 and the second swing arm unit 30 are relatively rotatable to each other, the first swing arm unit 20 and the second pendulum
The mutual self-movement in the centre of arm component 30.First swing arm unit 20 includes first motor 21, the first transmission arm 22 and first
Support arm 23, first motor 21 is for driving 22 swing of the first transmission arm；One end of first transmission arm 22 and first motor
21 connections, the other end of the first transmission arm 22 and one end of the first support arm 23 are hinged.Second swing arm unit 30 includes the second electricity
Machine 31, the second transmission arm 32 and the second support arm 33, the second motor 31 is for driving the second transmission arm 32 to swing；Second transmission
One end of arm 32 is connect with the second motor 31, and the other end of the second transmission arm 32 and one end of the second support arm 33 are hinged.First
The other end of support arm 23 and the other end of the second support arm 33 are hinged, limit the first support arm 23 and the second support in this way
The movement of 33 lower end of arm, so as to support pedipulator 2.Wherein, swing refers to 22/ second transmission arm 32 of the first transmission arm
It is swung along the rotation of 21 shaft of first motor/31 shaft of the second motor, for making the first transmission arm 22 and the second transmission arm
32 lower end generates and is displaced in the front-back direction along pedipulator 2；It swings and refers to 31 turns of 21 shaft of first motor and the second motor
The fan-shaped movement for swinging and (being rotated with third motor 11) of axis, for making the lower end of the first transmission arm 22 and the second transmission arm 32
The displacement along 2 left and right sides of pedipulator is generated simultaneously.When pedipulator 2 in the process of walking, first motor 21 and the second motor 31
Make 32 swing of the first transmission arm 22 and the second transmission arm respectively, the first transmission arm 22 and the second transmission arm 32 drive respectively
One support arm 23 and the movement of the second support arm 33, since the lower end of the first support arm 23 and the lower end of the second support arm 33 are hinged,
Allow for the first transmission arm 22 in this way and when the second transmission arm 32 moves at the same time, it can be by the first transmission arm 22 and the second transmission
Arm 32 swinging while exporting to the hinge joint of the first support arm 23 and the second support arm 33, so that the first transmission arm 22 and second
When 32 swaying direction of transmission arm is identical or opposite, enable to the first support arm 23 and 33 hinged place of the second support arm have compared with
High movement velocity, to improve the speed of pedipulator 2.Moreover, when pedipulator 2 is walked, the first swing arm unit 20 and second
Swing arm unit 30 is arranged side by side, the load of offer 20 swing of the first swing arm unit of first motor 21, the offer of the second motor 31
The load of second swing arm unit, 30 swing, the load in 2 motion process of pedipulator are equal to the first swing arm unit 20 and second
The sum of the load of swing arm unit 30；First motor 21 and the second motor 31 while output torque, so that the maximum of pedipulator 2
Load is equal to first motor 21 and the second motor 31 and the sum of exports, and reduces the negative of first motor 21 and the second motor 31
It carries.In this way, first motor 21 and the second motor 31 have concentrated the prevailing quality of pedipulator 2, but without swing, just make
The lighter weight of 30 lower wobble part of the first swing arm unit 20 and the second swing arm unit is obtained, intensity is larger and rigidity is stronger, from
And be conducive to improve the corresponding speed of pedipulator 2.That is: due to the first transmission arm 22 and the first support arm of 21 downside of first motor
The sum of 23 weight are smaller, swing part intensity is larger and rigidity is stronger, the plus-minus of first motor 21 when first motor 21 rotates
The fast time is short, and movement velocity is fast；Identical, the Acceleration and deceleration time of the second motor 31 is short, and movement velocity is fast.
Further, a kind of specific embodiment party please with reference to Fig. 1 to Fig. 3, as pedipulator 2 provided by the invention
Formula, first motor 21 and the setting of 31 face of the second motor, first motor 21 and the setting of the second motor 31 interval, the first transmission arm 22
And second transmission arm 32 be located between first motor 21 and the second motor 31, the end of the first transmission arm 22 is fixed on first
In the shaft of motor 21, the end of the second transmission arm 32 is fixed in the shaft of the second motor 31.Such first transmission arm, 22 He
There is lesser spacing between second transmission arm 32, reduce the first swing arm unit 20 and the second swing arm unit 30 along first motor
21 and second motor 31 rotor shaft direction spacing, be conducive to improve the first swing arm unit 20 and the second swing arm unit 30 stabilization
And rigidity.
