CN202358215U - Mechanical leg mechanism and four-legged walker - Google Patents
Mechanical leg mechanism and four-legged walker Download PDFInfo
- Publication number
- CN202358215U CN202358215U CN2011204763460U CN201120476346U CN202358215U CN 202358215 U CN202358215 U CN 202358215U CN 2011204763460 U CN2011204763460 U CN 2011204763460U CN 201120476346 U CN201120476346 U CN 201120476346U CN 202358215 U CN202358215 U CN 202358215U
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- hinge
- mechanical leg
- crank
- gear
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Abstract
The utility model discloses a mechanical leg mechanism. The mechanical leg mechanism comprises a crank AB, a first connecting rod BC, a second connecting rod BE, a third connecting rod DE, a fourth connecting rod FG, a foot connecting rod EF and three pairs of components CDG, wherein the crank AB, the first connecting rod BC and the second connecting rod BE are hinged together at a hinge point B; the three pairs of components CDG and the first connecting rod BC are hinged at a hinge point C; the three pairs of components CDG and the third connecting rod DE are hinged at a hinge point D; the three pairs of components CDG and the fourth connecting rod FG are hinged at a hinge point G; the third connecting rod DE and the foot connecting rod EF are hinged at a hinge point E; the fourth connecting rod FG is hinged at a hinge point F; and the foot connecting rod EF is provided with a toe part which extends out transversely. The utility model also discloses a four-legged walker using the mechanical leg mechanism, wherein the four-legged walker comprises four mechanical leg mechanisms, a rectangular support, and a driving mechanism and a transmission mechanism which are arranged on the rectangular support. The mechanical leg mechanism and the four-legged walker can realize the movement of walking tracks, and are simple in structure.
Description
Technical field
The utility model relates to a kind of robot motion mechanism, especially a kind of mechanical leg organization as teaching appliance; The utility model also relates to a kind of four feet walk device as teaching appliance that uses this mechanical leg organization.
Background technology
Wheeled or the crawler-mounted motion traveling gear of the many employings of present most of robot will not cause at ordinary times and can't walk when running into ground, has caused big difficulty; And the existing robot with pedipulator of imparting knowledge to students or studying of being used to; The motion of its mechanical leg organization is the walking track of imitation people leg; But this mechanical leg organization is comparatively complicated; To in requisition for comparatively complicated, accurate electrical controller, so this robot with complicated machinery leg mechanism is unfavorable for clear its walking movement process of showing in tutoring system, the enlightenment of the actual engineering problem that also is unfavorable in teaching process, being resolved.
The utility model content
The purpose of the utility model is to provide a kind of mechanical leg organization, can realize the athletic performance of walking track, and its mechanism is simple.
Another purpose of the utility model is to provide a kind of four feet walk device that uses above-mentioned mechanical leg organization.
The purpose of the utility model realizes through following technical scheme: it comprises crank AB, first connecting rod BC, second connecting rod BE, third connecting rod DE, the 4th connecting rod FG, foot connecting rod EF, three secondary member CDG; Said crank AB, first connecting rod BC, second connecting rod BE are articulated on the hinge B jointly; Said three secondary member CDG and first connecting rod BC are articulated on the hinge C; Said three secondary member CDG and third connecting rod DE are articulated on the hinge D; Said three secondary member CDG 1 the 4th rod hinge connection is on hinge G, and said third connecting rod DE and foot connecting rod EF are articulated on the hinge E, and said the 4th connecting rod FG is articulated on the hinge F; Said foot connecting rod EF has the toe that crosses out.
The said foot connecting rod of the utility model EF is first set square, and said hinge E, hinge F are located at wherein two edges of first set square respectively, and said toe is the another one corner of this first set square.
The said three secondary member CDG of the utility model are second set square, and said hinge C, hinge D, hinge G are located at three edges of second set square respectively.
The middle part of said first set square of the utility model, second set square offers hollow hole.
Another purpose of the utility model realizes through following scheme: a kind of four feet walk device that utilizes above-mentioned mechanical leg organization; It comprises four mechanical leg organizations, rectangle supports, is installed on driver train and transmission device on the rectangle support; Said mechanical leg organization is located at four edges of rectangle support respectively, and the crank AB of said mechanical leg organization links to each other with transmission device, driver train successively.
