CN1319800C

CN1319800C - Cam transition type mechanical legs having three joints

Info

Publication number: CN1319800C
Application number: CNB2004100212779A
Authority: CN
Inventors: 张士庆; 张号
Original assignee: Liaoning Technical University
Current assignee: Liaoning Technical University
Priority date: 2004-04-08
Filing date: 2004-04-08
Publication date: 2007-06-06
Anticipated expiration: 2024-04-08
Also published as: CN1562689A

Abstract

The present invention belongs to a mechanical leg mechanism of a bionic leg type walking machine, particularly to a cam-changing three joint mechanical leg of a combined transmission mechanism which is composed of a cam, a crank, a sliding sleeve and a rocking lever. The cam-changing three joint mechanical leg is composed of a machine frame 8, an administer shelf 10, a turn gate handle 11, a palm 1, an engine 13, etc. A left upper limb 5, a right upper limb 5, a lower limb 2, a palm 1 and three joints are movably arranged on the machine frame. The upper limbs 5 are hollow pipes. A lower limb stretching and bending cam 9 is fixedly connected with an upper shaft 37 through a cam key 43. A push rod 33 is actively arranged in the hollow pipe of each upper limb 5. The lower part of each upper limb 5 and the upper part of the lower limb 2 are hinged through a middle limb pin 18. A sliding sleeve 32 is arranged on the circular column outside the middle part of each upper limb 5. The upper end of an upper limb rocker cam 7 is arranged on the upper shaft 37 through a cam shaft sleeve 46, the middle part of the upper limb rocker cam 7 is actively supported by a centre shaft 52 through a bearing and is fastened by an elastic stop ring 58, and the he lower end of the upper limb rocker cam 7 is actively arranged on a lower shaft 55 by a bearing. The present invention has the advantages of wide application range, simple structure, low cost, portability and flexibility.

Description

Cam change type three joint pedipulators

Technical field

The invention belongs to the mechanical leg organization of bionic leg formula walking robot, particularly a kind of cam change type three joint pedipulators that constitute the combination transmission device by cam, crank, sliding sleeve, rocking bar.

Technical background

At present, in countries in the world research, use leg formula walking machine and the wheeled Transport Machinery of circle more, both compare the merits and faults of having nothing in common with each other, the leg formula has an obvious superiority than circle is wheeled in some aspects, for example the leg formula can step terraced bank, can normally walk at sand ground, snowfield.But principle, structure, control, the making of leg formula walking mechanism are complicated, are example with people's leg, and full leg has a muscle (or muscle group) surplus 33 bones, the four big main joints, 60, and only pin is exactly 26 bones, 30 multi beam muscle, more than 200 ligament.In recent years, all there are specialized agency and personnel in countries such as Japan and the United States to the research that experimentizes of legged walking machine, and obtain certain achievement (also there is similar achievement in research in China), and put on display the model machine of prominent " multi-joint " energy " steadily " walking.With regard to As-Is analysis, the circle wheel machine is very perfect, but the research of legged walking machinery is scarcely out of swaddling-clothes, and its basic reason is the more complicated of walking movement own, also do not find at present one simple and actv. mechanism realizes this motion; The long 50cm of four leg machines of Japan's development, high 15cm, heavy 17Kg, speed per hour 252m is to be specifically designed to nuclear reactor internal and seabed operation; The anthropomorphic robot of development, but anthropomorphic dummy's walking, but speed is also very slow.The both legs that the Chinese American the is closed Ruan Fang development robot of walking, cost reaches 15,000 dollars, and whenever stepping a step all must also need the data with four electronic databanks simultaneously by a programming control that contains 900 row instructions, is mainly the hazardous environment service.The shaking of four thighs that have of China's development controlled bionical load-carrying walking machine, is in order to solve the oil exploration design-calculated of particular surroundings.Current, be the main flow of world today's scope development leg formula machine power driving system with the dress system for the treatment of under the computer control, it has following deficiency at least: be power with the electricity, as remote Transport Machinery bad adaptability; Complex structure (especially control system), price is high.

