CN203528632U

CN203528632U - Eight-foot walking robot

Info

Publication number: CN203528632U
Application number: CN201320700216.XU
Authority: CN
Inventors: 李辉; 王晓进
Original assignee: 李辉
Priority date: 2013-11-08
Filing date: 2013-11-08
Publication date: 2014-04-09
Anticipated expiration: 2023-11-08

Abstract

The utility model relates to an eight-foot walking robot. The robot is composed of a rack, a crank and rocker mechanism and a scaling mechanism. The crank and rocker mechanism generates a walking trajectory curve needed by movement and is connected in series with the scaling mechanism to outputs the walking trajectory curve to the lower portion of the rack. During walking of the robot, four feet are grounded simultaneously during walking, and feet are grounded alternately to achieve walking. The robot has the advantages of being large in stepping distance and leg lifting height and adaptable to complicated road conditions. The walking process is stable and reliable due to the design of eight feet.

Description

A kind of eight feet walking robot havings

Technical field

Robotics field, particularly a kind of eight feet walking robot havings under the utility model.

Background technology

At present, the line that known robot moves on the ground has wheeled motion, crawler type motion, bionical walking movement, and they have advantage separately.The complicated non-structure environment of walking can be stable in to(for) bionical walking movement, can replace people to complete the operation of many danger, and in military affairs, moonscape is surveyed, and the industries such as fire-fighting rescue have potential application prospect.For a long time, walking robot technology is one of focus of domestic and international Robotics area research always.

As a kind of running gear of Chinese patent (application number is 201310166222.6), it is comprised of support, 6 pedipulators, driving device one and engine installations; Pedipulator, driving device one and engine installation are all arranged on support; Described pedipulator is comprised of HOECKEN mechanism, adjusting mechanism and walking arm, and support both sides are respectively provided with 3 cover HOECKEN mechanisms, and 6 cover HOECKEN mechanisms arrange in the same way; The power intake of HOECKEN mechanism is connected with driving device one, and the clutch end of HOECKEN mechanism is connected with walking arm; Adjusting mechanism is arranged between HOECKEN mechanism and walking arm, and adjusting mechanism is for adjusting the attitude of walking arm, to guarantee that walking arm remains translation; Driving device one is driven by engine installation.Although it is simple in structure that this invents a kind of running gear; But also there is weak point, as little in the steplength of walking arm in one-period, lift leg height little, this directly has influence on the adaptive capacity to ground.

Summary of the invention

for the problem of above-mentioned existence, the utility model proposes the method for solution, its technical scheme is: a kind of eight feet walking robot having left and right sides mechanisms are symmetrical, are respectively four-footed, one-sided to being synchronized with the movement and acting in agreement enough; Robot integral body in the process of walking four-footed lands simultaneously, thereby foot is alternately landed and realizes walking action.Get one-sidedly for research object, one-sided have four groups of combination mechanisms, and combination mechanism is connected with scaling device by quadric linkage, realize the amplification of walking track and by trajectory-offset below frame.In one-sided four groups of combination mechanisms, the crank of quadric linkage is served as by bent axle, connecting rod one end in quadric linkage and the connecting rod neck on bent axle are movably hinged, bent axle and be all two-throw crankshaft from dynamic crankshaft initiatively, and two crank throw angles are that 180 degree are symmetrically distributed on bent axle, thereby by active bent axle and four groups of combination mechanisms of driven crank-driven.Front two groups by active crank-driven and rear two groups of driven crank-driven, initiatively bent axle with sprocket wheel is housed by chain synchrodrive from dynamic crankshaft, and bent axle and will guarantee the crank throw same-phase two bent axles from dynamic crankshaft when synchronization chain is installed initiatively, initiatively two crank throws on bent axle are parallel with two corresponding crank throws on driven shaft or overlap, thereby can realize in one-sided four-footed being synchronized with the movement and acting in agreement enough.

