CN205837001U - A kind of link-type robot walking device - Google Patents
A kind of link-type robot walking device Download PDFInfo
- Publication number
- CN205837001U CN205837001U CN201620557800.8U CN201620557800U CN205837001U CN 205837001 U CN205837001 U CN 205837001U CN 201620557800 U CN201620557800 U CN 201620557800U CN 205837001 U CN205837001 U CN 205837001U
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- walking
- connecting shaft
- walking mechanism
- connecting rod
- parallel bar
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Abstract
The utility model discloses a kind of link-type robot walking device, including load carrying device, fixing axle, four groups of walking mechanisms D, described load carrying device is fixedly mounted on fixing axle, described four groups of walking mechanisms are coaxially mounted to below described fixing axle respectively, and walking mechanism includes drive shaft, drive rod, connecting shaft A, connecting shaft B, connecting rod A, connecting rod B, connecting shaft C, contiguous block, connecting shaft D, parallel bar A, parallel bar B, connecting shaft E, connecting shaft F and walking foot respectively.A kind of robot ambulation mode designed by this utility model, it is possible to imitating human foot walking, by four walking mechanisms side by side, the left and right sides is the most corresponding, alternately supports, it is possible to the robust motion of robot is effectively ensured.
Description
Technical field
This utility model relates to robot field, is specifically related to the robot ambulation dress of a kind of bionical human leg walking
Put.
Background technology
At present, the walking manner of robot is varied, common are wheel type, crawler type etc. and imitates vehicle to run mode
, also some bio-robot imitates animal walking mode, such as snakelike swinging walking robot.The most also some simulating human
The robot of walking, this robot ambulation mode has clear advantage, as walked on rough road surface, permissible
Climb building, be suitable for complex work environment.But the robot center of gravity of apery walking judges relatively difficult, and stability is the highest.
Utility model content
Utility model purpose: the problem that this utility model is unstable in order to solve biped robot imitating human walking, design a kind of four
Foot walking robot running gear side by side, it is ensured that stability during robot ambulation.
Technical scheme: a kind of link-type robot walking device described in the utility model, including load carrying device, fixes
Axle, walking mechanism A, walking mechanism B, walking mechanism C, walking mechanism D, described load carrying device is fixedly mounted on fixing axle, institute
State walking mechanism A, walking mechanism B, walking mechanism C, walking mechanism D are coaxially mounted to below described fixing axle；Described vehicle with walking machine
Structure A, walking mechanism B, walking mechanism C, walking mechanism D include drive shaft, drive rod, connecting shaft A, connecting shaft B, connecting rod respectively
A, connecting rod B, connecting shaft C, contiguous block, connecting shaft D, parallel bar A, parallel bar B, connecting shaft E, connecting shaft F and walking foot；Described
Drive shaft is that four groups of walking mechanisms share, and described drive rod is fixing with drive shaft to be connected, and described drive rod is by connecting shaft A respectively
Coaxially connected with connecting rod A, connecting rod B, described connecting rod A is flexibly connected with contiguous block by connecting shaft C, and described contiguous block is logical
Crossing connecting shaft D to be flexibly connected with parallel bar A, described contiguous block is flexibly connected with parallel bar B also by connecting shaft B, described connection
Axle B is fixedly mounted on fixing axle, and described parallel bar A is flexibly connected with walking foot by movable axis F, described parallel bar B, connection
Bar B is flexibly connected with walking foot by movable axis E.
Further, in described walking mechanism A, walking mechanism B, walking mechanism C, tetra-groups of walking mechanisms of walking mechanism D two
Two walking mechanisms are one group.
Further, described walking mechanism A and walking mechanism D are one group, described walking mechanism B and mono-group of walking mechanism C,
Guaranteeing during two groups of walking mechanism adjustment that one group is lifted, one group is put down.
Further, described connecting shaft B, connecting shaft C and connecting shaft D are not arranged on the same straight line be.
Further, described parallel bar A is parallel to each other with parallel bar B.
Further, described drive shaft, connecting rod A and connecting rod B three all can freely rotate around connecting shaft A.
Further, the composition quadrilateral structure of described connecting rod A, connecting rod B, parallel bar B and contiguous block；Drive
Drive the angle of connecting rod A and connecting rod B to be continually changing when bar rotates, make quadrangle form change, thus realize contiguous block around
Swinging of connecting shaft B.
