CN201329912Y - Three-pole two-foot walking mechanism - Google Patents
Three-pole two-foot walking mechanism Download PDFInfo
- Publication number
- CN201329912Y CN201329912Y CNU2009201051128U CN200920105112U CN201329912Y CN 201329912 Y CN201329912 Y CN 201329912Y CN U2009201051128 U CNU2009201051128 U CN U2009201051128U CN 200920105112 U CN200920105112 U CN 200920105112U CN 201329912 Y CN201329912 Y CN 201329912Y
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- foot
- walking mechanism
- motor
- bar
- biped walking
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Abstract
The utility model relates to a three-pole two-foot walking mechanism which solves the problems that the prior two-foot walking mechanism has complex structure, requires multiple power sources for walking and is difficult to control. The two-foot walking mechanism provided by the utility model is formed by three machine members, of which two are used as a left foot (1) and a right foot (2) and connected with a middle link (3) by a rotating pair. A motor (4) is used as a power machine and mounted on one of the feet to revolute for driving the middle link by the rotating pair. The utility model has very simple structure, is driven only by one power machine to realize two-foot walking, and is easy to manufacture and realize engineering.
Description
Technical field
The utility model relates to a kind of walking robot, is specifically related to a kind of three bar biped walking mechanisms.
Background technology
Up to now, at the field of research of walking robot, calendar year 2001 Hayashi R, the spring robot that Tsujio S. proposes are that the composition structure is a kind of.It is made up of two parts and a revolute pair, and a member designs becomes " T " font as health, and the similar arm of another member produces centnifugal force by a motor-driven arms swing and realizes bounce motion.
Hayashi R on this conceptual foundation, Tsujio S propose a kind of by three parts and two spring robots that revolute pair is formed again.Two motors drive two revolute pairs respectively, can change its direct of travel by different swing arm modes.
As far back as the eighties in 20th century, Raibert M.H. once proposed a kind of by three parts, a revolute pair and the piston type spring robot that moving sets is formed.A member is linked to each other with shank by revolute pair as health, and leg structure is a piston cylinder.Two motors drive revolute pair and moving sets realization bounce motion respectively.
1993, Chinese patent CN2131579Y disclosed a kind of toy walking mechanism of being made up of rocking bar, hinge axis and left and right sides pin.Second kind of spring robot difference that its theory of mechanisms feature and type of drive and Hayashi R, Tsujio S propose is: two revolute pair axis vertically; Not having engine to drive, is a kind of mechanical walking mechanism.By gravity application point weight application effect in the middle of rocking bar, realize that the imitation animal waves the action of advancing.
2002, Eiichi Yoshida, people such as Satoshi Murata relate to a kind of travel mechanism unit in a kind of self-reorganization robot work of research.Second kind of spring robot that the theory of mechanisms feature of this unit and type of drive and Hayashi R, Tsujio S propose is identical: be made up of three parts and two revolute pairs, two motors drive two revolute pairs respectively.If with two alternately the ground connection parts then can be considered a kind of two-foot walking robot as two foots.
The utility model content
The technical problems to be solved in the utility model is to use the least possible rod member and motor, realizes class people biped walking.The utility model provides a kind of and only has been made of three parts and only by a motor-driven, realizes the walking mechanism of biped walking.
The technical solution adopted in the utility model is:
A kind of three bar biped walking mechanisms are made up of left side foot, right foot, intermediate connecting rod, motor, it is characterized in that: motor is fixed on left side foot or the right sufficient inwall, and motor output shaft cooperates with interporal lacuna on the left sufficient or right sufficient wall, forms a revolute pair; Motor output shaft is connected with an end of intermediate connecting rod, and the other end of intermediate connecting rod cooperates with interporal lacuna on right foot or the left sufficient wall, forms another revolute pair.
Be shaped as square, cuboid or other bottom surface of described left side foot or right foot two foots are the planar combination three-dimensional shape.
Described two revolute pair axis are consistent on short transverse.
Described biped walking mechanism has two degree of freedom, only drives with an engine, and be a kind of lack of driven structure, can alternately take a step to realize class people walking by two foots.
The beneficial effects of the utility model are:
Described biped walking mechanism has only promptly realized the biped walking function with three parts, and structure is very simple, is easy to make and Project Realization; This biped walking mechanism only drives with an engine, is owing to realize walking under the type of drive, and is also quite simple, to the also significantly reduction of requirement of corresponding control system; This biped walking mechanism has realized similar gait of creeping, and under some rugged, soft specific road environment, has certain advantage.Proved that simultaneously the connecting rod mechanism with three bars, two revolute pairs is owing realization class people biped walking under the drive condition, for walking robot family has increased very simply newcomer of a structure.
Description of drawings
Fig. 1 is the graphics that three bar biped walking mechanisms keep straight on.
Fig. 2 is the front view that three bar biped walking mechanisms keep straight on.
Fig. 3 is the birds-eye view that three bar biped walking mechanisms keep straight on.
Fig. 4 is the B-B cutaway view of Fig. 2.
Fig. 5 is the A enlarged drawing of Fig. 2.
Fig. 6 is the incipient state that three bar biped walking mechanisms keep straight on.
Left side foot when Fig. 7 is the craspedodrome of three bar biped walking mechanisms lifts, and state travels forward.