The said driver train of the utility model is the motor that has reducing gearbox.
The said transmission device of the utility model comprises first gear, second largest gear, has the double-layer gear of big/miniature gears, is installed on first miniature gears on the motor output shaft; The big gear wheel of said first miniature gears and double-layer gear is connected with a joggle, and the miniature gears of said double-layer gear is connected the crank AB of back outputting rotary power to each mechanical leg organization respectively with first gear, second largest gear mesh.
The said transmission device of the utility model also comprises first transmission shaft, second transmission shaft, foot unit and back foot unit before described four mechanical leg organizations constitute in twos; Two crank AB of foot unit link to each other through first transmission shaft before said, and one of them the crank AB in the preceding foot unit is fixed on the end face of first gear; Two crank AB of said back foot unit link to each other through second transmission shaft, and one of them crank AB of back foot unit is fixed on the end face of second largest gear.
Compared with prior art, the utility model technology has the following advantages:
1, the mechanical leg organization of the utility model is after crank AB rotation, and the toe that can drive foot connecting rod EF is done the athletic performance of walking track, and this mechanism is simple and reliable;
2, the four feet walk device mechanism of the utility model constitutes and the equal simple, intuitive of mode, is beneficial to and in tutoring system, is used as displaying, and help analyzing the problem that runs in the actual robot engineering through the realization of this walking action, and take a hint.
Description of drawings
Fig. 1 is the simplified schematic diagram of the utility model mechanical leg organization;
Fig. 2 is the mechanical leg organization scheme drawing of the utility model specific embodiment;
Fig. 3 is the walking action scheme drawing of the utility model mechanical leg organization;
Fig. 4 is the four feet walk device block diagram of the utility model specific embodiment;
Fig. 5 is the front view of Fig. 4;
Fig. 6 is the upward view of Fig. 4.
Among the figure: 1. mechanical leg organization; 11. toe; 12,13. hollow holes; 14. track; 2. rectangle support; 3. motor; 4. transmission device; 41. first transmission shaft; 42. second transmission shaft; 43. first gear; 44. second largest gear; 45. double-layer gear; 46. first miniature gears.
The specific embodiment
A kind of mechanical leg organization 1 shown in Fig. 1～2, it comprises crank AB, first connecting rod BC, second connecting rod BE, third connecting rod DE, the 4th connecting rod FG, foot connecting rod EF, three secondary member CDG; Crank AB, first connecting rod BC, second connecting rod BE are articulated on the hinge B jointly; Three secondary member CDG and first connecting rod BC are articulated on the hinge C; Three secondary member CDG and third connecting rod DE are articulated on the hinge D; Three secondary member CDG 1 the 4th rod hinge connection is on hinge G, and third connecting rod DE and foot connecting rod EF are articulated on the hinge E, and the 4th connecting rod FG is articulated on the hinge F.
Foot connecting rod EF is first set square; The center has hollow hole 12; Hinge E, hinge F are located at wherein two edges of first set square respectively, and toe 11 is the another one corner of this first set square, and this toe 11 is equivalent to the part that a straight connection rod crosses out.
Three secondary member CDG are second set square, and the center also has three edges that hinge C, hinge D, hinge G on hollow hole 13, three secondary members is located at second set square respectively.The hollow hole that is opened on first, second set square is the intensity that is used to strengthen two set squares.
As shown in Figure 3; When rotary power drove crank AB rotation, the B end drove first connecting rod BC and second connecting rod BE to the spinning movement of AB around the rotation of A end; Impelling third connecting rod DE is that the strong point waves with D; And to impel the 4th connecting rod FG be that the strong point waves with the G point, then these two rocking motions combined drivening rod EF swing, the track 14 that makes the toe 11 of connecting rod EF make walking movement.
