CN111891247A - Four-foot body-length-variable sliding advancing robot - Google Patents
Four-foot body-length-variable sliding advancing robot Download PDFInfo
- Publication number
- CN111891247A CN111891247A CN202010766544.4A CN202010766544A CN111891247A CN 111891247 A CN111891247 A CN 111891247A CN 202010766544 A CN202010766544 A CN 202010766544A CN 111891247 A CN111891247 A CN 111891247A
- Authority
- CN
- China
- Prior art keywords
- foot
- leg
- movable
- rod
- body 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
Images
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
- B62D57/028—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 having wheels and mechanical legs
Abstract
The invention discloses a quadruped body-changing long-sliding advancing robot, and belongs to the field of quadruped robots. The device comprises a variable-length body, a front leg cross rod arranged at the front end of the variable-length body, a rear leg cross rod arranged at the rear end of the variable-length body, a front leg foot A and a front leg foot B which are respectively arranged at two ends of the front leg cross rod, and a rear leg foot A and a rear leg foot B which are respectively arranged at two ends of the rear leg cross rod; the front leg foot A and the front leg foot B have the same structure and respectively comprise a front leg, a traction ring A, a movable front foot, a roller A, a friction pad A, a tension and compression spiral spring A and a steel wire rope A; the rear leg foot A and the rear leg foot B are identical in structure and respectively comprise a rear leg, a traction ring B, a movable rear foot, a roller B, a friction pad B, a tension and compression spiral spring B and a steel wire rope B. The four-foot sliding advancing robot is simple and reasonable in structure, and achieves sudden change of friction property and forward rolling sliding of front legs and rear legs in a time-sharing manner by changing the body length.
Description
Technical Field
The invention mainly relates to the field of quadruped robots, in particular to a quadruped length-variable sliding advancing robot.
Background
Compared with a biped robot, the quadruped robot has better walking stability and wider application range. With the progress of science and technology and the development of new materials, the quadruped robot shows unparalleled vitality. The length of the existing quadruped robot is almost unchanged in the walking process, namely the forward driving force is irrelevant to the body of the robot. Therefore, it is of great value to design a quadruped robot which drives the quadruped robot to advance by changing the length of the quadruped robot.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the four-foot body-length-variable sliding advancing robot which is simple and reasonable in structure and can realize sudden change of friction property and forward rolling sliding of front legs and rear legs in time sharing by changing the body length.
In order to solve the problems, the solution proposed by the invention is as follows: the four-foot body-length-variable sliding advancing robot comprises a body with a variable body length, a front leg cross rod arranged at the front end of the body with the variable body length, a rear leg cross rod arranged at the rear end of the body with the variable body length, a front leg foot A and a front leg foot B which are respectively arranged at two ends of the front leg cross rod, and a rear leg foot A and a rear leg foot B which are respectively arranged at two ends of the rear leg cross rod.
The body length variable body comprises a back body rod, a front body rod, a lead screw, a nut, a driving rod A, a driving rod B and a motor, wherein the front body rod can freely slide relative to the back body rod, the lead screw is rotatably arranged on the back body rod along the vertical direction by adopting a rolling bearing, the driving rod A is arranged on the lead screw in a rotating mode, two ends of the driving rod A are respectively hinged with the front end of the front body rod and the nut, two ends of the driving rod B are respectively hinged with the back end of the back body rod and the nut, and the motor is fixedly arranged on the back body; the output shaft of the motor is connected with the lower end of the lead screw;
the axis of the front body rod is collinear with the axis of the back body rod; the front leg cross rods and the rear leg cross rods are arranged in a horizontal plane and are parallel to each other, the front leg cross rods are fixedly arranged at the front end of the front body rod, and the rear leg cross rods are fixedly arranged at the rear end of the rear body rod;
the structure of the front leg foot A and the structure of the front leg foot B are completely the same, and the front leg foot A and the front leg foot B both comprise a front leg fixedly arranged on a cross bar of the front leg along the vertical direction, a traction ring A arranged in the middle of the front leg, a movable front leg hinged at the lower end of the front leg, a roller A and a friction pad A respectively arranged at the front end of the bottom of the movable front leg and the rear end of a bottom plate, a tension and compression spiral spring A with one end connected with the front end of the upper part of the movable front leg and the other end connected with the middle of the front leg, and a steel wire rope A with one end connected with the rear end of the upper part of the movable front leg and the other end connected with; the steel wire rope A is always in a tensioned state;
the structure of the rear leg foot A and the structure of the rear leg foot B are completely the same, and the rear leg foot A and the rear leg foot B both comprise a rear leg fixedly arranged on a rear leg cross rod along the vertical direction, a traction ring B arranged in the middle of the rear leg, a movable rear foot hinged at the lower end of the rear leg, a roller B and a friction pad B which are respectively arranged at the front end of the bottom of the movable rear foot and the rear end of a bottom plate, a tension and compression spiral spring B with one end connected with the rear end of the upper part of the movable rear foot and the other end connected with the middle of the rear leg, and a steel wire rope B with one end connected with the front end of the upper part of the movable rear foot, the other end connected with; the steel wire rope B is always in a tensioned state;
the rear body rod is provided with a threading hole allowing the steel wire rope B to pass through, and the steel wire rope B passes through the threading hole and is connected with the rear end of the front body rod.
