CN206278172U - The variable electronic quadruped robot of mechanism configuration - Google Patents
The variable electronic quadruped robot of mechanism configuration Download PDFInfo
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- CN206278172U CN206278172U CN201621408795.0U CN201621408795U CN206278172U CN 206278172 U CN206278172 U CN 206278172U CN 201621408795 U CN201621408795 U CN 201621408795U CN 206278172 U CN206278172 U CN 206278172U
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- driving
- chain
- rod member
- mechanism configuration
- harmonic decelerator
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Abstract
A kind of variable electronic quadruped robot of mechanism configuration, including trunk and four legs being connected on trunk；Every leg is constituted by three driving-chains, and respectively the first driving-chain, the second driving-chain and the 3rd driving-chain, the first driving-chain are connected with trunk, and the second driving-chain is connected with the first driving-chain, and the 3rd driving-chain is connected with the second driving-chain.First driving-chain drives the rotation of hip joint axle, and the second driving-chain drives the rotation of thigh rod member, and the 3rd driving-chain drives the motion of shank rod member.The quadruped robot can possess Four-feet creeping, four feet walk and the multi-motion modes of part walking of partly creeping according to specific topographic change mechanism configuration, and during using climbing mechanism configuration, stability is high, can preferably by rugged complicated landform；During using walking mechanism configuration, action speed is fast, and efficiency high, energy utilization rate is high；Driven using motor, can greatly reduce noise, and make basic machine more light and flexible.
Description
Technical field
The utility model is related to a kind of variable electronic quadruped robot of mechanism configuration, belongs to sufficient formula mobile robot technology
Field.
Background technology
The movement under structured environment of wheeled and caterpillar mobile robot is fast and steady, it can be difficult to running in the guide trees
Stand in great numbers, brushy complicated mountain forest geomorphological environment；Balance of the biped robot in complex environment is difficult to control to, and heavy burden energy
Power is weak；The multi-foot robots such as six foots, eight foots, build is larger dumb and high energy consumption；Quadruped robot is optimal polypody machine
Person form, with adapting to complicated landform, motion flexibly and the huge advantage of the aspect such as obstacle climbing ability is strong.Imitative reptile four-footed machine
Device people has stability higher during traveling, can preferably by complicated rugged environment；Imitative mammal four-footed
In level terrain, action speed is fast, and efficiency high, energy utilization rate is high for robot.
Utility model content
For in overcoming the shortcomings of existing robot technology, the utility model proposes a kind of variable electronic four-footed of mechanism configuration
Robot, the robot can possess Four-feet creeping, four feet walk and-portion of partly creeping according to specific topographic change mechanism configuration
The multi-motion modes of substep row.
To achieve these goals, the variable electronic quadruped robot of mechanism configuration of the present utility model uses following technical side
Case：
The robot, including trunk and four legs being connected on trunk；Every leg is constituted by three driving-chains, point
Not Wei the first driving-chain, the second driving-chain and the 3rd driving-chain, the first driving-chain is connected with trunk, and the second driving-chain and first is passed
Dynamic chain connection, the 3rd driving-chain is connected with the second driving-chain.
First driving-chain includes hip joint platform, the first motor, first harmonic decelerator and hip joint axle, hip joint
Platform is connected on trunk, and first harmonic decelerator is connected on hip joint platform, and the first motor connection is slowed down in first harmonic
On device, the output shaft of the first motor is connected with the input of first harmonic decelerator, and hip joint axle is connected to first harmonic deceleration
The output end of device.
Second driving-chain includes the second motor, second harmonic decelerator and thigh rod member, and first harmonic decelerator connects
Be connected on the hip joint axle in the first driving-chain, the second motor connection on second harmonic decelerator, the output shaft of the second motor
Input with second harmonic decelerator is connected, and thigh rod member is connected to the output end of first harmonic decelerator.
3rd driving-chain includes the 3rd motor, third harmonic decelerator, upper rocker arm, intermediate connecting rod, rocking arm bearing pin, small
Leg rod member and sole, third harmonic decelerator are connected on the thigh rod member in the second driving-chain, and the 3rd motor connection is the 3rd
On harmonic speed reducer, the output shaft of the 3rd motor is connected with the input of third harmonic decelerator, third harmonic decelerator it is defeated
Go out end and be connected with upper rocker arm, the two ends of intermediate connecting rod are connected with upper rocker arm and rocking arm bearing pin respectively, shank rod member and rocking arm bearing pin
Connection, sole is connected on shank rod member, and shank rod member is hinged on by knee axis with the thigh rod member in the second driving-chain
Together.