Shown in Fig. 4～6; A kind of four feet walk device that utilizes above-mentioned mechanical leg organization; It comprises four mechanical leg organizations 1, rectangle support 2, is installed on driver train and transmission device 4 on the rectangle support 2; Mechanical leg organization 1 is located at four edges of rectangle support 2 respectively, and the crank AB of mechanical leg organization 1 links to each other with transmission device 4, driver train successively.Wherein, Driver train is 540 motors 3 that have reducing gearbox; Transmission device 4 comprises first transmission shaft 41, second transmission shaft 42, first gear 43, second largest gear 44, has the double-layer gear 45 of big/miniature gears, is installed on first miniature gears 46 on the motor output shaft; First miniature gears 46 is connected with a joggle with the big gear wheel of double-layer gear 45, the miniature gears of double-layer gear 45 respectively with the be connected with a joggle crank AB of back outputting rotary power to each mechanical leg organization 1 of first gear 43, second largest gear 44; Foot unit and back foot unit before four mechanical leg organizations constitute in twos; Two crank AB of preceding foot unit are connected in the A point through first transmission shaft 41, and the A ' end of one of them the crank AB in the preceding foot unit is fixed on the end face of first gear 43; Two crank AB of back foot unit are connected in the A point through second transmission shaft 42; And the A ' end of inciting somebody to action one of them crank AB of back foot unit is fixed on the end face of second largest gear 44; Wherein, the A of the crank AB on first, second big gear wheel end face end is positioned at the place, axle center of gear separately.
When teaching is used, can mechanical leg organization be installed on the rectangle support, and mechanical leg organization be transferred establish, advance so that four mechanical leg organizations tunable when walking move moves or retreat to different initial motion track position.Original power can drive the about 400r/min of speed of 540 motors output through battery.In order further to strengthen torsion and to slow down rotating speed, add the reducing gear of two groups of modulus 1mm.The miniature gears that is installed on the band drop-gear box motor output shaft has 20 teeth; It is sent to the power of motor 50 tooth big gear wheels of double-layer gear; 24 tooth miniature gearss by double-layer gear pass to the output shaft that has 50 first, second big gear wheels of tooth to power again, and the output speed of final drive gear is a little less than 100r/min.
The embodiment of the utility model is not limited thereto; According to foregoing; Ordinary skill knowledge and customary means according to this area; Do not breaking away under the above-mentioned basic fundamental thought of the utility model prerequisite, equivalent modifications, replacement or change that the utility model can also be made other various ways all can realize the utility model purpose.
Claims (8)
1. mechanical leg organization; It is characterized in that: it comprises crank AB, first connecting rod BC, second connecting rod BE, third connecting rod DE, the 4th connecting rod FG, foot connecting rod EF, three secondary member CDG; Said crank AB, first connecting rod BC, second connecting rod BE are articulated on the hinge B jointly; Said three secondary member CDG and first connecting rod BC are articulated on the hinge C, and said three secondary member CDG and third connecting rod DE are articulated on the hinge D, and said three secondary member CDG 1 the 4th rod hinge connection is on hinge G; Said third connecting rod DE and foot connecting rod EF are articulated on the hinge E, and said the 4th connecting rod FG is articulated on the hinge F; Said foot connecting rod EF has the toe that crosses out.
2. mechanical leg organization according to claim 1; It is characterized in that: said foot connecting rod EF is first set square; Said hinge E, hinge F are located at wherein two edges of first set square respectively, and said toe is the another one corner of this first set square.
3. mechanical leg organization according to claim 2 is characterized in that: said three secondary member CDG are second set square, and said hinge C, hinge D, hinge G are located at three edges of second set square respectively.
4. mechanical leg organization according to claim 3 is characterized in that: the middle part of said first set square, second set square offers hollow hole.
5. four feet walk device that uses above-mentioned mechanical leg organization; It is characterized in that: it comprises four mechanical leg organizations, rectangle supports, is installed on driver train and transmission device on the rectangle support; Said mechanical leg organization is located at four edges of rectangle support respectively, and the crank AB of said mechanical leg organization links to each other with transmission device, driver train successively.
6. four feet walk device according to claim 5 is characterized in that: said driver train is the motor that has reducing gearbox.