Further, when the movable front foot is in a horizontal position, the bottom of the friction pad a is lower than the bottom of the roller a, and the tension and compression coil spring a is in a compressed state.
Further, when the movable rear foot is in a horizontal position, the bottom of the friction pad B is lower than the bottom of the roller B, and the tension and compression coil spring B is in a compressed state.
Furthermore, the inside of back body pole is seted up along the axis and is permitted the spout of front body pole free slip.
Further, the movable forefoot and the movable rearfoot rotate in opposite directions.
Compared with the prior art, the invention has the following advantages and beneficial effects: the front body rod and the back body rod can move relatively, so that the body length is changed, and the movable front foot or the movable back foot can be driven to forwards roll and slide forwards at different times; traction of the steel wire rope A and the steel wire rope B enables the friction force property of the movable front foot and the movable rear foot to be just opposite, so that only one group of the movable front foot and the movable rear foot advances at the same time. Therefore, the four-foot body-length-variable sliding advancing robot is simple and reasonable in structure, and the four-foot body-length-variable sliding advancing robot can realize sudden change of friction property and forward rolling sliding of front legs and rear legs in time-sharing mode by changing the body length.
Drawings
Fig. 1 is a schematic structural diagram of the four-footed variable-length sliding-forward robot of the invention.
FIG. 2 is a schematic illustration of the position of the front leg crossbar of the present invention after installation of front leg foot A and front leg foot B.
In the drawing, 11 — the precursor rod; 12-a back body rod; 120-threading hole; 13-drive rod a; 14-drive bar B; 15-a lead screw; 16-a nut; 17-a motor; 2-front leg foot a; 21-front leg; 22-traction ring a; 23-steel cord a; 24-movable forefoot; 25-pulling and pressing the spiral spring A; 26-roller a; 27-friction pad a; 31 — rear leg; 32-traction ring B; 33-steel cord B; 34-movable hind paw; 35-pulling and pressing the spiral spring B; 36-roller B; 37-friction pad B; 4-front leg and foot B; 5-front leg cross bar.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 and 2, the four-legged length-variable sliding forward robot of the present invention includes a length-variable trunk, a front leg rail 5 installed at the front end of the length-variable trunk, a rear leg rail installed at the rear end of the length-variable trunk, a front leg foot a2 and a front leg foot B4 installed at both ends of the front leg rail 5, respectively, and a rear leg foot a and a rear leg foot B installed at both ends of the rear leg rail, respectively.
Referring to fig. 1 and 2, the variable length body includes a back body bar 12, a front body bar 11 capable of freely sliding with respect to the back body bar 12, a lead screw 15 rotatably mounted on the back body bar 12 along a vertical direction by using a rolling bearing, a nut 16 mounted on the lead screw 15, a driving rod a13 having both ends respectively hinged to the front end of the front body bar 11 and the nut 16, a driving rod B14 having both ends respectively hinged to the back end of the back body bar 12 and the nut 16, and a motor 17 fixedly mounted on the back body bar 12; an output shaft of the motor 17 is connected to a lower end of the lead screw 15.
Referring to fig. 1 and 2, the axis of the front body rod 11 is collinear with the axis of the rear body rod 12; preceding leg horizontal pole 5 and back leg horizontal pole are all installed in the horizontal plane and are parallel to each other, and preceding leg horizontal pole 5 is fixed to be installed in the front end of forebody pole 11, and the back leg horizontal pole is fixed to be installed in the rear end of forebody pole 12.