Due to active bent axle and from passing through chain synchrodrive between dynamic crankshaft, one-sided only have an active bent axle respectively to have an input shaft in eight feet walking robot having both sides as input shaft.When both sides input shaft rotating speed does not wait in the same way (the speed of contacting to earth of the left and right sides not etc.), turn in the left and right of realizing in motion process; When both sides input shaft rotating speed is reverse, (the velocity reversal that contacts to earth of the left and right sides), realizes pivot turn.The power input of both sides input shaft, can select mechanical drive also can hydrostatic drive to complete.Combination mechanism is in series by quadric linkage and scaling device, the required walking track (coupler-point curve) of quadric linkage output wherein, required walking track (coupler-point curve) should meet: walking track needs meet the approximate linear uniform motion of level and lift the coupler-point curve of the movement in a curve of leg.HOECKEN mechanism is a kind of quadric linkage that can produce this coupler-point curve.As shown in figure 12, due to more than walking geometric locus is positioned at frame, we select scaling device that track is amplified downwards, path of motion are delivered to below frame simultaneously, have just amplified the steplength of walking robot and have lifted leg height since like this.Be the kinematic sketch of mechanism of a combination mechanism as shown in figure 11, in figure, A ~ I place is all revolute pair, and

bar

3,4,5 and frame form quadric linkage;

Bar

6,7,8,9 forms scaling device, and in scaling device, EFHI forms parallelogram, G, E, g three point on a straight line.

Because this combination mechanism can only be realized the fixing track that strides (horizontal linear fortune merit), so it is that upper rocking bar one end of scaling device is movably articulated on upper spider that walking mechanism is designed to multi-redundant, upper spider is connected with bed frame by damping spring, eight feet walking robot havings are in the process of walking, when ground is uneven, upper spider can swing the function with damping in certain angle, thereby improves obstacle climbing ability.

the beneficial effects of the utility model are: be connected with bed frame by the damping spring function of damping of upper spider, thus obstacle climbing ability improved.Adaptation is compared with complex road condition, and this is very favourable to the vibration of frame for reducing Uneven road.By scaling device, walking geometric locus is amplified and makes steplength become large, lifting leg height increases; Use dexterously bent axle to realize one-sided to being synchronized with the movement and acting in agreement enough, the whole four-footed of robot lands simultaneously, thereby foot is alternately landed and realizes walking action, makes in eight feet walking robot having walking processes more steady.

Accompanying drawing explanation

below in conjunction with drawings and Examples, the utility model is further illustrated:

Fig. 1 is the structural representation of a kind of eight feet walking robot havings of the utility model.

Fig. 2 is the schematic diagram of the partial enlarged view at I place in Fig. 1.

Fig. 3 is the schematic diagram of the front view of a kind of eight feet walking robot havings of the utility model.

Fig. 4 is the schematic diagram of the partial enlarged view at II place in Fig. 3.

Fig. 5 is the schematic diagram of the left view of a kind of eight feet walking robot havings of the utility model.

Fig. 6 is the schematic diagram of the birds-eye view of a kind of eight feet walking robot havings of the utility model.

Fig. 7 is the schematic diagram of A-A cutaway view in Fig. 6.

Fig. 8 is the schematic diagram of the partial enlarged view at III place in Fig. 7.

Fig. 9 is the structural representation of active bent axle of the present utility model.

Figure 10 is the structural representation of upper spider of the present utility model.

Figure 11 is the schematic diagram of the path curves of a combination mechanism of the present utility model.

Figure 12 is the kinematic sketch of mechanism of a combination mechanism of the present utility model.

1. bed frames in figure, 2. upper spider, 3. bent axle initiatively, 4. connecting rod, 5. rocking bar, 6. go up rocking bar, 7. leg rod, 8. go up convergent-divergent bar, 9. descend convergent-divergent bar, 10. bent axle outer support, 11. rocker bearings, 12. pins, 13. pins, 14. pins, 15. damping springs, 16. upper bracket of the spring, 17. spring lower supports, 18. bearings, 19. chains, 20. from dynamic crankshaft, 21. bent axle midship mountings, bearing in 22. bent axles, 23. driven sprockets, 24. drive sprockets, 25. connecting rod necks one, 26. connecting rod necks two, 27. cylindrical holes one, 28. cylindrical holes two, 29. cylindrical holes three.

The specific embodiment

In Fig. 1, Fig. 5, Fig. 6, Fig. 7, eight feet walking robot having left and right sides mechanisms are symmetrical; One-sided have four groups of combination mechanisms front and back to be arranged symmetrically with.

In Fig. 2, initiatively bent axle 3 is installed in the bent axle outer support 10 on bed frame 1, and one end of rocking bar 5 is movably articulated on rocker bearing 11 by pin 12, and the other end of rocking bar 5 is movably articulated in the middle part of connecting rod 4 by pin 14.One end of connecting rod 4 is movably hinged with the connecting rod neck 2 26 of active bent axle 3, the other end and upper convergent-divergent bar 8, and one end of lower convergent-divergent bar 9 is by the compound hinges of pin 13 formation activities.On in Fig. 3, the other end of convergent-divergent bar 8 is movably hinged with a certain position, middle part of upper rocking bar 6, and a certain position, middle part of the other end of lower convergent-divergent bar 9 and leg rod 7 is movably hinged.The end points cylindrical hole 2 28 on the triangle base of one end of upper rocking bar 6 and upper spider 2 is movably hinged, and one end of the other end and leg rod 7 is movably hinged.As shown in figure 10, three

cylindrical holes

27,28,29 on upper spider 2 fronts are positioned on three summits of equicrural triangle, have the hole for mounting spring upper bracket 16 correspondences on side, and two holes are positioned at the middle symmetric position place of side.

Crank throw in Fig. 3 on active bent axle 3 and crank throw same-phase corresponding from dynamic crankshaft 20, the crank throw of these moment two bent axles is parallel.Cylindrical hole 3 29 in Fig. 4 on upper spider 2 is movably articulated on the bearing 18 of bed frame 1, upper spider 2 supports with the damping spring 15 of bed frame 1 by two symmetries, one end of damping spring 15 is movably hinged with the upper bracket of the spring 16 being fixed on upper spider 2, and the other end is movably hinged with the spring lower support 17 being fixed on base support 1.In Fig. 5, initiatively the crank journal of bent axle 3 is by bearing 22 in bent axle outer support 10, bent axle midship mounting 21, bent axle, to realize radial support to fix, the bearing that wherein bent axle midship mounting 21 is upper and lower dissection type.In Fig. 8, initiatively bent axle 3 forms a fixed connection by key and drive sprocket 24, from dynamic crankshaft 20, by key and drive sprocket 23, forms a fixed connection; Drive sprocket 24 and drive sprocket 23 are realized and are synchronizeed rotation by chain 19, and drive sprocket 24 is identical with the size of drive sprocket 23.In Fig. 9, initiatively having two identical crank throws and two crank throw angles on bent axle is that 180 degree are symmetrically distributed on bent axle, is all added with balance block on two cranks, initiatively bent axle 3 and all did kinetic balance design from dynamic crankshaft 20.

In Figure 12, first by quadric linkage, produce Locus Synthesis, then by scaling device, Locus Synthesis amplified and move to below bed frame, realize the output of motion.

Claims

1. a feet walking robot having is comprised of frame, eight groups of quadric linkages and eight groups of scaling devices, the walking geometric locus that quadric linkage output is moved required, again by walking track being amplified to output with scaling device combination mechanism in series, it is characterized in that: eight described feet walking robot having left and right sides mechanisms are symmetrical, be respectively four-footed, one-sided to being synchronized with the movement and acting in agreement enough; Robot integral body in the process of walking four-footed lands simultaneously, thereby foot is alternately landed and realizes walking action, in one-sided four groups of combination mechanisms front two groups by active crank-driven, rear two groups of driven crank-driven, initiatively bent axle with from passing through chain synchrodrive between dynamic crankshaft; Upper rocking bar (6) one end in described scaling device and the cylindrical hole two (28) on upper spider (2) are movably hinged, cylindrical hole three (29) on upper spider (2) is movably articulated on the bearing (18) of bed frame (1), and upper spider (2) supports with the damping spring (15) of bed frame (1) by two symmetries.

2. a kind of eight feet walking robot havings according to claim 1, is characterized in that: bent axle (3) and have two-throw crankshaft from dynamic crankshaft (20) initiatively, and two crank throw angles are that 180 degree are symmetrically distributed on bent axle.

3. a kind of eight feet walking robot havings according to claim 1, it is characterized in that: bent axle (3) and will guarantee the crank throw same-phase two bent axles from dynamic crankshaft (20) when by synchronization chain (19) transmission initiatively, to guarantee in one-sided four-footed being synchronized with the movement and acting in agreement enough.