7. four feet walk device according to claim 6; It is characterized in that: said transmission device comprises first gear, second largest gear, has the double-layer gear of big/miniature gears, is installed on first miniature gears on the motor output shaft; The big gear wheel of said first miniature gears and double-layer gear is connected with a joggle, and the miniature gears of said double-layer gear is connected the crank AB of back outputting rotary power to each mechanical leg organization respectively with first gear, second largest gear mesh.
8. four feet walk device according to claim 7 is characterized in that: said transmission device also comprises first transmission shaft, second transmission shaft, foot unit and back foot unit before described four mechanical leg organizations constitute in twos; Two crank AB of foot unit link to each other through first transmission shaft before said, and one of them the crank AB in the preceding foot unit is fixed on the end face of first gear; Two crank AB of said back foot unit link to each other through second transmission shaft, and one of them crank AB of back foot unit is fixed on the end face of second largest gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204763460U CN202358215U (en) | 2011-11-25 | 2011-11-25 | Mechanical leg mechanism and four-legged walker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204763460U CN202358215U (en) | 2011-11-25 | 2011-11-25 | Mechanical leg mechanism and four-legged walker |
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| Publication Number | Publication Date |
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| CN202358215U true CN202358215U (en) | 2012-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204763460U Expired - Fee Related CN202358215U (en) | 2011-11-25 | 2011-11-25 | Mechanical leg mechanism and four-legged walker |
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| CN (1) | CN202358215U (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057618A (en) * | 2013-01-09 | 2013-04-24 | 北京理工大学 | Bionic hoof device of four-foot robot |
| CN103231751A (en) * | 2013-04-07 | 2013-08-07 | 哈尔滨工程大学 | Single-joint-sealed amphibious multi-legged robot |
| CN103264735A (en) * | 2013-06-14 | 2013-08-28 | 山东省科学院自动化研究所 | Underactuated mixed-connected travelling mechanism |
| CN103963869A (en) * | 2014-05-14 | 2014-08-06 | 王岳林 | Elliptic gear drive walking robot and manufacturing method thereof |
| CN104802874A (en) * | 2014-01-26 | 2015-07-29 | 上海交通大学 | Four-foot rescue robot |
| CN104960590A (en) * | 2015-06-30 | 2015-10-07 | 湖州市千金宝云机械铸件有限公司 | Four-foot walking robot |
| CN104973162A (en) * | 2015-07-10 | 2015-10-14 | 陕西九立机器人制造有限公司 | Leg structure of leg robot |
| CN105905185A (en) * | 2016-06-12 | 2016-08-31 | 江苏工程职业技术学院 | Connecting-rod type robot travelling device and method |
| CN106275234A (en) * | 2016-10-10 | 2017-01-04 | 北京交通大学 | A kind of elliptical exercise machine scooter |
| CN106394725A (en) * | 2016-12-12 | 2017-02-15 | 常州机电职业技术学院 | Microstep robot |
| CN106515875A (en) * | 2016-10-09 | 2017-03-22 | 深圳市安思科电子科技有限公司 | Intelligent transportation equipment for oil exploration |
| CN107458495A (en) * | 2017-07-04 | 2017-12-12 | 山东大学 | Leg travel mechanism and quadruped robot |
| CN108995732A (en) * | 2018-06-27 | 2018-12-14 | 东北大学 | A kind of novel bionic polypody transportation robot and application method |
| CN109223252A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | Imitative pubis artificial anal sphincter prosthese power transmission and limiting device |
| CN109263747A (en) * | 2018-09-30 | 2019-01-25 | 重庆电子工程职业学院 | Eight sufficient bio-robots and science popularization external member |