The motor uses disc type electric machine.
The variable electronic quadruped robot of said mechanism configuration is primarily adapted for use in complicated and diversified landform, landforms and Ground Operation
Environment, every leg is respectively provided with three active joints, is driven using disc type electric machine.When first driving-chain works, hip joint axle
Relative to the rotation of hip joint platform；When second driving-chain works, thigh rod member rotates relative to the hip joint axle in the first driving-chain；
When 3rd driving-chain works, shank rod member rotates relative to thigh rod member.When walking is in the rugged fluctuating of landform, the soft or hard change in ground
Terrain environment in when, robot is variable to turn to climbing mechanism configuration, so as to lower the center of gravity, makes motion more steady；Work as walking
When in level terrain environment, robot is variable to turn to walking mechanism configuration, so as to accelerate gait of march, improves the utilization of energy
Efficiency.
The utility model can according to specific topographic change mechanism configuration, possess Four-feet creeping, four feet walk and part creep-
The multi-motion modes of part walking, have the characteristics that：
1. when using climbing mechanism configuration, stability is high, can preferably by rugged complicated landform.
2. when using walking mechanism configuration, action speed is fast, and efficiency high, energy utilization rate is high.
3. driven using motor, can greatly reduce noise, and make basic machine more light and flexible.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the variable electronic quadruped robot of the utility model mechanism configuration.
Fig. 2 is the external structure schematic diagram of single leg in the utility model.
Fig. 3 is the internal structure sectional view of single leg in the utility model.
Fig. 4 is the structural representation of the second driving-chain and the 3rd driving-chain in single leg.
Fig. 5 be single leg the 3rd driving-chain in shank rod member show with the connection of thigh rod member left side plate in the second driving-chain
It is intended to.
Fig. 6 is the walking mechanism configuration schematic diagram of the variable electronic quadruped robot of the utility model mechanism configuration.
Fig. 7 is that the diagonal of the variable electronic quadruped robot of the utility model mechanism configuration climbs-walk mechanism configuration schematic diagram.
Fig. 8 is the climbing mechanism configuration schematic diagram of the variable electronic quadruped robot of the utility model mechanism configuration.
Fig. 9 be the variable electronic quadruped robot of the utility model mechanism configuration preceding step-after climb mechanism configuration schematic diagram.
- rear step mechanism configuration schematic diagram is climbed before the variable electronic quadruped robot of Figure 10 the utility model mechanism configurations.
Figure 11 is that mechanism configuration schematic diagram is climbed-walked to the homonymy of the variable electronic quadruped robot of the utility model mechanism configuration.
In figure：I, trunk, II, leg, the 1, first disc type electric machine, 2, hip joint platform, 3, first input end connect disk, 4, first
Harmonic wave input connects disk, and 5, first harmonic decelerator, 6, hip joint axle, 7, upper rocker arm, 8, thigh rod member right plate, 9, upper cover plate,
10th, shank rod member, 11, sole, 12, lower cover, 13, intermediate connecting rod, the 14, the 3rd disc type electric machine, the 15, the 3rd input termination disk,
16th, third harmonic input connects disk, and 17, roller cup, 18, needle bearing, 19, third harmonic decelerator, 20, second harmonic subtracts
Fast device, 21, second harmonic input connect disk, the 22, second input termination disk, the 23, second disc type electric machine, 24, knee axis, 25, knee
Portion's nylon cushion, 26, sleeve, 27, rod end sphere hookup, 28, rocking arm bearing pin, 29, thigh rod member left plate.
Specific embodiment
As shown in figure 1, the variable electronic quadruped robot of mechanism configuration of the present utility model includes trunk I and four leg I I,
Four leg II is connected on trunk I.Every leg II is constituted by three driving-chains, respectively the first driving-chain, the second driving-chain
With the 3rd driving-chain, the first driving-chain, the second driving-chain and the 3rd driving-chain be connected in turn, and every leg is had three
The free degree.First driving-chain is connected with trunk I.