Further, top, parallel bar A and the parallel bar B with walking foot of described contiguous block forms four limits
Shape structure；Contiguous block makes the change of shape of tetragon around swinging of connecting shaft B, thus swings before and after realizing walking foot.
Beneficial effect: a kind of robot ambulation mode designed by this utility model, it is possible to imitate human foot walking, pass through
Four walking mechanisms side by side, the left and right sides is the most corresponding, alternately supports, it is possible to the robust motion of robot is effectively ensured.
Accompanying drawing explanation
Fig. 1 is this utility model overall structure schematic diagram；
Fig. 2 is this utility model walking mechanism structural representation.
Detailed description of the invention
As it is shown in figure 1, a kind of robot walking device includes load carrying device 1, fixing axle 2, walking mechanism A 3, vehicle with walking machine
Structure B 4, walking mechanism C 5, walking mechanism D 6.Described load carrying device 1 is fixedly mounted on fixing axle 2, four groups of walking mechanisms A-
D is coaxially mounted to below fixing axle 2.Four groups of walking mechanisms A-D can swing.Described walking mechanism A3 and walking mechanism D 6
It is one group, described walking mechanism B 4 and 5 one groups of walking mechanism C.When walking mechanism A3 and walking mechanism D 6 support ground,
Walking mechanism B 4 and walking mechanism C 5 are mentioned.When walking mechanism B 4 and walking mechanism C 5 support ground, walking mechanism A 3
Mention with walking mechanism D 6.
Fig. 2 is this utility model walking mechanism structural representation.Described walking mechanism include drive shaft 28, drive rod 29,
Connecting shaft A30, connecting shaft B31, connecting rod A32, connecting rod B27, connecting shaft C21, contiguous block 22, connecting shaft D23, parallel bar
A24, parallel bar B33, connecting shaft E34, connecting shaft F25, walking foot 26.Described drive shaft 28 is that four groups of walking mechanisms share.Drive
Lever 29 is fixing with drive shaft 28 to be connected.Described drive shaft 28 is coaxial with connecting rod A32 and connecting rod B27 by connecting shaft A30
Connect, and drive shaft 28, connecting rod A32 and connecting rod B27 three all can freely rotate around connecting shaft A30.Connecting rod A32 is passed through
Connecting shaft C21 is flexibly connected with contiguous block 22.Described contiguous block 22 is flexibly connected with parallel bar A24 by connecting shaft D23, connects
Block 22 is flexibly connected with parallel bar B33 by connecting shaft B31.Described connecting shaft B31 is fixedly mounted on fixing axle 2.Parallel bar
A24 is flexibly connected with walking foot by movable axis F25.Parallel bar B33, connecting rod B27 are movable with walking foot by movable axis E34
Connect.Described connecting rod A32, connecting rod B 27, parallel bar B 33 and contiguous block 22 while composition quadrilateral structure；Drive
Drive the angle of connecting rod A32 and connecting rod B 27 to be continually changing when bar 29 rotates, make quadrangle form change, thus the company of realization
Connect block 22 swinging around connecting shaft B 31.Described contiguous block 22 while with walking foot 26 top, parallel bar A 24 and
Parallel bar B 33 forms a quadrilateral structure；Contiguous block 22 makes the shape of tetragon become around swinging of connecting shaft B 31
Change, thus swing before and after realizing walking foot.
The traveling method of above-mentioned a kind of link-type robot walking device, specifically includes:
During walking, drive shaft 28 rotates, and drives connecting shaft A30 to rotate around drive shaft 28 by drive rod 29.Connecting shaft A30
Drive connecting rod A32 and the motion of connecting rod B27.Owing to connecting shaft B31 is fixed, therefore connecting rod A30 is driven by connecting shaft C21
Contiguous block 22 swings around connecting shaft B31.Thus realize contiguous block 22 and drive gimbal lever A24 by connecting shaft D23 and connecting shaft B31
Swing with gimbal lever B33, and gimbal lever A24 and gimbal lever B33 drives walking foot 26 by connecting shaft F25 and connecting shaft E34
Swing, the leg walking of simulation people.