Summary of the invention

The objective of the invention is to overcome above-mentioned technical deficiency, a kind of bionic leg formula walking mechanism is provided, replace or partly replace the circle wheel of various land transportation machinery; Applied range adapts to various complex-terrains, can not have artificial road surface, the place walking that wheel driving force machinery is difficult to advance; Simple in structure, low, the light little nimble cam change type three joint pedipulators of cost.

The technical scheme that technical solution problem of the present invention adopts is: the cam change type three joint pedipulators of being made up of frame, control frame, turning brake lever, the palm and driving engine.Be characterized on frame, being equipped with versatilely pair of right and left upper limbs, lower limb and the palm and three joints thereof; Upper limbs is a hollow tubular, and the upper end is sleeved on going up on the axle on the frame versatilely with antifriction-bearing box; A fore-and-aft direction groove is opened on top, lower limb is housed in the groove versatilely stretches bent cam; Lower limb are stretched bent cam and are used cam key to captive joint with last axle; Adorn a push rod in the upper limbs hollow tubular versatilely, push rod is worn a spring, and a crown bar pin is fixed in the upper end, adorns a top wheel on crown bar pin versatilely, stretches on the bent cam curved surface making the top wheel withstand on lower limb under the effect of spring; The push rod lower end is connected with the support plate hinge versatilely with bar plate pin, and the support plate lower end is connected with the lower limb hinge with the support plate pin; The lower limb lower end is connected with the top rotary table hinge of the palm versatilely with the lower limb pin; The bottom of upper limbs is connected with the middle limb pin hinge with lower limb top, adorn a sliding sleeve on the outside cylinder of upper limbs middle part, sliding sleeve is provided with pivot pin, the middle chute of axle sleeve and crank is housed on the pivot pin flexibly connects, and the pivot pin termination is equipped with the curved groove of establishing on roll sleeve and the upper limbs wiper cam and is flexibly connected; The upper limbs wiper cam is sleeved on the axle with cam, and axis is supported versatilely by bearing in the middle part, and blocks with elastic scheibe, and the lower end is contained on the lower shaft versatilely by bearing.

The invention has the beneficial effects as follows: 1, applied range, can replace or the part replace wheeled transportation machinery, range of use can be expanded to the wheeled environment of applications that is difficult to; 2, gently little, nimble, can step higher terraced bank, upper and lower steeper slope; 3, simple in structure, cost is low, and cost is only suitable with wheel machine during batch manufacturing; 4, light and flexible can replace farm animal in agricultural, a tractor serves several purposes is suitable for agricultural tillage, transportation, need not feed and manage; 5, there is obvious superiority in the special place to mine, district newly developed and natural environment complexity; 6, can be used as disabled person's vehicle, the bank of climbing the mountain is in the local use of no artificial ground-surface.

Description of drawings

Specify with embodiment below in conjunction with accompanying drawing.

Fig. 1 shows the mechanical simplicity scheme drawing of cam change type three joint pedipulator basic structures.

The basic structure of Fig. 2 diagrammatic sketch 1 is simplified the assembly drowing sectional plan view.

The B-B cutaway view Amplified image of Fig. 3 diagrammatic sketch 2.

The C-C cutaway view Amplified image of Fig. 4 diagrammatic sketch 2.

Fig. 5 shows and adopts the trajectory diagram solution design-calculated cam curve figure that at the uniform velocity walks.

Fig. 6 shows level walking take a step form attitude, step pitch and leg high-level schematic advanced in years.

Fig. 7 shows 30 ° of sloping form attitude, step pitch and leg high-level schematic advanced in years of taking a step of walking.

Fig. 8 shows following 20 ° of sloping form attitude, step pitch and leg high-level schematic advanced in years of taking a step of walking.

The mechanism simplifying scheme drawing of Fig. 9 diagrammatic sketch 2.

Figure 10 shows the mechanical schematic that two pairs of pedipulators are installed.

Figure 11 shows the scheme drawing that pedipulator is installed and takes turns the disabled person's car that combines.

Figure 12 is equipped with two pairs of pedipulators, and the dual-purpose mechanical schematic of wheel is installed.

Among the figure, the 1-palm; The 2-lower limb; The 3-lower fulcrum bar; The 4-support plate; The 5-upper limbs; The 6-upper rack posts; 7-upper limbs wiper cam; The 7-1-curved groove; The 8-frame; The 9-lower limb are stretched bent cam; The 10-control frame; 11-turning brake lever; 12-attitude adjusting lever; The 13-driving engine; The 14-chain; The 15-wire grip; Backing pin among the 16-; The 17-arm-tie; The 18-middle limb pin; 19-rotates lock; 20-elasticity strip of paper used for sealing; The 21-lower rotary table; The 22-top rotary table; The 23-roller; The 24-roller pin; The 25-jump ring; The 26-spiral rolling track; 27-lower limb pin; Backing pin under the 28-; 29-support plate pin; 30-bar plate pin; The 31-crank; The 32-sliding sleeve; The 33-push rod; The 34-spring; The 35-crown bar pin; 36-pushes up wheel; The last axle of 37-; The last backing pin of 38-; The 39-locating dowel pin; The 40-nut; The 41-ring washer; The 42-antifriction-bearing box; The 43-cam key; The 44-antifriction-bearing box; 45-frame antifriction-bearing box; The 46-cam sleeve; The last big gear wheel of 47-; Big gear wheel under the 47-1-; 48-big gear wheel key; The 49-miniature gears; The 50-sprocket wheel; The 51-steering sprocket key; The 52-axis; 53-fluted shaft cover; The 54-rod sleeve; The 55-lower shaft; 56-crank key; 57-adjusts cover; The 58-elastic scheibe; 59-miniature gears key; The 60-pivot pin;

The specific embodiment

With reference to accompanying

drawing

1,2,3,4, cam change type three joint pedipulators mainly are made up of parts such as frame 8, attitude adjusting lever 12, joystick 10, turning brake lever 11, the palm 1 and driving engines 13.Be characterized on frame 8, being equipped with versatilely pair of right and left upper limbs 5, lower limb 2,1 and three main joint of the palm; Upper limbs 5 is a hollow tubular, and the upper end is sleeved on going up on the axle 37 on the frame 8 versatilely with antifriction-bearing

box

42,44, is upper joint; A fore-and-aft direction groove is opened on upper limbs 5 tops, loads limb in the groove versatilely and stretches bent cam 9, and lower limb are stretched bent cam 9 usefulness cam keys 43 and captiveed joint with last axle 37; Adorn a push rod 33 in upper limbs 5 hollow tubulars versatilely, push rod 33 is worn a spring 34, and a crown bar pin 35 is fixed in the upper end, adorns a top wheel 36 on crown bar pin 35 versatilely; Making top wheel 36 withstand on lower limb tightly under the elastic force effect of spring 34 stretches on the curved surface of bent cam 9; Push rod 33 lower ends are connected with support plate 4 hinges versatilely with bar plate pin 30, and support plate 4 lower ends are connected with lower limb 2 hinges versatilely with support plate pin 29; Lower limb 2 lower ends are connected with the top rotary table 22 of the palm 1 versatilely with lower limb pin 27, are hypozygal; Adorn a sliding sleeve 32 on the upper limbs 5 middle part outside cylinder, sliding sleeve 32 is provided with pivot pin 60, rod sleeve 54 is housed on the pivot pin 60 flexibly connects with crank 31 middle chutes; Pivot pin 60 terminations are equipped with the curved groove 7-1 that establishes on fluted shaft cover 53 and the upper limbs wiper cam 9 and are connected versatilely; Upper limbs 5 lower ends are connected with lower limb 2 upper end hinges versatilely with middle limb pin 18, are middle joint; Upper limbs wiper cam 9 upper ends are sleeved on the axle 37 with cam sleeve 46.

For the balance of frame 8 with firm, left and right sides leg uses in pairs, alternately marks time and takes a step can use more than two pairs as people's walking.Frame 8 is equipped with backing pin 38, installs pole 6 in that last backing pin 38 is hinged, upper rack posts 6 lower ends with in backing pin 16 hinged lower fulcrum bar 3 and arm-ties 17, arm-tie 17 right-hand members are connected with middle limb pin 18, lower fulcrum bar 3 lower ends are with backing pin 28 and top rotary table 22 flexible connections of slapping 1 down.Frame 8 is by upper rack posts 6, upper limbs 5 like this, lower fulcrum bar 3, lower limb 2, arm-tie 17 and slap 1 and constitute upper and lower two parallelogram utilizes parallelogram principle, make frame 8 keep parallel, alternately mark time by left and right sides leg and take a step, slap 1 support realization balance with the face of land; Adjust attitude, keep stabilizing mechanism, it comprises that attitude adjusting lever 12 usefulness locating dowel pins 39 are fixed on the frame 8, and the lower end is contained on the lower shaft 55 with bearing, constitutes triangle frame 5 with upper limbs wiper cam 7.

Power drive system: the propulsion source of this mechanism, can adopt manpower, driving engine 13 etc.Present embodiment can be used for manpower, also can use 2.8～4 horsepower engines, and size in the enlarged drawing can be used for medium-sized or big machinery by a certain percentage, structure is done certain modification can be used in some particular surroundingss and the operation.For for example shown in Figure 11, dynamic index is as follows with the pair of leg pair of driven: deadweight 40Kg, load-carrying 200Kg, last 30 ° of slopes, speed v=1.5m/s, power N=3 horsepower; The level land is walked, v=6m/s, N=3 horsepower; Tractive force limit can reach more than the 250Kg, speed range 5～20Km/h.Power drive, it is included in and adorns a driving engine 13 on the frame 8, sprocket wheel of driving engine 13 output shafts fixed installations, with chain 14 with engine rotation power pass to with on steering sprocket key 51 and the sprocket wheel 50 that axis 52 is captiveed joint; Axis 52 usefulness miniature gears keys 59 are fixedly adorned a miniature gears 49, and miniature gears 49 is meshed with last big gear wheel 47 and following big gear wheel 47-1 respectively; Last big gear wheel 47 usefulness big gear wheel keys 48 are captiveed joint with last axle 37, and following big gear wheel 47-1 is even fixing with key and lower shaft 55. Upper limbs wiper cam 7 upper ends are sleeved on the axle 37 with cam sleeve 46, can rotate; Bearings axis 52 terminations are used at the middle part, and block with spring flange 58; The lower end is contained on the lower shaft 55 with bearing, can rotate; Fixedly adorn a crank 31. at lower shaft 55 spindle noses with curved bar key 56

The palm 1 and control system: it comprises lower limb 2 usefulness lower limb pins 27 palm 1, lower fulcrum bar 3 usefulness backing pin 28 down flexibly connect with top rotary table 22 simultaneously, roller pin 24 is housed below the top rotary table 22, block with jump ring 25, roller 23 is housed on the roller pin 24 versatilely, spiral rolling track 26 fixedly is housed on lower rotary table 21, and roller 23 is contained on the spiral rolling track 26 slidably, links together with 20 sealings of elasticity strip of paper used for sealing between the last lower rotary table 22,21.The control steering swivel system, it is included in fixes a rotation lock 19 usefulness wire grips 15 on the palm 1 the top rotary table 22 and is connected with turning brake lever 11, turning brake lever 11 is contained on the control frame 10, control frame 10 is contained on the attitude adjusting lever 12, handle said mechanism, can realize every functions such as the adjustment of walking posture and turning.The shape of the palm 1, type can be according to concrete environmental requirement designs, and the palm 1 in the present embodiment is applicable to the nonirrigated farmland, and arduous service, each joint should install the soft cover of rubber nylon additional, with dustproof, waterproof, antifouling.