Fig. 8 is that the left side foot of three bar biped walking mechanisms when keeping straight on is raised up to high state.
The sufficient state that lands in left side when Fig. 9 is the craspedodrome of three bar biped walking mechanisms.
Right foot when Figure 10 is the craspedodrome of three bar biped walking mechanisms lifts, and state travels forward.
Figure 11 is that the right foot of three bar biped walking mechanisms when keeping straight on is raised up to high state.
The right sufficient state that lands when Figure 12 is the craspedodrome of three bar biped walking mechanisms.
Figure 13 is the graphics of three bar biped walking mechanisms pitch of the laps walking.
Figure 14 is three bar biped walking mechanism pitch of the laps walking scheme drawings
Among the figure: left side foot 1, right foot 2, intermediate connecting rod 3, motor 4.
The specific embodiment
Below in conjunction with accompanying drawing the utility model and embodiment are elaborated.
Fig. 1～Figure 5 shows that the embodiment that the utility model three bar biped walking mechanisms keep straight on, left side foot, the right foot of this three bars biped walking mechanism are connected with intermediate connecting rod with revolute pair respectively, and the parallel axes of two revolute pairs is arranged.
A kind of three bar biped walking mechanisms are made up of left side foot 1, right foot 2, intermediate connecting rod 3, motor 4.Motor 4 is fixed on left side foot 1 or right foot 2 inwalls, and motor 4 output shafts cooperate with interporal lacuna on left side foot 1 or right sufficient 2 walls, form a revolute pair; Motor 4 output shafts are connected with an end of intermediate connecting rod 3, and the other end of intermediate connecting rod 3 cooperates with interporal lacuna on right foot 2 or left side foot 1 wall, forms another revolute pair.
Be shaped as square, oblong or other bottom surface of described left side foot 1 or 2 liang of foots of right foot are the planar combination three-dimensional shape.
Described two revolute pair axis are consistent on short transverse.
Above-mentioned three bar biped walking mechanism craspedodrome processes:
Incipient state is seen Fig. 6, and the complete kiss the earth of biped, left side foot lift, travel forward, and biped foot one side generation inclination left, and produce and reverse accordingly, see Fig. 7, left side foot is raised up to the highest, sees Fig. 8, and left side foot lands, and sees Fig. 9;
Right foot lifts, and travels forward, and Figure 10 is seen in biped foot one side generation inclination to the right, and generation and rightabout reversing of preceding semiperiod, and right foot is raised up to the highest, sees Figure 11, and right foot lands, and sees Figure 12;
So far this biped walking mechanism finishes a walking period, comes back on the former direct of travel.Realized a craspedodrome cycle like this, Fig. 6～Figure 12 is the three bar biped walking mechanisms exploded drawingss in a craspedodrome cycle.
Figure 13 is an embodiment of three bar biped walking mechanisms pitch of the laps walking, and left side foot, right foot are connected with intermediate connecting rod with revolute pair respectively, and the axis arranged of two revolute pairs is angled.
Above-mentioned three bar biped walking mechanism pitch of the laps gait processes as hereinbefore, are seen Figure 14.
Claims (3)
1. bar biped walking mechanism, form by left side foot (1), right foot (2), intermediate connecting rod (3), motor (4), it is characterized in that: motor (4) is fixed on left side foot (1) or right foot (2) inwall, motor (4) output shaft cooperates with interporal lacuna on left side foot (1) or right foot (2) wall, forms a revolute pair; Motor (4) output shaft is connected with an end of intermediate connecting rod (3), and the other end of intermediate connecting rod (3) cooperates with interporal lacuna on right foot (2) or left side foot (1) wall, forms another revolute pair.
2. a kind of walking mechanism according to claim 1 is characterized in that: be shaped as square, cuboid or other bottom surface of left side foot (1) or right foot (2) two foots are the planar combination three-dimensional shape.
3. a kind of walking mechanism according to claim 1 is characterized in that: two revolute pair axis are consistent on short transverse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201051128U CN201329912Y (en) | 2009-01-15 | 2009-01-15 | Three-pole two-foot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201051128U CN201329912Y (en) | 2009-01-15 | 2009-01-15 | Three-pole two-foot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201329912Y true CN201329912Y (en) | 2009-10-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009201051128U Expired - Fee Related CN201329912Y (en) | 2009-01-15 | 2009-01-15 | Three-pole two-foot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201329912Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102910220A (en) * | 2012-11-08 | 2013-02-06 | 北京交通大学 | Omni-directional biped walking robot |
| CN103241304B (en) * | 2013-05-17 | 2015-07-01 | 北京交通大学 | Single-degree-of-freedom walking moving mechanism with three feet |
-
2009
- 2009-01-15 CN CNU2009201051128U patent/CN201329912Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102910220A (en) * | 2012-11-08 | 2013-02-06 | 北京交通大学 | Omni-directional biped walking robot |
| CN102910220B (en) * | 2012-11-08 | 2014-12-24 | 北京交通大学 | Omni-directional biped walking robot |
| CN103241304B (en) * | 2013-05-17 | 2015-07-01 | 北京交通大学 | Single-degree-of-freedom walking moving mechanism with three feet |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091021 Termination date: 20140115 |