Referring to fig. 1 and 2, the front leg a2 and the front leg B4 have the same structure, and both include a front leg 21 fixed on the front leg cross bar 5 along the vertical direction, a traction ring a22 installed in the middle of the front leg 21, a movable front leg 24 hinged at the lower end of the front leg 21, a roller a26 and a friction pad a27 installed at the front end of the bottom of the movable front leg 24 and the rear end of the bottom plate, respectively, a tension and compression coil spring a25 with one end connected to the front end of the upper part of the movable front leg 24 and the other end connected to the middle of the front leg 21, and a steel wire rope a23 with one end connected to the rear end of the upper part of the movable front leg 24, passing through the traction ring a22, and the other end connected to the front end of; the wire rope a23 is always under tension.
Referring to fig. 1 and 2, the rear leg a and the rear leg B have the same structure, and each of them includes a rear leg 31 fixed to a cross bar of the rear leg in the vertical direction, a towing ring B32 installed in the middle of the rear leg 31, a movable rear leg 34 hinged to the lower end of the rear leg 31, a roller B36 and a friction pad B37 installed at the front end of the bottom of the movable rear leg 34 and the rear end of the bottom plate, respectively, a tension/compression coil spring B35 having one end connected to the rear end of the upper part of the movable rear leg 34 and the other end connected to the middle of the rear leg 31, and a wire rope B33 having one end connected to the front end of the upper part of the movable rear leg 34, passing through the towing ring B32 and the other end connected to the rear; the wire rope B33 is always under tension.
Referring to fig. 1 and 2, the rear body 12 is provided with a threading hole 120 for allowing the wire rope B33 to pass therethrough, and the wire rope B33 passes through the threading hole 120 to be connected to the rear end of the front body 11.
Preferably, when the movable forefoot 24 is in the horizontal position, the bottom of the friction pad a27 is lower than the bottom of the roller a26, and the tension/compression coil spring a25 is in a compressed state.
Preferably, when the movable rear foot 34 is in the horizontal position, the bottom of the friction pad B37 is lower than the bottom of the roller B36, and the tension/compression coil spring B35 is in a compressed state.
Preferably, the inside of the back body rod 12 is opened with a slide groove along the axis to allow the front body rod 11 to slide freely.
Preferably, the direction of rotation of movable forefoot 24 is opposite to that of movable hindfoot 34.
The working process of the invention is as follows:
the motor 17 rotates forward to drive the screw rod 15 to rotate forward, and the nut 16 cannot rotate under the action of the driving rod A13 and the driving rod B14, so as to move downwards along the screw rod 15; the nut 16 moves downwards to drive the front body rod 11 and the back body rod 12 to move away from each other, and further drive the steel wire rope A23 to pull the movable front foot 24 to rotate anticlockwise, and simultaneously drive the steel wire rope B33 to pull the movable back foot 34 to rotate clockwise; the movable forefoot 24 rotates counterclockwise so that the roller a26 in the forefoot a2 and forefoot B4 contact the ground with the friction pad a27 off the ground; the movable hindfoot 34 rotates clockwise so that the friction pads B37 in hindfoot a and hindfoot B contact the ground and roller B36 moves away from the ground; since the friction of the friction pad B37 is much greater than the rolling friction of the roller a26, the rear leg foot a and the rear leg foot B are stationary with respect to the ground and the front leg foot a2 and the front leg foot B4 roll forward during the process of moving the front body bar 11 and the rear body bar 12 away from each other;
according to a similar principle, the motor 17 rotates reversely, and the nut 16 moves upwards along the screw rod 15 to drive the front body rod 11 and the back body rod 12 to approach each other; the movable forefoot 24 rotates clockwise and the movable rearfoot 34 rotates counterclockwise, so that the roller a26 in the forefoot a2 and the forefoot B4 is clear of the ground, the friction pad a27 contacts the ground; the friction pads B37 in hind leg foot a and hind leg foot B leave the ground, roller B36 contacts the ground; during the process that the front body rod 11 and the back body rod 12 approach each other, the rear leg foot A and the rear leg foot B roll forwards relative to the ground, and the front leg foot A2 and the front leg foot B4 are static relative to the ground;
therefore, during the forward and reverse rotation of the motor 17, the front leg foot a2 and the front leg foot B4, the rear leg foot a and the rear leg foot B respectively roll forward, thereby realizing the length-variable sliding forward.