| CN110329388A (en) * | 2019-04-24 | 2019-10-15 | 合肥磐石自动化科技有限公司 | A kind of sufficient scooter of the multistage connecting rod 12 of optimization design |
| CN110329387A (en) * | 2019-04-23 | 2019-10-15 | 西安建筑科技大学 | A kind of full landform walking climbing mechanism |
| CN112619507A (en) * | 2021-03-04 | 2021-04-09 | 湖南高福星智能科技有限公司 | Environment-friendly sewage treatment device |
| CN114670951A (en) * | 2022-05-11 | 2022-06-28 | 南京工程学院 | Bionic leg structure of Jansen connecting rod structure robot |
-
2011
- 2011-11-25 CN CN2011204763460U patent/CN202358215U/en not_active Expired - Fee Related
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057618B (en) * | 2013-01-09 | 2015-12-09 | 北京理工大学 | Bionic hoof device of four-foot robot |
| CN103057618A (en) * | 2013-01-09 | 2013-04-24 | 北京理工大学 | Bionic hoof device of four-foot robot |
| CN103231751A (en) * | 2013-04-07 | 2013-08-07 | 哈尔滨工程大学 | Single-joint-sealed amphibious multi-legged robot |
| CN103231751B (en) * | 2013-04-07 | 2015-05-27 | 哈尔滨工程大学 | Single-joint-sealed amphibious multi-legged robot |
| CN103264735A (en) * | 2013-06-14 | 2013-08-28 | 山东省科学院自动化研究所 | Underactuated mixed-connected travelling mechanism |
| CN103264735B (en) * | 2013-06-14 | 2016-03-09 | 山东省科学院自动化研究所 | A kind of drive lacking series-parallel connection traveling gear |
| CN104802874B (en) * | 2014-01-26 | 2017-03-15 | 上海交通大学 | Four-footed rescue robot |
| CN104802874A (en) * | 2014-01-26 | 2015-07-29 | 上海交通大学 | Four-foot rescue robot |
| CN103963869A (en) * | 2014-05-14 | 2014-08-06 | 王岳林 | Elliptic gear drive walking robot and manufacturing method thereof |
| CN104960590A (en) * | 2015-06-30 | 2015-10-07 | 湖州市千金宝云机械铸件有限公司 | Four-foot walking robot |
| CN104973162A (en) * | 2015-07-10 | 2015-10-14 | 陕西九立机器人制造有限公司 | Leg structure of leg robot |
| CN105905185A (en) * | 2016-06-12 | 2016-08-31 | 江苏工程职业技术学院 | Connecting-rod type robot travelling device and method |
| CN106515875B (en) * | 2016-10-09 | 2018-10-26 | 泉州台商投资区华林设计有限公司 | A kind of intelligent transport equipment for oil exploration |
| CN106515875A (en) * | 2016-10-09 | 2017-03-22 | 深圳市安思科电子科技有限公司 | Intelligent transportation equipment for oil exploration |
| CN106275234A (en) * | 2016-10-10 | 2017-01-04 | 北京交通大学 | A kind of elliptical exercise machine scooter |
| CN106394725A (en) * | 2016-12-12 | 2017-02-15 | 常州机电职业技术学院 | Microstep robot |
| CN106394725B (en) * | 2016-12-12 | 2018-01-05 | 常州机电职业技术学院 | Micro-stepping robot |
| CN107458495A (en) * | 2017-07-04 | 2017-12-12 | 山东大学 | Leg travel mechanism and quadruped robot |
| CN108995732A (en) * | 2018-06-27 | 2018-12-14 | 东北大学 | A kind of novel bionic polypody transportation robot and application method |
| CN109263747A (en) * | 2018-09-30 | 2019-01-25 | 重庆电子工程职业学院 | Eight sufficient bio-robots and science popularization external member |
| CN109223252A (en) * | 2018-11-07 | 2019-01-18 | 上海交通大学 | Imitative pubis artificial anal sphincter prosthese power transmission and limiting device |
| CN110329387A (en) * | 2019-04-23 | 2019-10-15 | 西安建筑科技大学 | A kind of full landform walking climbing mechanism |
| CN110329388A (en) * | 2019-04-24 | 2019-10-15 | 合肥磐石自动化科技有限公司 | A kind of sufficient scooter of the multistage connecting rod 12 of optimization design |
| CN112619507A (en) * | 2021-03-04 | 2021-04-09 | 湖南高福星智能科技有限公司 | Environment-friendly sewage treatment device |
| CN114670951A (en) * | 2022-05-11 | 2022-06-28 | 南京工程学院 | Bionic leg structure of Jansen connecting rod structure robot |
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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: 20120801 Termination date: 20131125 |