Further, a kind of specific embodiment party please with reference to Fig. 1 to Fig. 4, as pedipulator 2 provided by the invention
Formula, is equipped with fixing seat 13 between first motor 21 and the second motor 31, one end of fixing seat 13 and the shell of first motor 21 are solid
Fixed, the other end of fixing seat 13 and the shell of the second motor 31 are fixed.Using fixing seat 13 by first motor 21 and the second motor
31 is fixed, can ensure that first motor 21 and the position of the second motor 31 immobilize, and ensures the first swing arm unit 20 and second
The stabilization of 30 structure of swing arm unit.
Specifically, fixing seat 13 is arc link block, and fixing seat 13 is located at first motor 21 and the second motor 31 far from the
The side of one transmission arm 22 and the second transmission arm 32, can be avoided in 32 swing process of the first transmission arm 22 and the second transmission arm with
Fixing seat 13 generates interference, can provide enough swing spaces for the first transmission arm 22 and the second transmission arm 32.
Further, a kind of specific embodiment party please with reference to Fig. 1 to Fig. 4, as pedipulator 2 provided by the invention
Formula, driving assembly 10 include third motor 11 and mounting base 12, and first motor 21 and the second motor 31 are mounted on mounting base 12
On, mounting base 12 is fixed in the shaft of third motor 11.When third motor 11 is swung, first motor 21 and the second electricity are driven
Machine 31 is rotated along 11 shaft of third motor, and at this moment the lower end of the first support arm 23 and the second support arm 33 will be along pedipulator 2
Left and right sides movement can be used to realize steering or lateral movement this makes it possible to realize that pedipulator 2 moves to two sides.Meanwhile In
After impact of the top of pedipulator 2 by lateral (i.e. along the axis direction of first motor and the second machine shaft), 2 energy of pedipulator
It is enough rapidly adjusted by third motor 11, plays the role of buffering and adjustment 2 center of gravity of pedipulator.
Further, a kind of specific embodiment party please with reference to Fig. 1 to Fig. 5, as pedipulator 2 provided by the invention
One end of formula, the shell of first motor 21 is fixedly connected with mounting base 12, and fixing seat 13 is fixed on the shell of first motor 21
The other end.Make the first transmission arm 22 and the second transmission arm 32 avoid mounting base 12 in this way, avoids mounting base 12 to first
Transmission arm 22 and the second transmission arm 32, which are swung, generates interference；Meanwhile being conducive to shorten first motor 21 and the second motor 31 and the
Along the distance of third motor 11 shaft axial direction between three motors 11, ensures the first swing arm unit 20 and the second swing arm unit 30 and drive
Stabilization between dynamic component 10.
Further, a kind of specific embodiment party please with reference to Fig. 1 to Fig. 4, as pedipulator 2 provided by the invention
Formula, the first support arm 23 are located at the first transmission arm 22 close to 32 side of the second transmission arm, and the second support arm 33 is located at the second transmission
Arm 32 is close to 22 side of the first transmission arm.Make gap between the first support arm 23 and the second support arm 33 smaller in this way, favorably
In the support strength and rigidity of raising the first transmission arm 22 and 32 hinged place of the second transmission arm, and then be conducive to reduce the first swing arm
The weight of component 20 and the second swing arm unit 30 reduces the load of first motor 21 and the second motor 31.
Specifically, the first support arm 23 and the second transmission arm 32 are generally aligned in the same plane, the second support arm 33 and the first transmission
Arm 22 is generally aligned in the same plane.That is, the first support arm 23 is located at the second support arm 33 close to 32 side of the second transmission arm.Such side
Face can reduce the width that the first swing arm unit 20 and the second swing arm unit 30 occupy；On the other hand, it can be avoided the first support
Deformation occurs for arm 23 and 33 articulated position of the second support arm, improves the stability of the first support arm 23 and the second support arm 33 and strong
Degree.
Specifically, between the first transmission arm 22 and the first support arm 23, between the first support arm 23 and the second support arm 33
And second pass through shaft between transmission arm 32 and the second support arm 33 and be rotatablely connected.
Further, a kind of specific embodiment party please with reference to Fig. 1 to Fig. 6, as pedipulator 2 provided by the invention
Formula, the second support arm 33 are equipped with support portion 331 far from one end of the second transmission arm 32, and the first support arm 23 is far from the first transmission arm
22 one end is articulated with the second transmission arm 32 adjacent to the side of support portion 331.Setting and ground in the end of the second support arm 33
The support portion 331 of (or supporting surface) contact, support portion 331 can be avoided the first support arm 23 and the lower end of the second support arm 33 is same
When rotation to pedipulator 2 walk generate interference.