As shown in Figures 2 and 3, the first driving-chain is hip joint driving-chain, including hip joint platform 2, the first disc type electric machine
1st, first input end connects the input of disk 3, first harmonic and connects disk 4, first harmonic decelerator 5 and hip joint axle 6.Hip joint platform 2 leads to
Cross the bottom that screw is fixed on trunk I.First harmonic decelerator 5 is fixed by screws on hip joint platform.First disc type electricity
Machine 1 connects disk 4 and is fixedly connected on the shell of first harmonic decelerator 5 by first harmonic input, the output of the first disc type electric machine 1
Axle connects disk 3 and is connected with the input of first harmonic decelerator 5 by first input end.Hip joint axle 6 is fixedly connected by screw
In the output end of first harmonic decelerator 5.When first driving-chain works, the first disc type electric machine 1 is defeated by first harmonic decelerator 5
Go out corresponding rotating speed and torque drive hip joint axle 6 rotates.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the second driving-chain be thigh rod member driving-chain, including the second disc type electric machine 23,
Second input termination disk 22, second harmonic input connects disk 21, second harmonic decelerator 20 and thigh rod member.Thigh rod member is by thigh
Rod member left plate 29, thigh rod member right plate 8, upper cover plate 9 pass sequentially through screw and be fixedly connected to enclose to form with lower cover 12 (joins
See Fig. 2 and Fig. 3).The shell of first harmonic decelerator 20 is screwed on the hip joint axle 6 in the first driving-chain, and second
Disc type electric machine 23 connects disk 21 and is fixed on the shell of second harmonic decelerator 20 by second harmonic input, the second disc type electric machine 23
Output shaft by second input termination disk 22 be connected with the input of second harmonic decelerator 20, the He of thigh rod member left plate 29
Thigh rod member right plate 8 (referring to Fig. 5) is fixed by screws in the output end of first harmonic decelerator 20.In order to reduce thigh bar
The abrasion of resistance and part when part right plate 8 rotates, sets roller cup 17 on the hip joint axle 6 in the first driving-chain
(referring to Fig. 4), is provided with needle bearing 18 between roller cup 17 and third harmonic decelerator 19.Needle bearing 18 is in thigh
Support third harmonic decelerator 19 when rod member is moved, so as to reduce the abrasion of the resistance and part when thigh rod member rotates.
When second driving-chain works, the second disc type electric machine 23 exports corresponding rotating speed and torsion by second harmonic decelerator 20
Square drives the rotation of thigh rod member.
As shown in Figure 2, Figure 3 and Figure 4, the 3rd driving-chain is shank rod member driving-chain, including the 3rd disc type electric machine the 14, the 3rd
Input termination disk 15, third harmonic input connect disk 16, third harmonic decelerator 19, upper rocker arm 7, rod end sphere hookup 27, in
Between connecting rod 13, rocking arm bearing pin 28, knee axis 24, shank rod member 10 and sole 11.The shell spiral shell of third harmonic decelerator 19
Nail is fixed on the thigh rod member right plate 8 in the second driving-chain.3rd disc type electric machine 14 is input into by third harmonic and connects disk 16
It is fixed on the shell of third harmonic decelerator 19.The output shaft of the 3rd disc type electric machine 14 is by the 3rd input termination disk 15 and the
The input of three harmonic speed reducers 19 is connected, and the output end of third harmonic decelerator 19 is fixedly connected with upper rocker arm 7 by screw
(referring to Fig. 3).The two ends of intermediate connecting rod 13 respectively connect a rod end sphere hookup 27, and then one end is connected with upper rocker arm 7, separately
One end is connected with rocking arm bearing pin 28, and sleeve 26 is set with rocking arm bearing pin 28, plays axially position.Rocking arm bearing pin 28 passes through
Screw thread is connected with shank rod member 10, and sole 11 is fixedly connected with by screw on shank rod member 10.Shank rod member 10 is closed by knee
Thigh rod member left plate 29 and thigh rod member right plate 8 in nodal axisn 24 and the second driving-chain is hinged.Shank rod member 10
Knee nylon cushion 25 is provided between thigh rod member left plate 29 and thigh rod member right plate 8, it is main to act the work for reducing abrasion
With.When 3rd driving-chain works, the 3rd disc type electric machine 14 exports corresponding rotating speed by third harmonic decelerator 19 and moment of torsion drives
Dynamic upper rocker arm 7 rotates, and then shank rod member 10 is passed to by intermediate connecting rod, so as to drive shank rod member 10 to move.