The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through creative efforts should fall within the scope of the present invention.
Claims (5)
1. Four-legged length of becoming slides robot that gos forward, including the length of becoming the body, install in foreleg cross bar (5) of the length of becoming the body front end, install in the back leg cross bar of length of becoming the body rear end, install respectively in foreleg foot A (2) and foreleg foot B (4) at foreleg cross bar (5) both ends, install respectively in the back leg foot A and the back leg foot B at back leg cross bar both ends, its characterized in that:
the variable-length body comprises a back body rod (12), a front body rod (11) capable of freely sliding relative to the back body rod (12), a lead screw (15) rotatably arranged on the back body rod (12) along the vertical direction by adopting a rolling bearing, a nut (16) arranged on the lead screw (15), a driving rod A (13) with two ends respectively hinged with the front end of the front body rod (11) and the nut (16), a driving rod B (14) with two ends respectively hinged with the back end of the back body rod (12) and the nut (16), and a motor (17) fixedly arranged on the back body rod (12); the output shaft of the motor (17) is connected with the lower end of the lead screw (15);
the axis of the front body rod (11) is collinear with the axis of the back body rod (12); the front leg cross rods (5) and the rear leg cross rods are arranged in a horizontal plane and are parallel to each other, the front leg cross rods (5) are fixedly arranged at the front ends of the front body rods (11), and the rear leg cross rods are fixedly arranged at the rear ends of the rear body rods (12);
the front leg foot A (2) and the front leg foot B (4) have the same structure, and both comprise a front leg (21) fixedly arranged on the front leg cross rod (5) along the vertical direction, a traction ring A (22) arranged in the middle of the front leg (21), a movable front foot (24) hinged at the lower end of the front leg (21), a roller A (26) and a friction pad A (27) respectively arranged at the front end of the bottom of the movable front foot (24) and the rear end of a bottom plate, a tension and compression spiral spring A (25) with one end connected with the front end of the upper part of the movable front foot (24) and the other end connected with the middle of the front leg (21), and a steel wire rope A (23) with one end connected with the rear end of the upper part of the movable front foot (24) and the other end connected with the front end of the rear body rod (12) by penetrating through the traction ring A (22); the steel wire rope A (23) is always in a tensioned state;
the rear leg foot A and the rear leg foot B are identical in structure and respectively comprise a rear leg (31) fixedly arranged on a rear leg cross rod along the vertical direction, a traction ring B (32) arranged in the middle of the rear leg (31), a movable rear foot (34) hinged to the lower end of the rear leg (31), a roller B (36) and a friction pad B (37) respectively arranged at the front end of the bottom of the movable rear foot (34) and the rear end of a bottom plate, a tension and compression spiral spring B (35) with one end connected with the rear end of the upper part of the movable rear foot (34) and the other end connected with the middle of the rear leg (31), and a steel wire rope B (33) with one end connected with the front end of the upper part of the movable rear foot (34) and the other end connected with the rear end of the front body rod (11) through the traction ring B (32); the steel wire rope B (33) is always in a tensioned state;
the rear body rod (12) is provided with a threading hole (120) allowing the steel wire rope B (33) to pass through, and the steel wire rope B (33) passes through the threading hole (120) and is connected with the rear end of the front body rod (11).
2. The four-footed variable length sliding advancement robot of claim 1, wherein: when the movable front foot (24) is in a horizontal position, the bottom of the friction pad A (27) is lower than the bottom of the roller A (26), and the tension and compression coil spring A (25) is in a compressed state.
3. The four-footed variable length sliding advancement robot of claim 1, wherein: when the movable rear foot (34) is in a horizontal position, the bottom of the friction pad B (37) is lower than the bottom of the roller B (36), and the tension and compression coil spring B (35) is in a compressed state.
4. The four-footed variable length sliding advancement robot of claim 1, wherein: the inside of the back body rod (12) is provided with a sliding groove which allows the front body rod (11) to freely slide along the axis.