Specifically, the downside of support portion 331 is arc-shaped, and the first support arm is protruded in the left and right sides of support portion 331
23 or 33 side of the second support arm extend outwardly.In such manner, it is possible to increase the contact area between ground, reduce support portion 331
Impact and abrasion between ground.
Further, a kind of specific embodiment party please with reference to Fig. 1 to Fig. 6, as pedipulator 2 provided by the invention
Formula, the length of the first transmission arm 22 is less than the length of the first support arm 23, and the length of the second transmission arm 32 is less than the second support arm
33 length.In 32 swing process of the first transmission arm 22 and the second transmission arm, torque is shorter, is conducive to reduce first motor 21
With the load of the second motor 31.Simultaneously as when the first transmission arm 22 is identical with the angle that the second transmission arm 32 is swung, length
Longer to cause its end bigger in the displacement of vertical direction, this allows for the first transmission arm 22 and the second transmission arm 32 is shorter than respectively
When the first support arm 23 and the second support arm 33, first motor 21 and 31 rotational angle of the second motor and support portion are helped to improve
The ratio of 331 displacement along the vertical direction is conducive to the control essence for improving the first support arm 23 and the movement of the second support arm 33
Degree, and then be conducive to ensure the steady of pedipulator 2.
Further, the first transmission arm 22 and the coaxial swing of the second transmission arm 32, and the first transmission arm 22 and second passes
The articulated position of 32 equal length of swing arm, the first support arm 23 and the second support arm 33 and the first support arm 23 and the first transmission arm
The distance of 22 articulated position is equal to the articulated position and the second support arm 33 and the of the first support arm 23 and the second support arm 33
The distance of the articulated position of two transmission arms 32.When the first transmission arm 22 and the second transmission arm 32 rotate towards each other, is enabled to
The articulated position of the articulated position and the second support arm 33 and the second support arm 33 of one transmission arm 22 and the first support arm 23 away from
From minimum, this enables the first transmission arm 22, the first support arm 23, the second transmission arm 32 and the second support arm 33 simultaneously along the
The radial direction of 31 shaft of one motor 21 and the second motor reaches maximum extended length (and pedipulator 2 reaches maximum elongation length),
At this moment the torque of first motor 21 and the second motor 31 is minimum.That is, reduction first motor 21 advantageous in this way and the second motor 31 divide
The minimum torque for not driving the first transmission arm 22 and the second transmission arm 32 to rotate, reduces the minimal negative of the back-and-forth motion of pedipulator 2
It carries.
Further, a kind of specific embodiment party please with reference to Fig. 1 to Fig. 6, as pedipulator 2 provided by the invention
Formula, the first transmission arm 22, the first support arm 23, the second transmission arm 32 and the second support arm 33 are equipped with elongated hole.Due to first
Swing arm unit 20 and the second swing arm unit 30 have shared the load of the movement of pedipulator 2 jointly, this makes the first transmission arm 22, first
The stress of support arm 23, the second transmission arm 32 and the second support arm 33 is relatively small；And elongated hole, which is arranged, further to be mitigated
The quality of first transmission arm 22, the first support arm 23, the second transmission arm 32 and the second support arm 33, and then reduce load.
Specifically, the elongated hole on the first transmission arm 22, the first support arm 23, the second transmission arm 32 and the second support arm 33
Along its, respectively length direction is arranged.The first transmission arm 22, the first support arm 23, the second transmission arm 32 both can be largely reduced in this way
With the weight of the second support arm 33, elongated hole can also be reduced to the first transmission arm 22, the first support arm 23,32 and of the second transmission arm
The influence of second support arm, 33 intensity ensures the first transmission arm 22, the first support arm 23, the second transmission arm 32 and the second support arm
33 rigidity improves the response speed of pedipulator 2.
Also referring to Fig. 1 to Fig. 6, robot provided by the invention is illustrated below.The present invention also provides one kind
Robot is fixed in trunk main body 1 including trunk main body 1 and above-mentioned pedipulator 2, driving assembly 10.Pass through pedipulator 2
Realize the movement of robot, the first swing arm unit 20 and the second swing arm unit 30 are used to that robot to be made to move forward and backward, driving assembly
10 for turning to robot.First swing arm unit 20 and the second swing arm unit 30 are arranged side by side, and reduce the weight of pedipulator 2
Amount, reduces the load of first motor 21 and the second motor 31, improves 31 substructure of first motor 21 and the second motor
Rigidity, improves the response speed of pedipulator 2.