Cam curve: the cam curve cylinder that upper limbs wiper cam 7 and top curved groove 7-1 thereof and lower limb are stretched bent cam 9 is one group of at the uniform velocity walking curve (seeing accompanying drawing 5) that adopts the track graphic Method Optimization Design to go out, and constitutes walking functions control device.In order to regulate walking posture, step pitch, to step the leg height, to adapt to upper and lower slope and tractive force size variation, remove to handle attitude adjusting lever 12 by the position of adjusting locating dowel pin 39, upper limbs wiper cam 7 is turned an angle (maintaining static at ordinary times) around last axle 37, and the space motion path of the palm 1 is all changed when making mechanical center of gravity, step pitch, leg advanced in years.Accompanying drawing 6,7,8 shows that the level land is walked, last 30 ° of slopes, the three kinds of different walking postures in following 20 ° of slopes, handles continuously, can obtain the continually varying walking posture.

Cam of the present invention is changed the walking process of three joint pedipulators: see shown in the accompanying drawing 9, solid line represents that right leg just stepping on ground, long and two-short dash line is represented that left leg has just lifted and is taken a step, bounce off an engine 13, drive sprocket wheel 50, miniature gears 49, upward big gear wheel 47, big gear wheel 47-1 rotation down by chain 14, right leg upper limbs 5 is done clocklike swing backward under crank 31, sliding

sleeve

32,7 combineds action of upper limbs wiper cam; Right leg lower limb 2 are stretched bent cam 9, push rod 33 at lower limb, clocklike stretch Qu Yundong under support plate 4 combineds action, thereby realize that frames 8 travels forward.Left side leg upper limbs 5 under left side crank 31, sliding

sleeve

32,7 combineds action of upper limbs wiper cam, the swing forward of action rule; Left side leg lower limb 2 are stretched under bent cam 9, push rod 33, spring 34, support plate 4 combineds action at the left side lower limb and are clocklike stretched Qu Yundong, thereby realize that lifting leg takes a step.The crank 31 of left and right sides leg, lower limb are stretched bent cam 9 and are differed 180 degree angles, guarantee that left and right leg realizes alternately marking time taking a step, and go round and begin again.

The turning process: during turning, only need to rotate support body, the rub-moment that produces when contacting to earth by a palm 1 can turn over arbitrarily angled.The structure front of the palm 1 is stated.When lifting leg and taking a step, turning brake lever 11 applies all outward forces by wire grip 15 control rotation locks 19 to top rotary table 22, lower rotary table 21, and lower rotary table is rotated to an angle, then roller 23 rotates along helical surface raceway 26, and promotes top rotary table 22 relative lower rotary table 21 rising certain altitudes; Trample ground fixedly the time when lower rotary table 22, under the action of gravity of top, top rotary table 22 will return to original state, make frame 8 unitary rotation certain angles.The corner size is handled 11 controls of turning brake lever by the people.

Attitude is adjusted: upper limbs wiper cam 7 tops are sleeved on the axle 37, can rotate, and the bottom is sleeved on the lower shaft 55, can rotate; Attitude adjusting lever 12 is sleeved on the lower shaft 55 and can rotates, need to change walking posture, step pitch when upper and lower different gradient, when perhaps needing to change the tractive force size, handle the position of attitude adjusting lever 12, make upper limbs wiper cam 7 rotate an angle around last axle 37, make two leg variable angle, the body center of gravity moves (moving behind go up a slope reach, the descending), can satisfy the corresponding sports attitude.

The foregoing description is for only adorning the embodiment one of a pair of pedipulator;

Embodiment two, with reference to accompanying drawing 10, the machinery of two pairs of pedipulators are installed, and the structure of its leg is with embodiment one.

Embodiment three, with reference to accompanying drawing 11, mechanically adorn a pair of pedipulator and a pair of the wheel combines, and it is used to be useful for disabled person's car, and the structure of its leg is with embodiment one.

Embodiment four, with reference to accompanying drawing 12, mechanically adorn two pairs or many to pedipulator and the dual-purpose machinery of wheel is installed, and the structure of leg is with embodiment one.

Claims

1, a kind of cam change type three joint pedipulators, mainly form, it is characterized in that on frame, being equipped with versatilely pair of right and left upper limbs (5), lower limb (2) and the palm (1) and three joints thereof by frame (8), control frame (10), turning brake lever (11), the palm (1) and driving engine (13) parts; Upper limbs (5) is a hollow tubular, and the upper end is sleeved on going up on the axle (37) on the frame (8) versatilely with antifriction-bearing box (42), (44), and a fore-and-aft direction groove is opened on top, lower limb is housed in the groove versatilely stretches bent cam (9); Lower limb are stretched bent cam (9) and are used cam key (43) to captive joint with last axle (37); Adorn a push rod (33) versatilely in upper limbs (5) hollow tubular, push rod (33) is worn a spring (34), a crown bar pin (35) is fixed in the upper end, on crown bar pin (35), adorn a top wheel (36) versatilely, stretch on the curved surface of bent cam (9) making top wheel (36) withstand on lower limb under the effect of spring (34), push rod (33) lower end is hinged with support plate (4) versatilely with bar plate pin (30), and support plate (4) lower end is hinged with support plate pin (29) and lower limb (2); Lower limb (2) lower end is connected with the top rotary table (22) of the palm (1) versatilely with lower limb pin (27); The bottom of upper limbs (5) and lower limb (2) top are hinged with middle limb pin (18), adorn a sliding sleeve (32) on the outside cylinder of upper limbs (5) middle part, sliding sleeve (32) is provided with pivot pin (60), axle sleeve (54) is housed on the pivot pin (60) flexibly connects with the middle chute of crank (31), pivot pin (60) termination is equipped with the curved groove of establishing on fluted shaft cover (53) and the upper limbs wiper cam (7) (7-1) and is flexibly connected; Upper limbs wiper cam (7) upper end is contained on the axle (37) with cam sleeve (46), and axis (52) is supported versatilely with bearing in the middle part, and blocks with elastic scheibe (58), and the lower end is contained on the lower shaft (55) with the bearing activity.

2, cam change type three joint pedipulators according to claim 1, it is characterized in that being equipped with on the frame (8) backing pin (38), go up the hinged pole (6) of installing at last backing pin (38), hinged lower fulcrum bar of backing pin (16) (3) and arm-tie (17) during upper rack posts (6) lower end is used, arm-tie (17) right-hand member is connected with middle limb pin (18), lower fulcrum bar (3) lower end backing pin (28) and top rotary table (22) flexible connection of slapping (1) down; Frame (8), upper rack posts (6), upper limbs (5), lower fulcrum bar (3), lower limb (2), arm-tie (17) and the palm (1) constitute upper and lower two parallelogram.

3, cam change type three joint pedipulators according to claim 1, it is characterized in that controlling steering swivel system, it is included in fixes a rotation lock (19) and is connected with turning brake lever (11) with wire grip (15) on the top rotary table (22) of the palm (1), turning brake lever (11) is contained on the control frame (10), and control frame (10) is contained on the attitude adjust bar (12).

4, cam change type three joint pedipulators according to claim 1, it is characterized in that adjusting attitude, keep stabilizing mechanism, it comprises that attitude adjusting lever (12) is fixed on the frame (8) with locating dowel pin (39), the lower end is contained on the lower shaft (55) with bearing, with the triangle frame of upper limbs wiper cam (7) formation.

5, cam change type three joint pedipulators according to claim 1, it is characterized in that it is one group of at the uniform velocity walking curve that adopts the track graphic Method Optimization Design to go out that upper limbs wiper cam (7) and curved groove in the above (7-1) thereof and lower limb are stretched the cam curve cylinder of bent cam (9), constitutes walking functions control device.