CN202264836U - Biped robot mechanism self-adaptive for walking and steering on ground - Google Patents
Biped robot mechanism self-adaptive for walking and steering on ground Download PDFInfo
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- CN202264836U CN202264836U CN2011203503663U CN201120350366U CN202264836U CN 202264836 U CN202264836 U CN 202264836U CN 2011203503663 U CN2011203503663 U CN 2011203503663U CN 201120350366 U CN201120350366 U CN 201120350366U CN 202264836 U CN202264836 U CN 202264836U
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Abstract
The utility model is aimed at providing a biped robot mechanism self-adaptive for walking and steering on ground, characterized by comprising a frame, a drive device, an angle output rod, a rear foot, two side connection rods and a front foot, wherein the front foot is connected with the rear foot via the two side connection rods, the drive device is connected with the angle output rod, the angle output rod is connected with the rear foot, and the drive device and the front foot are installed on the frame. Lots of control links are reduced via an optimization design for mechanical structure, therefore, the biped robot mechanism self-adaptive for walking and steering on ground provided by the utility model is reduced in energy consumption, capable of much harmonically realizing the function of being self-adaptive for ground, walking and turning, as well as higher in reliability and stability; and the control device can be modularized, therefore, the cost of the robot can be greatly decreased. The biped robot mechanism self-adaptive for walking and steering on ground can be applied to biped robot and self-adaptive ground robot well, used in the fields of scientific detection, industry, archaeological exploration, medical equipment and the like, and used in the fields of toy development and the like or used as collection or adornment, as well as has high practical value.
Description
Technical field
That the present invention relates to is the robot field, specifically a kind of robot that is used to walk.
Background technology
At present, Chinese scholars after deliberation permitted polypod type and multi-foot robot experimental model.
These robots can be realized the advancement function of walking greatly, but the restriction that receives mechanism design that has can't realize turning to and the walking of self adaptation ground, like the six-legged walking machine device people of Shanghai university of communications exploitation.
Can realize foot type robot especially the divertical motion of multi-foot robot two kinds of situation are generally arranged: if the body of robot is a rigidity; Then it turns to generally and accomplishes through leg action; So every leg should have hip joint thigh and 3 degree of freedom of shank at least, has only just directly caused the CD-ROM drive motor of complex structure and needs too much.If the body of multi-foot robot adopts sectional type to connect, for realizing turning to, just need pitching between each section body and wave two degree of freedom, this still causes complex structure.
Shanghai Communications University has developed the miniature three-leg walking robot that marmem drives in 2002, the characteristic of utilizing marmem after the energising heating, can stretch drives the health rotary joint, thereby reaches the purpose that turns to.But this invention receives the restriction of material, only is applicable to the microrobot that body weight is lighter, does not possess extensive applicability; And its control system is still comparatively complicated.
The walking robot on self adaptation ground also is one of main construction of research and development both at home and abroad simultaneously, and same situation is to realize turning function, if can realize that the robot of turning function is structurally quite complicated, volume is also bigger.
Summary of the invention
The object of the present invention is to provide and utilize activation lacking mechanical to learn and principle such as barodynamics, the foot type robot mechanism of being walked and turn in self adaptation ground and the walking of robot, a kind of self adaptation ground of turning to function to realize in a unified mechanism.
The objective of the invention is to realize like this:
Walking of a kind of self adaptation of the present invention ground and the foot type robot mechanism that turns to; It is characterized in that: comprise frame, actuating device, angle take-off lever, metapedes, both sides connecting rod, front foot; Front foot connects metapedes through the both sides connecting rod; Actuating device connection angle take-off lever, the angle take-off lever connects metapedes, and actuating device and front foot are installed on the frame.
The present invention can also comprise:
1, described metapedes is the I shape metapedes.
2, described actuating device back and forth drives the angle take-off lever and drives metapedes and frame makes metapedes and frame angulation.
3, angle take-off lever and I-shape metapedes are hinged on servo-actuated under the effect of gravity and realize self adaptation ground, and four-footed lands simultaneously, and the center of gravity that makes frame is in the quadrangle scope of front foot and I-shape metapedes.
4, described actuating device only drives one of them of two degree of freedom of whole mechanism.
Formed plane was perpendicular to front foot and the formed plane of I-shape metapedes touchdown point when 5, two front foots were parallel to each other, and formed plane was vertical when the actuating device output shaft was parallel to each other with two front foots.
6, described metapedes is connected with being connected to of connecting rod is universal, and connecting rod is connected with being connected to of front foot is universal.
Advantage of the present invention is: the present invention has reduced a large amount of controlling units through the optimal design of physical construction, reduces energy consumption and the realization self adaptation ground that can coordinate more and walking, turning function, and reliability, stability are higher; And because control setup of the present invention can modularization, so the application of the invention can reduce the cost of robot greatly.Because above-described characteristics, the present invention can be applied to sufficient anthropomorphic robot preferably, self adaptation ground robot; Also can be used for fields such as scientific exploration, industry, archaeology exploration, medical facilities; Can also be used for field or conduct collection decorative fittings such as toy exploitation, have higher utility.