Further, a kind of specific embodiment party please with reference to Fig. 1 to Fig. 4, as pedipulator 2 provided by the invention
Formula, there are four pedipulator 2, four pedipulators 2 are connected on the quadrangle of trunk main body 1 connection of robot trunk main body 1, are arranged
Arrange into two rows two column.The driving assembly 10 of two pedipulators 2 in each row is set side by side, and two in each row pedipulator 2 is in mirror
As symmetrical；10 face of driving assembly of two pedipulators 2 respectively arranged is arranged, and two the first wobble components 20 and two second pendulum
Dynamic component 30 be separately mounted to two driving assemblies 10 back to two sides, two pedipulators 2 in each column are in mirror symmetry.In this way
In robot motion, items movement has preferable symmetry, can ensure that Robot all directions can more be put down
Steady movement.After impact of the robot by 1 side of trunk main body, lateral active force accelerates robot to lateral,
Robot center of gravity is mobile to side.At this moment third motor 11 controls pedipulator 2 to side wobble so that robot it is whole to
Lateral movement comes back to the center of gravity of robot in the delta-shaped region of three pedipulators 2 of robot projection, i.e., center of gravity is replied
To the side being hit, to make pedipulator 2 quickly be adjusted so as to balance.
Further, when four pedipulators 2 of robot stretch vertically and are in identical height, the center of gravity of trunk main body 1
On four 2 diagonal line intersection points of pedipulator, this makes in motion process, being capable of relatively stable and quick adjustment center of gravity position
It sets, to be conducive to the control of robot speed.That is, robot center of gravity is easy to be rapidly switched to any three pedipulators 2 connection
At Delta Region in so that robot is more stable, in motion process, response speed is faster.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of pedipulator, it is characterised in that: including the first swing arm unit, the second swing arm unit and for driving described first
The driving assembly that swing arm unit and second swing arm unit swing, first swing arm unit and second swing arm set
Part is mounted side by side in the driving component；First swing arm unit includes the first transmission arm, the first support arm and is used for
The first motor of the first transmission arm swing is driven, one end of first transmission arm is connect with the first motor,
The other end of first transmission arm and one end of first support arm are hinged；Second swing arm unit includes the second transmission
Arm, the second support arm and the second motor for driving the second transmission arm swing, the one of second transmission arm
End is connect with second motor, and the other end of second transmission arm and one end of second support arm are hinged；Described
The other end of one support arm and the other end of second support arm are hinged.
2. pedipulator according to claim 1, it is characterised in that: the first motor and the second motor face and
Every setting；First transmission arm and second transmission arm are located between the first motor and second motor,
And the end of first transmission arm is fixedly connected with the shaft of the first motor, the end of second transmission arm with it is described
The shaft of second motor is fixedly connected.
3. pedipulator according to claim 2, it is characterised in that: be equipped between the first motor and second motor
Fixing seat, one end of the fixing seat and the shell of the first motor are fixed, the other end of the fixing seat and described second
The shell of motor is fixed.
4. pedipulator according to claim 3, it is characterised in that: the driving component includes third motor and is fixed on
Mounting base in the shaft of the third motor, the first motor and second motor are installed in the mounting base.
5. pedipulator according to claim 4, it is characterised in that: one end of the shell of the first motor and the installation
Seat is fixedly connected, and the fixing seat is fixed on the other end of the shell of the first motor.
6. pedipulator according to claim 2, it is characterised in that: first support arm is located at first transmission arm and leans on
Nearly second transmission arm side, second support arm are located at second transmission arm close to first transmission arm side.
7. pedipulator according to claim 6, it is characterised in that: second support arm is far from second transmission arm
One end is equipped with support portion, and it is neighbouring that first support arm far from one end of first transmission arm is articulated with second support arm
The position of the support portion.
8. pedipulator according to any one of claims 1 to 7, it is characterised in that: the length of first transmission arm is less than
The length of first support arm, the length of second transmission arm are less than the length of second support arm.
9. pedipulator according to any one of claims 1 to 7, it is characterised in that: first transmission arm and described second
Transmission arm is coaxially swung, first transmission arm and the second transmission arm equal length, first support arm and described the
The articulated position of two support arms and first support arm are equal to described first at a distance from the articulated position of the first transmission arm
Brace is at a distance from the articulated position of second support arm and the articulated position of second support arm and the second transmission arm.
10. robot, it is characterised in that: including trunk main body and pedipulator as described in any one of claim 1 to 9, institute
Driving assembly is stated to be fixed in the trunk main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910616784.3A CN110466641A (en) | 2019-07-09 | 2019-07-09 | Pedipulator and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910616784.3A CN110466641A (en) | 2019-07-09 | 2019-07-09 | Pedipulator and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111301552A (en) * | 2020-02-26 | 2020-06-19 | 北京理工大学珠海学院 | Robot leg power system and control method thereof |
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