The above, be only preferred embodiment of the present utility model, not this utility model is made any in form
Restriction, although this utility model is disclosed above with preferred embodiment, but is not limited to this utility model, any ripe
Know professional and technical personnel, in the range of without departing from technical solutions of the utility model, when in the technology of available the disclosure above
Hold and make a little change or be modified to the Equivalent embodiments of equivalent variations, as long as without departing from technical solutions of the utility model
Hold, any simple modification, equivalent variations and modification above example made according to technical spirit of the present utility model, the most still
Belong in the range of technical solutions of the utility model.
Claims (8)
1. a link-type robot walking device, it is characterised in that: include load carrying device (1), fixing axle (2), walking mechanism A
(3), walking mechanism B (4), walking mechanism C (5), walking mechanism D (6), described load carrying device (1) is fixedly mounted on fixing axle (2)
On, described walking mechanism A (3), walking mechanism B (4), walking mechanism C (5), walking mechanism D (6) are coaxially mounted to described fixing
Axle (2) lower section；
Described walking mechanism A (3), walking mechanism B (4), walking mechanism C (5), walking mechanism D (6) include drive shaft respectively
(28), drive rod (29), connecting shaft A (30), connecting shaft B (31), connecting rod A (32), connecting rod B (27), connecting shaft C (21),
Contiguous block (22), connecting shaft D (23), parallel bar A (24), parallel bar B (33), connecting shaft E (34), connecting shaft F (25) and walking
Foot (26)；Described drive shaft (28) is that four groups of walking mechanisms share, and described drive rod (29) is fixing with drive shaft (28) to be connected, institute
State drive rod (29) coaxially connected with connecting rod A (32), connecting rod B (27) respectively by connecting shaft A (30), described connecting rod A
(32) being flexibly connected with contiguous block (22) by connecting shaft C (21), described contiguous block (22) passes through connecting shaft D (23) and parallel bar
A (24) is flexibly connected, and described contiguous block (22) is flexibly connected with parallel bar B (33) also by connecting shaft B (31), described connecting shaft
B (31) is fixedly mounted on fixing axle (2), and described parallel bar A (24) is movable with walking foot (26) even by movable axis F (25)
Connecing, described parallel bar B (33), connecting rod B (27) are flexibly connected with walking foot (26) by movable axis E (34).
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described walking mechanism A
(3), in walking mechanism B (4), walking mechanism C (5), (6) four groups of walking mechanisms of walking mechanism D, walking mechanism is one group two-by-two.
A kind of link-type robot walking device the most according to claim 2, it is characterised in that: described walking mechanism A (3)
It is one group with walking mechanism D (6), described walking mechanism B (4) and (5) one groups of walking mechanism C, true during two groups of walking mechanism adjustment
Protecting one group to lift, one group is put down.
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described connecting shaft B (31),
Connecting shaft C (21) and connecting shaft D (23) are not arranged on the same straight line be.
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described parallel bar A (24)
It is parallel to each other with parallel bar B (33).
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described drive shaft (28),
Connecting rod A (32) and connecting rod B (27) three all can freely rotate around connecting shaft A (30).
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described connecting rod A (32),
Connecting rod B (27), parallel bar B (33) and contiguous block (22) while composition quadrilateral structure；Drive when drive rod (29) rotates
The angle of connecting rod A (32) and connecting rod B (27) is continually changing, and makes quadrangle form change, thus realize contiguous block (22) around
Swinging of connecting shaft B (31).
A kind of link-type robot walking device the most according to claim 1, it is characterised in that: described contiguous block (22)
While forming a quadrilateral structure with the walking foot top of (26), parallel bar A (24) and parallel bar B (33)；Contiguous block (22)
Make the change of shape of tetragon around swinging of connecting shaft B (31), thus swing before and after realizing walking foot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620557800.8U CN205837001U (en) | 2016-06-12 | 2016-06-12 | A kind of link-type robot walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620557800.8U CN205837001U (en) | 2016-06-12 | 2016-06-12 | A kind of link-type robot walking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205837001U true CN205837001U (en) | 2016-12-28 |
Family
ID=58151990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620557800.8U Expired - Fee Related CN205837001U (en) | 2016-06-12 | 2016-06-12 | A kind of link-type robot walking device |
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| Country | Link |
|---|---|
| CN (1) | CN205837001U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2016
- 2016-06-12 CN CN201620557800.8U patent/CN205837001U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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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 |
Granted publication date: 20161228 Termination date: 20180612 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |