CN206749956U - A kind of belt wheel leg mechanism of robot - Google Patents
A kind of belt wheel leg mechanism of robot Download PDFInfo
- Publication number
- CN206749956U CN206749956U CN201720360903.XU CN201720360903U CN206749956U CN 206749956 U CN206749956 U CN 206749956U CN 201720360903 U CN201720360903 U CN 201720360903U CN 206749956 U CN206749956 U CN 206749956U
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- China
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- twin shaft
- rudder controller
- digital rudder
- shank
- robot
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Abstract
A kind of belt wheel leg mechanism of robot, including the first twin shaft digital rudder controller, the second twin shaft digital rudder controller, the 3rd twin shaft digital rudder controller, hip joint frame, thigh, shank；The first twin shaft digital rudder controller and the second twin shaft digital rudder controller are fixed on the both sides of hip joint frame, the rotating shaft of the first twin shaft digital rudder controller is vertically arranged, the rotating shaft of the second twin shaft digital rudder controller is horizontally disposed with, the rotating shaft of the second twin shaft digital rudder controller is pivotally connected one end of the thigh, the other end of the thigh is pivotally connected the rotating shaft of the 3rd twin shaft digital rudder controller, one end of the shank is fixedly connected with the 3rd one end of twin shaft digital rudder controller away from rotating shaft, direct current generator is fixed with shank, wheel is provided with the side of shank.The structure combination wheeled robot and multi-foot robot each the advantages of, improve multi-foot robot for different terrain adaptability, reduce multi-foot robot control complexity and difficulties.
Description
Technical field
It the utility model is related to a kind of belt wheel leg mechanism of robot.
Background technology
Developing rapidly for bionics techniques produces increasing influence to the every aspect of human lives.Wheel type machine
People and caterpillar type robot, it is simple in construction, but road pavement requires high during their walkings, it is impossible to adapt to various complex environments.It is imitative
Its complicated exquisite extremity body structures of the multi-foot robot of galleyworm and simple dexterous Motion Control Strategies, can be easily
Various complicated physical relieves are passed through.Multi-foot robot only needs some discrete points to supply it to fall foot in motion, so as to
Successfully pass rugged, soft or muddy ground.Multi-foot robot can also avoid toppling by adjusting itself center of gravity, have
Higher stability.Multifeet walking robot has more advantage in terms of environmental suitability and kinematic dexterity, also because it is in complexity
Stronger locomotor activity in earth's surface and receive extensive attention.With the progress of Computer Control Technology, Multifeet walking robot
Technology is even more fast development, and Multifeet walking robot is in fields such as military and national defense, biomedicine, Aero-Space, industrial agriculturals
Have and be widely applied.
Existing imitative galleyworm robot is moved using the pedipulator of servo driving mostly, and pedipulator is simple in construction to be imitated
According to insect leg type, careful simulation is not carried out to each joint in leg of insect, and robot is creeped by polypody pedipulator
Advance, at plane road surface, creep speed is limited, greatly reduces the distance used and duration.
The content of the invention
The technical problem that the utility model solves is to provide a kind of belt wheel leg mechanism of robot, can imitate galleyworm
Multi-foot robot, realize complicated exquisite extremity body structures and simple dexterous Motion Control Strategies, pass through easily various multiple
The phenomenon of miscellaneous physical relief, the advantages of with reference to wheeled robot and multi-foot robot each, multi-foot robot is improved for not
With the adaptability of landform, the complexity and difficulties that multi-foot robot controls are reduced.
In order to solve the above technical problems, a kind of belt wheel leg mechanism of robot provided by the utility model, including first
Twin shaft digital rudder controller, the second twin shaft digital rudder controller, the 3rd twin shaft digital rudder controller, hip joint frame, thigh, shank；Described first pair
Axle digital rudder controller and the second twin shaft digital rudder controller are fixed on the both sides of hip joint frame, and the rotating shaft of the first twin shaft digital rudder controller is hung down
Straight to set, the rotating shaft of the second twin shaft digital rudder controller is horizontally disposed with, described in the rotating shaft pivot joint of the second twin shaft digital rudder controller
One end of thigh, the other end of the thigh are pivotally connected the rotating shaft of the 3rd twin shaft digital rudder controller, one end of the shank with the 3rd pair
The one end of axle digital rudder controller away from rotating shaft is fixedly connected, and direct current generator is fixed with shank, and wheel, institute are provided with the side of shank
State the axle sleeve of wheel to be fixedly connected with the rotating shaft of direct current generator, the other end of the shank is provided with support feet.
When multi-foot robot is in walking in rugged landform, by controlling the first twin shaft digital rudder controller more to imitate
The motion of the waist joint of sufficient insect, to complete to drive whole one leg relative to motion of the body to the direction of motion.Control second pair
Axle digital rudder controller imitates the motion of the hip joint of galleyworm, to complete to drive the direct current on thigh, shank and shank
Machine does relative lifting action.The 3rd twin shaft digital rudder controller is controlled to imitate the kneed motion of galleyworm, it is small to complete
The action request of leg kicking.When multi-foot robot, which is in flat landform, to be slided, by controlling the 3rd twin shaft numeral rudder
The angle that machine causes the shank of single leg and ground is parallel to each other, and after keeping the angle constant.Drive direct current generator, direct current generator
Wheel on drive motor axle rotates so that multi-foot robot has forward power, realizes multi-foot robot on flat ground
Slide action is carried out in gesture, reduces gait plan difficulty of the multi-foot robot on flat ground, lowers the complexity of control.
As an improvement, the support feet includes the supporting part and contact site being fixedly connected, the supporting part is fixedly connected small
Leg, contact site are arranged on below supporting part, and the width of the contact site is less than the width of supporting part.The width of contact site is less than branch
The width of support part, for multi-foot robot list leg and the contact point on ground, contact area is reduced, avoids multi-foot robot in walking
The phenomenon of Shi Fasheng slidings, so as to reduce the control accuracy of multi-foot robot.
As an improvement, the both sides that the supporting part is connected with contact site are circular arc, the contact site bottom is plane.
The both sides that supporting part is connected with contact site are circular arc, can avoid receiving uneven road surface in rugged ground supporting part
Contact-impact, control accuracy is reduced, lift stationarity, contact site bottom is plane, further lifts stationarity.
As an improvement, the thigh includes the first rotating bar and intermediate bar of both sides piece strip, the intermediate bar is fixed on
Between first rotating bar of both sides.Intermediate bar is used for the first rotating bar for reinforcing both sides piece strip, and the structure for being is more firm, and
H structure, the flexibility ratio of motion, and the convenience of assembling can be ensured.
As an improvement, the shank includes the second rotating bar of both sides piece strip, the direct current generator is fixed on both sides
Between second rotating bar.
Compared with prior art, the beneficial effects of the utility model are that the structure is by combining wheeled robot and polypody
The respective advantage of robot, single leg structure of pulley multi-foot robot is designed, can not only meet that robot enters in flat road surface
Row slides, and can also meet that robot crawls in complex terrain.The design can reduce multi-foot robot on flat ground
Gait plan difficulty, lower the complexity of control.In addition, the structure can be split and be assembled to machine leg whenever and wherever possible,
It is flexible and changeable, there is splendid flexibility and superior adaptability.Multi-foot robot can be achieved rugged in single leg design
At physical features, using leg formula, walked with designed gait.When multi-foot robot is at flat physical features, using wheel
Formula, direct drive wheel move ahead, and reduce complexity, the difficulty of control, convenient, reliably.
Brief description of the drawings
Fig. 1 is three-dimensional structure diagram of the present utility model.
Embodiment
With reference to embodiment, the present invention will be described in further detail.
As shown in figure 1, a kind of belt wheel leg mechanism of robot, including the first twin shaft digital rudder controller 1, the second twin shaft numeral rudder
Machine 2, the 3rd twin shaft digital rudder controller 3, hip joint frame 4, thigh 5, shank 6, during work, controlled by adjusting pwm pulse width
The angular dimension that first twin shaft digital rudder controller 1, the second twin shaft digital rudder controller 2, the 3rd twin shaft digital rudder controller 3 turn over.First twin shaft
The twin shaft digital rudder controller 2 of digital rudder controller 1 and second is fixed on the both sides of hip joint frame 4, and the rotating shaft of the first twin shaft digital rudder controller 1 is vertical
Set, the rotating shaft of the first twin shaft digital rudder controller 1 and the connecting portion of robot fuselage are articulated, for imitating imitation galleyworm
Waist joint, pass through and control the angle that turns over of the first twin shaft digital rudder controller 1 so that whole piece list leg can be relative to robot body
Relative motion is produced, during Walking Mode, the running of the first twin shaft digital rudder controller 1 causes robot to obtain what is moved ahead
Power.The rotating shaft of second twin shaft digital rudder controller 2 is horizontally disposed with, and the rotating shaft of the second twin shaft digital rudder controller 2 is pivotally connected the one of the thigh 5
End, the second twin shaft digital rudder controller 2 imitate the hip joint of galleyworm, the angle turned over by the second twin shaft digital rudder controller 2 of control,
The work requirements of leg lifting when to control the completion walking of whole piece list leg.The other end of thigh 5 is pivotally connected the 3rd twin shaft
The rotating shaft of digital rudder controller 3, one end of the shank 6 are fixedly connected with the 3rd one end of twin shaft digital rudder controller 3 away from rotating shaft, passed through
The angle of the 3rd twin shaft digital rudder controller 3 is controlled, to control whole piece list leg to complete the action of kicking.The twin shaft of shank 6 and the 3rd numeral
Steering wheel 3 is fixed together, and when rotating the 3rd twin shaft digital rudder controller 3, shank 6 can be driven to be relatively rotated relative to thigh 5.Its
In, thigh 5 includes the first rotating bar 51 and intermediate bar 52 of both sides piece strip, and the intermediate bar 52 is fixed on first turn of both sides
Between lever 51.
Support feet 7 is provided with the other end of shank 6, the support feet 7 includes the supporting part 71 and contact site being fixedly connected
72, the supporting part 71 is fixedly connected with shank 6, and contact site 72 is arranged on the lower section of supporting part 71, the supporting part 71 and contact site
The both sides of 72 connections are circular arc, and the bottom of contact site 72 is plane.Support feet 7 is consistent with the spinning movement of shank 6, uses
Contact point in multi-foot robot list leg and ground, contact area is reduced, avoids what multi-foot robot slid in walking
Phenomenon, and reduce the control accuracy of multi-foot robot.
Shank 6 includes the second rotating bar 61 of both sides piece strip, direct current generator 8 be fixed on both sides the second rotating bar 61 it
Between, wheel 9 is provided with the side of shank 6, the axle sleeve of the wheel 9 is fixedly connected with the rotating shaft of direct current generator 8, individually controls
Three twin shaft digital rudder controllers 3, drive shank 6 and the direct current generator 8 being fixed on shank 6 to rotate, it is rotated as level
When the angle that face is parallel to each other, stop, and the locked and angle.The direct current generator 8 on shank 6 and shank 6 now is equal
Parallel to ground, the wheel 9 being fixed on the motor shaft of direct current generator 8 touches ground, direct current generator 8 is driven, so as to drive
Wheel 9 operates, and multi-foot robot is obtained forward power, can be slided on flat ground using wheel 9, improves more
Biped robot reduces the complexity and difficulties that multi-foot robot controls for the adaptability of different terrain.
Claims (5)
1. a kind of belt wheel leg mechanism of robot, it is characterised in that including the first twin shaft digital rudder controller, the second twin shaft numeral rudder
Machine, the 3rd twin shaft digital rudder controller, hip joint frame, thigh, shank；The first twin shaft digital rudder controller and the second twin shaft digital rudder controller
The both sides of hip joint frame are fixed on, the rotating shaft of the first twin shaft digital rudder controller is vertically arranged, the second twin shaft digital rudder controller
Rotating shaft be horizontally disposed with, the rotating shaft of the second twin shaft digital rudder controller is pivotally connected one end of the thigh, the other end of the thigh
The rotating shaft of the 3rd twin shaft digital rudder controller is pivotally connected, one end of the shank is fixed with the 3rd one end of twin shaft digital rudder controller away from rotating shaft
Connect, be fixed with direct current generator on shank, wheel, the rotating shaft of the axle sleeve and direct current generator of the wheel are provided with the side of shank
It is fixedly connected, the other end of the shank is provided with support feet.
2. belt wheel leg mechanism of robot according to claim 1, it is characterised in that the support feet includes being fixedly connected
Supporting part and contact site, the supporting part is fixedly connected with shank, and contact site is arranged on below supporting part, the width of the contact site
Width of the degree less than supporting part.
3. belt wheel leg mechanism of robot according to claim 2, it is characterised in that the supporting part is connected with contact site
Both sides be circular arc, the contact site bottom is plane.
4. belt wheel leg mechanism of robot according to claim 1, it is characterised in that the thigh includes both sides piece strip
The first rotating bar and intermediate bar, the intermediate bar be fixed between the first rotating bar of both sides.
5. belt wheel leg mechanism of robot according to claim 1, it is characterised in that the shank includes both sides piece strip
The second rotating bar, the direct current generator is fixed between the second rotating bar of both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720360903.XU CN206749956U (en) | 2017-04-07 | 2017-04-07 | A kind of belt wheel leg mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720360903.XU CN206749956U (en) | 2017-04-07 | 2017-04-07 | A kind of belt wheel leg mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206749956U true CN206749956U (en) | 2017-12-15 |
Family
ID=60613247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720360903.XU Expired - Fee Related CN206749956U (en) | 2017-04-07 | 2017-04-07 | A kind of belt wheel leg mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206749956U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976326A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | Wheeled robot control method and device, terminal device and medium |
| CN112372615A (en) * | 2020-10-19 | 2021-02-19 | 无锡文声智能科技有限公司 | Wheel-leg combined type grabbing robot for field survey and grabbing method |
| CN114348299A (en) * | 2022-01-24 | 2022-04-15 | 西北工业大学 | Tandem type wheel leg planetary detector |
-
2017
- 2017-04-07 CN CN201720360903.XU patent/CN206749956U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976326A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | Wheeled robot control method and device, terminal device and medium |
| CN109976326B (en) * | 2017-12-27 | 2022-05-10 | 深圳市优必选科技有限公司 | Wheeled robot control method and device, terminal device and medium |
| CN112372615A (en) * | 2020-10-19 | 2021-02-19 | 无锡文声智能科技有限公司 | Wheel-leg combined type grabbing robot for field survey and grabbing method |
| CN114348299A (en) * | 2022-01-24 | 2022-04-15 | 西北工业大学 | Tandem type wheel leg planetary detector |
| CN114348299B (en) * | 2022-01-24 | 2023-08-22 | 西北工业大学 | Tandem type wheel leg planetary detector |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171215 Termination date: 20190407 |