Above-mentioned machine man-hour, can be according to actual topography and geomorphology, by three cooperations of driving-chain, changing mechanism structure
Type, so as to improve environmental suitability.Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10 and Figure 11 sets forth the utility model mechanism configuration
The walking mechanism configuration of variable electronic quadruped robot, diagonally climb-walk mechanism configuration, climbing mechanism configuration, preceding step-Hou Pa mechanisms
Configuration, it is preceding climb-rear step mechanism configuration and homonymy climb-walk mechanism configuration.When walking is in the rugged fluctuating of landform, ground soft or hard change
When in terrain environment, robot is variable to turn to climbing mechanism configuration, so as to lower the center of gravity, makes motion more steady；When walking exists
When in level terrain environment, robot is variable to turn to walking mechanism configuration, so as to accelerate gait of march, that improves energy utilizes effect
Rate.
Claims (4)
1. a kind of variable electronic quadruped robot of mechanism configuration, including trunk and four legs being connected on trunk；Its feature
It is：Every leg is constituted by three driving-chains, respectively the first driving-chain, the second driving-chain and the 3rd driving-chain, the first transmission
Chain is connected with trunk, and the second driving-chain is connected with the first driving-chain, and the 3rd driving-chain is connected with the second driving-chain.
2. the variable electronic quadruped robot of mechanism configuration according to claim 1, it is characterized in that：The first driving-chain bag
Hip joint platform, the first motor, first harmonic decelerator and hip joint axle are included, hip joint platform is connected on trunk, and first is humorous
Ripple decelerator is connected on hip joint platform, the first motor connection in first harmonic decelerator, the output shaft of the first motor with
The input connection of first harmonic decelerator, hip joint axle is connected to the output end of first harmonic decelerator.
3. the variable electronic quadruped robot of mechanism configuration according to claim 1, it is characterized in that：The second driving-chain bag
The second motor, second harmonic decelerator and thigh rod member are included, first harmonic decelerator is connected to the hip joint in the first driving-chain
On axle, the second motor connection on second harmonic decelerator, the output shaft of the second motor and the input of second harmonic decelerator
It is connected, thigh rod member is connected to the output end of first harmonic decelerator.
4. the variable electronic quadruped robot of mechanism configuration according to claim 1, it is characterized in that：The 3rd driving-chain bag
The 3rd motor, third harmonic decelerator, upper rocker arm, intermediate connecting rod, rocking arm bearing pin, shank rod member and sole are included, third harmonic subtracts
Fast device is connected on the thigh rod member in the second driving-chain, the 3rd motor connection on third harmonic decelerator, the 3rd motor
Output shaft is connected with the input of third harmonic decelerator, and the output end of third harmonic decelerator is connected with upper rocker arm, and centre connects
The two ends of bar are connected with upper rocker arm and rocking arm bearing pin respectively, and shank rod member is connected with rocking arm bearing pin, and sole is connected to shank rod member
On, shank rod member is hinged by knee axis and thigh rod member in the second driving-chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621408795.0U CN206278172U (en) | 2016-12-21 | 2016-12-21 | The variable electronic quadruped robot of mechanism configuration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621408795.0U CN206278172U (en) | 2016-12-21 | 2016-12-21 | The variable electronic quadruped robot of mechanism configuration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206278172U true CN206278172U (en) | 2017-06-27 |
Family
ID=59073759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621408795.0U Expired - Fee Related CN206278172U (en) | 2016-12-21 | 2016-12-21 | The variable electronic quadruped robot of mechanism configuration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206278172U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476928A (en) * | 2016-12-21 | 2017-03-08 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN110696940A (en) * | 2019-11-21 | 2020-01-17 | 上海交通大学 | Omnidirectional wheel foot type robot |
-
2016
- 2016-12-21 CN CN201621408795.0U patent/CN206278172U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476928A (en) * | 2016-12-21 | 2017-03-08 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN110696940A (en) * | 2019-11-21 | 2020-01-17 | 上海交通大学 | Omnidirectional wheel foot type robot |
| CN110696940B (en) * | 2019-11-21 | 2021-08-27 | 上海交通大学 | Omnidirectional wheel foot type robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170627 Termination date: 20211221 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |