CN202449094U - Moving mechanism of four-foot biomimetic robot - Google Patents
Moving mechanism of four-foot biomimetic robot Download PDFInfo
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- CN202449094U CN202449094U CN2012200051052U CN201220005105U CN202449094U CN 202449094 U CN202449094 U CN 202449094U CN 2012200051052 U CN2012200051052 U CN 2012200051052U CN 201220005105 U CN201220005105 U CN 201220005105U CN 202449094 U CN202449094 U CN 202449094U
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Abstract
The utility model relates to a moving mechanism, in particular to a moving mechanism of a four-foot biomimetic robot. The moving mechanism belongs to the technical field of robot movement and is formed by a left front foot, a right front foot, a left back foot, a right back foot and an I-shaped base disc. The left front foot and the right front foot are respectively installed at two ends of a front transverse rod of the base disc, and the left back foot and the right back foot are respectively installed at two ends of a back transverse rod of the base disc. The moving mechanism utilizes a shank servo pneumatic cylinder and a foot servo pneumatic cylinder to respectively control a shank rod and a foot rod to upwarp, utilizes a leg servo pneumatic cylinder to drive a leg rod to swing, and adopts a rotating servo cylinder to control steering of the front feet and the back feet, thereby achieving the aims of walking, running, lying down, obstacle crossing and turning. The moving mechanism resolves the problem that the existing robot is complex in walking structure and high in manufacture cost and cannot walk continuously and flexibly, and is especially suitable for transporting objects in complex environment and conducting various scouting and monitoring work under dangerous occasions.
Description
Technical field
The utility model relates to a kind of kinematic mechanism, is specifically related to a kind of kinematic mechanism of four-leg bionic robot, belongs to robot motion's technical field.
Background technology
At present, the research-and-development activity of bio-robot is at home and abroad all paid much attention to, and all is widely used in every field, as the rescue of taking precautions against natural calamities, investigation monitoring and transmit article or the like in danger or the bad place of road conditions.The walking structure more complicated of existing robot, not only manufacturing cost is high, and has many defectives such as walking is discontinuous and dumb, therefore when work in danger or the bad place of road conditions, receives certain restriction.
Summary of the invention
The purpose of the utility model is: provide that a kind of simple in structure, sports coordination is strong, the manner of execution conversion fast, cushion characteristic is good when running, and do not receive the kinematic mechanism of the four-leg bionic robot of working environment restriction.
The utility model is to realize above-mentioned purpose through following technical scheme:
A kind of kinematic mechanism of four-leg bionic robot; It is made up of the chassis of left front sufficient, right front sufficient, left back sufficient, right back foot and I-shaped shape; It is characterized in that: the chassis is made up of chassis connecting rod, chassis front rail and chassis rear transverse rod; Connect fixing between chassis front rail and the chassis rear transverse rod through the chassis connecting rod; The two ends of chassis front rail are movably installed with left front foot and right front foot through preceding fixed disc A and preceding fixed disc B respectively; The two ends of chassis rear transverse rod are movably installed with left back foot and right back foot through back fixed disc C and back fixed disc D respectively, and left front sufficient, right front sufficient, left back sufficient and right back foot is connected with the chassis connecting rod through rotating servo air cylinder A, rotating servo air cylinder B, rotating servo air cylinder C and rotating servo air cylinder D respectively.
Described left front sufficient, right front sufficient, left back sufficient and right back foot is made up of rotating circular disk, thigh bar, shank bar, foot bar, the servo air cylinder of thigh, the servo air cylinder of shank, the servo air cylinder of foot respectively, and an end of the servo air cylinder of shank, thigh bar and the servo air cylinder of thigh is movably installed in the bottom of rotating circular disk respectively through pin C and pin D; The other end of the servo air cylinder of shank is movably connected on the termination, upper end of shank bar through pin E; The termination, lower end of shank bar is movably installed on the foot bar through pin A; Be provided with the servo air cylinder of foot between foot bar and the shank bar; One end of the servo air cylinder of foot is captiveed joint with foot bar one end termination, and the other end of the servo air cylinder of foot flexibly connects through pin B and shank bar; The other end of said thigh bar and the servo air cylinder of thigh is movably connected on the shank bar between servo air cylinder of shank and the servo air cylinder of foot through pin F.