Description of drawings
Fig. 1 is a motion principle scheme drawing of the present invention.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1; One week of pin motion that can suppose the polypody bio-robot is one-period; Can be known by bionic discovery: phase difference equals 180 degree between the biological symmetry foot of polypody; And sense of motion is opposite when turning; In addition can know that by barodynamics and the law of inertia but its automatic guidance center of gravity when uneven ground is placed lands its four-footed simultaneously, and through drive device drives angle take-off lever swing formation overbalance once more, the secondary action through gravity reaches balance and promptly is so principle designs.
Technical scheme of the present invention is following: but the foot type robot mechanism of walking and turn in a kind of self adaptation ground comprises that mainly drive part, output and frame constitute.
Its concrete characteristic is following:
Drive part constitutes: Power Drive Unit 2 is fixed on the frame 1, by the swing of a motor control angle take-off lever 3, makes the connecting rod 5 that is distributed in frame 1 both sides drive foreleg 6 motions.When I-shape back leg 4 reached a side, the connecting rod 5 that is distributed in frame 1 both sides formed one and pushes away a structure of drawing.The phase difference that makes foreleg 6 is 180 degree.
Output constitutes: output mainly is made up of the angled axle that rotates freely of motor output end and center.Be connected with the I-shape metapedes 4 of robot, can constitute a complete robot.
Owing drive part constitutes: owe drive part mainly by I-shape metapedes 4, front foot 6 and with they interconnective connecting rods 5.
The robot realization of surface function adaptively is through owing drive configuration, its four-footed being landed simultaneously.
The realization of the advancement function of robot is when carrying out the forward swing through Power Drive Unit 2, to drive 3 swings of angle take-off lever; Then drive the connecting rod 5 on both sides.At this moment, connecting rod 5 acts on foreleg 6.Effect through gravity makes foreleg 6 lift and step, and reaches plateau once more; When Power Drive Unit 2 carries out backswing, drive 3 swings of angle take-off lever; Then drive the connecting rod 5 on both sides.At this moment, connecting rod 5 acts on opposite side foreleg 6.Effect through gravity makes foreleg 6 lift and step, and reaches plateau once more.Forward can make robot travel forward with reverse alternatively swinging.
The realization of the turning function of robot is when carrying out being swung by the upright position forward through Power Drive Unit 2, drives 3 swings of angle take-off lever; Then drive the connecting rod 5 on both sides.At this moment, connecting rod 5 acts on foreleg 6.Effect through gravity makes foreleg 6 lift and step, and reaches plateau once more; Power Drive Unit 2 carries out backswing and when reaching the upright position, drives 3 swings of angle take-off lever; Then drive the connecting rod 5 on both sides.At this moment, connecting rod 5 acts on opposite side foreleg 6.Effect through gravity makes foreleg 6 lift and step, and reaches plateau once more.Forward can make robot turn with reverse alternatively swinging.
Should have should be noted that when the present invention is applied to sufficient type and multi-foot robot at following 3: the center of gravity that, guarantees himself is omited back partially.Foreleg 6 could be under the effect of center of gravity and is lifted like this.Two, during setting angle output shaft 3, establish the position that angle output shaft 3 is put its center, four-footed is when perpendicular to the ground, and its axle drive shaft is vertical with plane, two forelegs place, angle output shaft plane, 3 place and parallel sided.
But a kind of self adaptation walking and the foot type robot mechanism that turns to; Mainly comprise: frame 1, actuating device 2, angle take-off lever 3, I-shape metapedes 4, both sides connecting rod 5 and front foot 6; It is characterized in that: actuating device 2 is fixed on the frame 1; Angle take-off lever 3 is hinged with I-shape metapedes 4, makes foot type robot owing to gravity self adaptation ground, and I-shape metapedes 4 links to each other with front foot 6 through connecting rod 5; Front foot 6 is hinged with frame 1, actuating device 2 two-way reciprocal driving angle take-off levers 3 and to drive I-shape metapedes 4 angled with frame 1.Because effect of inertia lifts both sides front foot 6 successively, and I-shape metapedes 4 is striden forward, act on front foot 6 and walking forward through connecting rod 5.Actuating device 2 unidirectional reciprocal driving angle take-off levers 3 and to drive I-shape metapedes 4 angled with frame 1.Under the effect of gravity, making homonymy front foot 6 repeat to lift through connecting rod 5 turns to.
Angle take-off lever 3 and I-shape metapedes 4 are hinged on servo-actuated under the effect of gravity and realize self adaptation ground, and four-footed lands simultaneously, and the center of gravity that guarantees frame 1 is in the quadrangle scope of front foot 6 and I-shape metapedes 4.
Form the controlled drive configuration system that owes of a cover between actuating device 2 and angle take-off lever 3, the I-shape metapedes 4.
Actuating device 2 only driver train two degree of freedom one of them.
I-shape metapedes 4 links to each other with front foot 6 through connecting rod 5, the universal hinging that is connected to of I-shape metapedes 4 and connecting rod 5, connecting rod 5 and front foot 6 be connected to universal hinging.
Formed plane was perpendicular to front foot 6 and the formed plane of I-shape metapedes 4 touchdown points when two front foots 6 were parallel to each other, and when formed plane was vertical when actuating device 2 output shafts were parallel to each other with two front foots 6, state of kinematic motion was best.
The motion that self adaptation ground foot type robot mechanism achieves walking forward or turns through actuating device 2.
Actuating device 2 is fixed on the frame 1.When actuating device 2 drive angle take-off levers 3 were swung, moving angle take-off lever 3 can drive frame both sides connecting rod 5 through I-shape metapedes 4.At this moment, connecting rod 5 acts on front foot 6.Effect through gravity makes front foot 6 lift and step, and reaches plateau once more; When actuating device 2 carries out backswing, drive 3 swings of angle take-off lever; Through the effect of I-shape metapedes 4, drive the connecting rod 5 on both sides then.At this moment, connecting rod 5 acts on opposite side foreleg front foot 6.Effect through gravity makes front foot 6 lift and step, and reaches plateau once more.Forward can make robot travel forward with reverse alternatively swinging.
Claims (7)
1. self adaptation ground walking and the foot type robot mechanism that turns to; It is characterized in that: comprise frame, actuating device, angle take-off lever, metapedes, both sides connecting rod, front foot; Front foot connects metapedes through the both sides connecting rod; Actuating device connection angle take-off lever, the angle take-off lever connects metapedes, and actuating device and front foot are installed on the frame.
2. walking of a kind of self adaptation according to claim 1 ground and the foot type robot mechanism that turns to, it is characterized in that: described metapedes is the I shape metapedes.
3. a kind of self adaptation according to claim 2 ground walking and the foot type robot mechanism that turns to is characterized in that: described actuating device back and forth drives the angle take-off lever and drives metapedes and frame makes metapedes and frame angulation.
4. walking of a kind of self adaptation according to claim 3 ground and the foot type robot mechanism that turns to; It is characterized in that: angle take-off lever and I-shape metapedes are hinged on servo-actuated under the effect of gravity and realize self adaptation ground; Four-footed lands simultaneously, and the center of gravity that makes frame is in the quadrangle scope of front foot and I-shape metapedes.
5. walking of a kind of self adaptation according to claim 4 ground and the foot type robot mechanism that turns to, it is characterized in that: described actuating device only drives one of them of two degree of freedom of whole mechanism.
6. walking of a kind of self adaptation according to claim 5 ground and the foot type robot mechanism that turns to; It is characterized in that: formed plane was perpendicular to front foot and the formed plane of I-shape metapedes touchdown point when two front foots were parallel to each other, and formed plane was vertical when the actuating device output shaft was parallel to each other with two front foots.
7. walking of a kind of self adaptation according to claim 6 ground and the foot type robot mechanism that turns to, it is characterized in that: described metapedes is connected with being connected to of connecting rod is universal, and connecting rod is connected with being connected to of front foot is universal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203503663U CN202264836U (en) | 2011-09-19 | 2011-09-19 | Biped robot mechanism self-adaptive for walking and steering on ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203503663U CN202264836U (en) | 2011-09-19 | 2011-09-19 | Biped robot mechanism self-adaptive for walking and steering on ground |
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| Publication Number | Publication Date |
|---|---|
| CN202264836U true CN202264836U (en) | 2012-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203503663U Withdrawn - After Issue CN202264836U (en) | 2011-09-19 | 2011-09-19 | Biped robot mechanism self-adaptive for walking and steering on ground |
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| CN (1) | CN202264836U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381379A (en) * | 2011-09-19 | 2012-03-21 | 哈尔滨工程大学 | Self-adaptation ground traveling and turning foot type robot mechanism |
| CN106438894A (en) * | 2016-09-08 | 2017-02-22 | 常州大学 | Five-foot labour-saving load self-locking device based on levers |
-
2011
- 2011-09-19 CN CN2011203503663U patent/CN202264836U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381379A (en) * | 2011-09-19 | 2012-03-21 | 哈尔滨工程大学 | Self-adaptation ground traveling and turning foot type robot mechanism |
| CN106438894A (en) * | 2016-09-08 | 2017-02-22 | 常州大学 | Five-foot labour-saving load self-locking device based on levers |
| CN106438894B (en) * | 2016-09-08 | 2019-03-22 | 常州大学 | A kind of five laborsaving load-carrying self-locking devices of foot based on lever |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120606 Effective date of abandoning: 20130320 |
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| RGAV | Abandon patent right to avoid regrant |