5. The four-footed variable length sliding advancement robot of claim 1, wherein: the movable forefoot (24) and the movable rearfoot (34) rotate in opposite directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010766544.4A CN111891247B (en) | 2020-08-03 | 2020-08-03 | Four-foot body-length-variable sliding advancing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010766544.4A CN111891247B (en) | 2020-08-03 | 2020-08-03 | Four-foot body-length-variable sliding advancing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111891247A true CN111891247A (en) | 2020-11-06 |
| CN111891247B CN111891247B (en) | 2021-07-27 |
Family
ID=73183209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010766544.4A Active CN111891247B (en) | 2020-08-03 | 2020-08-03 | Four-foot body-length-variable sliding advancing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111891247B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB875504A (en) * | 1957-02-02 | 1961-08-23 | Weserhuette Ag Eisenwerk | Improvements in or relating to load transportation means |
| JPH05319328A (en) * | 1992-05-26 | 1993-12-03 | Mitsubishi Heavy Ind Ltd | Ground-contacting foot mechanism of off-road walking type transporting machine |
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN105235769A (en) * | 2015-11-16 | 2016-01-13 | 山东大学 | Bionic climbing quadruped robot |
| CN109367643A (en) * | 2018-11-02 | 2019-02-22 | 常州大学 | A kind of Four-feet creeping bio-robot based on link mechanism |
| CN109501881A (en) * | 2019-01-14 | 2019-03-22 | 浙江大学 | A kind of quadruped robot walking mechanism |
| CN109987167A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | It is a kind of towards the high degree of adaptability robot popular motion platform for relating to core complex environment |
-
2020
- 2020-08-03 CN CN202010766544.4A patent/CN111891247B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB875504A (en) * | 1957-02-02 | 1961-08-23 | Weserhuette Ag Eisenwerk | Improvements in or relating to load transportation means |
| JPH05319328A (en) * | 1992-05-26 | 1993-12-03 | Mitsubishi Heavy Ind Ltd | Ground-contacting foot mechanism of off-road walking type transporting machine |
| CN101954935A (en) * | 2010-09-27 | 2011-01-26 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN105235769A (en) * | 2015-11-16 | 2016-01-13 | 山东大学 | Bionic climbing quadruped robot |
| CN109987167A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | It is a kind of towards the high degree of adaptability robot popular motion platform for relating to core complex environment |
| CN109367643A (en) * | 2018-11-02 | 2019-02-22 | 常州大学 | A kind of Four-feet creeping bio-robot based on link mechanism |
| CN109501881A (en) * | 2019-01-14 | 2019-03-22 | 浙江大学 | A kind of quadruped robot walking mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111891247B (en) | 2021-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102587704B (en) | Avoidance-free three-dimensional parking space and movement driving mechanism for mobile case of avoidance-free three-dimensional parking space | |
| CN106741281B (en) | Four-footed robot running gear who contains straight line joint | |
| CN206156649U (en) | Row of colliery winch collection device that restricts | |
| CN103159079A (en) | Gantry type ground rail cable winding mechanism | |
| CN110329389B (en) | Double-foot bionic robot based on link mechanism | |
| CN204159041U (en) | The translation lifting rotation stage property rack device that performing art place uses | |
| CN109398526B (en) | Foot end track adjustable carrying platform on foot | |
| CN111942496B (en) | Mechanical stepping leg for biped obstacle crossing robot | |
| CN111891247B (en) | Four-foot body-length-variable sliding advancing robot | |
| CN202530800U (en) | No-avoiding type three-dimensional parking space and movement driving mechanism of movable chassis | |
| CN216686636U (en) | Loading device for fully-mechanized coal mining equipment | |
| CN201428436Y (en) | Wellhead self-abdicating device of linear pumping unit | |
| CN104358447A (en) | Automobile carrying plate transverse shifting device | |
| CN203062755U (en) | Vertical reciprocating working table | |
| CN207349690U (en) | Suitable for the pipe robot of straight pipeline | |
| CN204186113U (en) | Vehicle-containing Traverse Displacement Unit | |
| CN202400685U (en) | Gantry type ground track take-up and pay-off mechanism | |
| CN107588283A (en) | Pipe robot suitable for straight pipeline | |
| CN204198291U (en) | A kind of crane with brake equipment | |
| CN110723232A (en) | Walking structure for bionic multi-legged robot | |
| CN204917221U (en) | Many connecting rods knockout machine | |
| CN203728067U (en) | Hanging basket translation device | |
| CN201173370Y (en) | Vertical lifting device | |
| CN209274621U (en) | A kind of road and bridge construction device | |
| CN209024171U (en) | A kind of mechanical hoisting device convenient for firm automatic clamping transhipment and conveying |
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 |