The utility model beneficial effect compared with prior art is:
Left front sufficient, right front sufficient, the left back sufficient and right back foot of the utility model is respectively three stage structure, and the motion feature with the four limbs biosome during walking is identical, through the servo air cylinder of shank with the servo air cylinder of foot controls the shank bar respectively and the foot bar warps; Drive the thigh bar swing through the servo air cylinder of thigh; Adopt each forward and backward sufficient turning to of rotating servo air cylinder control, thereby coordinate each forward and backward sufficient exercises each other, realize walking, run, drop to the ground, the purpose of obstacle detouring and turning; Avoided existing robot ambulation structure more complicated; Not only manufacturing cost is high, and has problems such as walking is discontinuous and dumb, and has that sports coordination is strong, the manner of execution conversion is quick, cushion characteristic is good when running; Do not receive the characteristics of working environment restriction; The labyrinth environment is had excellent adaptability, be applicable to and comparatively carrying article in the complex environment, and carry out various scoutings and monitoring work at dangerous situation.
Description of drawings
Fig. 1 is the perspective view of the utility model;
Fig. 2 is the main TV structure scheme drawing of the utility model;
Fig. 3 is the left TV structure scheme drawing of the utility model;
Fig. 4 is the right TV structure scheme drawing of the utility model;
Fig. 5 is the structural representation of looking up of the utility model.
Among the figure: 1, left front foot, 2, right front foot, 3, left back foot, 4, right back foot, 5, the chassis connecting rod, 6, the chassis front rail; 7, chassis rear transverse rod, 8, preceding fixed disc A, 9, preceding fixed disc B, 10, back fixed disc C, 11, back fixed disc D, 12, rotating circular disk; 13, thigh bar, 14, the shank bar, 15, the foot bar, 16, the servo air cylinder of thigh, 17, the servo air cylinder of shank, 18, the servo air cylinder of foot; 19, the pin C, 20, the pin D, 21, the pin E, 22, the pin A, 23, the pin B; 24, pin F, 25, rotating servo air cylinder A, 26, rotating servo air cylinder B, 27, rotating servo air cylinder C, 28, rotating servo air cylinder D.
The specific embodiment
The kinematic mechanism of this four-leg bionic robot is made up of the chassis of left front foot 1, right front foot 2, left back foot 3, right back foot 4 and I-shaped shape; The chassis is made up of chassis connecting rod 5, chassis front rail 6 and chassis rear transverse rod 7, connects fixing through chassis connecting rod 5 between chassis front rail 6 and the chassis rear transverse rod 7.The two ends of chassis front rail 6 are movably installed with left front foot 1 and right front foot 2 through preceding fixed disc A8 and preceding fixed disc B9 respectively, and the two ends of chassis rear transverse rod 7 are movably installed with left back foot 3 and right back foot 4 through back fixed disc C10 and back fixed disc D11 respectively.Left front foot 1, right front foot 2, left back foot 3 and right back foot 4 are made up of the servo air cylinder of the servo air cylinder of rotating circular disk 12, thigh bar 13, shank bar 14, foot bar 15, thigh 16, shank 17, the servo air cylinder 18 of foot respectively, and an end of the servo air cylinder of shank 17, thigh bar 13 and the servo air cylinder 16 of thigh is movably installed in the bottom of rotating circular disk 12 respectively through pin C19 and pin D20; The other end of the servo air cylinder 17 of shank is movably connected on the termination, upper end of shank bar 14 through pin E21; The termination, lower end of shank bar 14 is movably installed on the foot bar 15 through pin A22; Be provided with the servo air cylinder 18 of foot between foot bar 15 and the shank bar 14; One end of the servo air cylinder 18 of foot is captiveed joint with foot bar 15 1 end terminations, and the other end of the servo air cylinder 18 of foot flexibly connects through pin B23 and shank bar 14.
The other end of the servo air cylinder 16 of thigh bar 13 and thigh is movably connected on the shank bar 14 between servo air cylinder 17 of shank and the servo air cylinder 18 of foot through pin F24.
Left front foot 1, right front foot 2, left back foot 3 are connected with chassis connecting rod 5 through rotating servo air cylinder A25, rotating servo air cylinder B26, rotating servo air cylinder C27 and rotating servo air cylinder D28 respectively by rotating circular disk 12 with right back foot 4, and flexibly connect (referring to accompanying drawing 1-5) with preceding fixed disc A8, preceding fixed disc B9, back fixed disc C10 and back fixed disc D11 respectively through rotating circular disk 12.
When the kinematic mechanism of this four-leg bionic robot assembles; The shank bar 14 of front foot is the setting of Eight characters shape with the shank bar 14 of metapedes; The servo air cylinder of the servo air cylinder of the shank of front foot 17, thigh bar 13, the servo air cylinder 16 of thigh and the shank of metapedes 17, thigh bar 13, the servo air cylinder 16 of thigh are installed respectively from the inside to the outside successively, its objective is harmonious property of each foot before and after guaranteeing.
Forward and backward each foot of the utility model is respectively three stage structure; Motion feature with the four limbs biosome during walking is identical, and the servo air cylinder 17 of shank is controlled warping of shank bar 14 and foot bar 15 respectively with the servo air cylinder 18 of foot, and the servo air cylinder 16 of thigh drives thigh bar 13 swings; Each each forward and backward sufficient turning to of rotating servo air cylinder control; Thereby coordinate each forward and backward sufficient exercises each other, its center of gravity is moved forward, realize walking, run, drop to the ground, the purpose of obstacle detouring and turning.Avoided existing robot ambulation structure more complicated, not only manufacturing cost is high, and has problems such as walking is discontinuous and dumb.Simultaneously; The servo air cylinder of forward and backward each the sufficient thigh of the utility model 16, the servo air cylinder 17 of shank and the servo air cylinder 18 of foot have good cushion characteristic in the rapid movement process; Thereby make the utility model have excellent adaptability to the labyrinth environment; And have sports coordination and by force, not limited by working environment; And manner of execution conversion fast speed characteristics, be specially adapted to comparatively carrying article in the complex environment, and carry out various scoutings and monitoring work at dangerous situation.
Claims (2)
1. the kinematic mechanism of a four-leg bionic robot; It is made up of the chassis of left front foot (1), right front foot (2), left back foot (3), right back foot (4) and I-shaped shape; It is characterized in that: the chassis is made up of chassis connecting rod (5), chassis front rail (6) and chassis rear transverse rod (7); Connect fixing between chassis front rail (6) and the chassis rear transverse rod (7) through chassis connecting rod (5); The two ends of chassis front rail (6) are movably installed with left front foot (1) and right front foot (2) through preceding fixed disc A (8) and preceding fixed disc B (9) respectively; The two ends of chassis rear transverse rod (7) are movably installed with left back foot (3) and right back foot (4) through back fixed disc C (10) and back fixed disc D (11) respectively, and left front foot (1), right front foot (2), left back foot (3) and right back foot (4) are connected with chassis connecting rod (5) through rotating servo air cylinder A (25), rotating servo air cylinder B (26), rotating servo air cylinder C (27) and rotating servo air cylinder D (28) respectively.
2. the kinematic mechanism of four-leg bionic robot according to claim 1; It is characterized in that: described left front foot (1), right front foot (2), left back foot (3) and right back foot (4) are made up of rotating circular disk (12), thigh bar (13), shank bar (14), foot bar (15), the servo air cylinder of thigh (16), the servo air cylinder of shank (17), the servo air cylinder of foot (18) respectively, and an end of the servo air cylinder of shank (17), thigh bar (13) and the servo air cylinder of thigh (16) is movably installed in the bottom of rotating circular disk (12) respectively through pin C (19) and pin D (20); The other end of the servo air cylinder of shank (17) is movably connected on the termination, upper end of shank bar (14) through pin E (21); The termination, lower end of shank bar (14) is movably installed on the foot bar (15) through pin A (22); Be provided with the servo air cylinder of foot (18) between foot bar (15) and the shank bar (14); One end of the servo air cylinder of foot (18) is captiveed joint with foot bar (15) one end terminations, and the other end of the servo air cylinder of foot (18) flexibly connects with shank bar (14) through pin B (23); The other end of said thigh bar (13) and the servo air cylinder of thigh (16) is movably connected on the shank bar (14) between servo air cylinder of shank (17) and the servo air cylinder of foot (18) through pin F (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200051052U CN202449094U (en) | 2012-01-07 | 2012-01-07 | Moving mechanism of four-foot biomimetic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200051052U CN202449094U (en) | 2012-01-07 | 2012-01-07 | Moving mechanism of four-foot biomimetic robot |
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| CN202449094U true CN202449094U (en) | 2012-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012200051052U Expired - Fee Related CN202449094U (en) | 2012-01-07 | 2012-01-07 | Moving mechanism of four-foot biomimetic robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303389A (en) * | 2013-07-08 | 2013-09-18 | 北京理工大学 | Adjustable and controllable flexible bendable biological lumbar vertebrae structure system for four-foot robot |
| CN103407514A (en) * | 2013-07-15 | 2013-11-27 | 西北工业大学 | Four-foot bio-robot leg |
| CN103909993A (en) * | 2014-04-14 | 2014-07-09 | 贾岳杭 | Servo robot with four-foot lever leg structure |
| CN103991489A (en) * | 2014-05-12 | 2014-08-20 | 上海大学 | Three-freedom-degree leg mechanism driven by pneumatic artificial muscle |
| CN104149872A (en) * | 2014-09-01 | 2014-11-19 | 安徽理工大学 | Complex road surface transfer robot based on parallel mechanisms |
| CN105235769A (en) * | 2015-11-16 | 2016-01-13 | 山东大学 | Bionic climbing quadruped robot |
| CN105752181A (en) * | 2016-03-24 | 2016-07-13 | 李永飞 | Pneumatic leg type car |
| CN108468513A (en) * | 2018-04-24 | 2018-08-31 | 湖南普力海洋科技有限公司 | Complicated landform self-propelled deep-sea core sampler drill |
| WO2018170638A1 (en) * | 2017-03-18 | 2018-09-27 | 深圳市方鹏科技有限公司 | Lower limb walking mechanism system for robot |
| CN108909870A (en) * | 2018-05-08 | 2018-11-30 | 北京交通大学 | It is a kind of singly to drive bionical multi-foot robot and its reconstruct forward method |
| CN110641569A (en) * | 2019-11-07 | 2020-01-03 | 武汉轻工大学 | Pneumatic bionic wall-climbing walking device capable of crossing outer wall |
| CN110901848A (en) * | 2019-12-03 | 2020-03-24 | 天津海运职业学院 | Submersible type ship body cleaning robot equipment |
| CN111152860A (en) * | 2019-12-18 | 2020-05-15 | 南京涵曦月自动化科技有限公司 | Bionic foot of four-foot robot |
| CN111332380A (en) * | 2019-12-10 | 2020-06-26 | 哈尔滨工业大学（威海） | Pneumatic articulated bouncing leg |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
-
2012
- 2012-01-07 CN CN2012200051052U patent/CN202449094U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303389B (en) * | 2013-07-08 | 2016-02-03 | 北京理工大学 | The bionical lumbar structures system of controllable flexible bending musical form quadruped robot |
| CN103303389A (en) * | 2013-07-08 | 2013-09-18 | 北京理工大学 | Adjustable and controllable flexible bendable biological lumbar vertebrae structure system for four-foot robot |
| CN103407514A (en) * | 2013-07-15 | 2013-11-27 | 西北工业大学 | Four-foot bio-robot leg |
| CN103407514B (en) * | 2013-07-15 | 2015-08-12 | 西北工业大学 | Four-foot bio-robot leg |
| CN103909993A (en) * | 2014-04-14 | 2014-07-09 | 贾岳杭 | Servo robot with four-foot lever leg structure |
| CN103909993B (en) * | 2014-04-14 | 2016-05-25 | 贾岳杭 | A kind of four-footed lever leg structure servo robot |
| CN103991489A (en) * | 2014-05-12 | 2014-08-20 | 上海大学 | Three-freedom-degree leg mechanism driven by pneumatic artificial muscle |
| CN104149872A (en) * | 2014-09-01 | 2014-11-19 | 安徽理工大学 | Complex road surface transfer robot based on parallel mechanisms |
| CN105235769A (en) * | 2015-11-16 | 2016-01-13 | 山东大学 | Bionic climbing quadruped robot |
| CN105752181A (en) * | 2016-03-24 | 2016-07-13 | 李永飞 | Pneumatic leg type car |
| WO2018170638A1 (en) * | 2017-03-18 | 2018-09-27 | 深圳市方鹏科技有限公司 | Lower limb walking mechanism system for robot |
| CN108468513A (en) * | 2018-04-24 | 2018-08-31 | 湖南普力海洋科技有限公司 | Complicated landform self-propelled deep-sea core sampler drill |
| CN108909870A (en) * | 2018-05-08 | 2018-11-30 | 北京交通大学 | It is a kind of singly to drive bionical multi-foot robot and its reconstruct forward method |
| CN110641569A (en) * | 2019-11-07 | 2020-01-03 | 武汉轻工大学 | Pneumatic bionic wall-climbing walking device capable of crossing outer wall |
| CN110901848A (en) * | 2019-12-03 | 2020-03-24 | 天津海运职业学院 | Submersible type ship body cleaning robot equipment |
| CN111332380A (en) * | 2019-12-10 | 2020-06-26 | 哈尔滨工业大学（威海） | Pneumatic articulated bouncing leg |
| CN111332380B (en) * | 2019-12-10 | 2022-10-11 | 哈尔滨工业大学（威海） | Pneumatic articulated bouncing leg |
| CN111152860A (en) * | 2019-12-18 | 2020-05-15 | 南京涵曦月自动化科技有限公司 | Bionic foot of four-foot robot |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120926 Termination date: 20130107 |