CN207670528U - Bionical mobile robot device - Google Patents
Bionical mobile robot device Download PDFInfo
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- CN207670528U CN207670528U CN201721780582.5U CN201721780582U CN207670528U CN 207670528 U CN207670528 U CN 207670528U CN 201721780582 U CN201721780582 U CN 201721780582U CN 207670528 U CN207670528 U CN 207670528U
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Abstract
The utility model discloses a kind of bionical mobile robot devices, including upper trunk, lower trunk, trunk connecting plate, four bionic leg branch shafts, steering mechanism and four bionic leg branches；The upper trunk and lower trunk are fixed together by trunk connecting plate, and four bionic leg branches are linked together by four bionic leg branch shafts with upper trunk and lower trunk respectively；The steering mechanism includes turning to driving motor, steering wheel and four turning-bars, the bio-robot leg of the utility model uses Planar Multi-linkage, the Planar Multi-linkage has both the good flexibility and the rigid good advantage of closed chain mechanism of open chain mechanism, has many advantages, such as that low motional inertia, motor imagination speed block and bearing capacity are strong；Modules are due to using modularized design simultaneously, and replacing, disparate modules are convenient and efficient；The utility model is designed using symmetrical structure, and movement is flexible, and bearing capacity is strong, has simple and compact for structure, reasonable design, processing and the good advantage of assembly technology.
Description
Technical field
The utility model is related to mobile robot device fields, more specifically, more particularly to a kind of bionical mobile machine
People's device.
Background technology
With the complication of robot working environment and task, it is desirable that robot possesses in the suitable of special circumstances not known
Ying Xing, and it is difficult to adapt to ring that existing robot, which largely uses simple wheel and track structure, these mobile robots,
In the requirement in border, such as backwoods that fire takes place frequently, or the environment with virus infection.
Some existing walking robots suffer from miscellaneous defect in the market, such as application No. is
The Chinese patent of 201710030766.X discloses five sufficient bionic machine robot mechanism of utility model one kind, passes through servos control machine
Auto-steering may be implemented in three revolute pairs of people's leg during walking, but not due to servos control robot precision
Height can not achieve accurate control；Application No. is 201620118068.4 Chinese patents to disclose a kind of wheel leg type roach for another example
Dung beetle shape bio-robot, by imitating the three step state of alternating of cockroach, using three pairs of wheel leg type driving mechanisms, wheel efficiency is high,
But since in-wheel driving mechanism is difficult to cope with the environment of complex road surface, and it is difficult to realize flexibly turn to.
For the above deficiency, need to design that a environment fitness is good, and bearing capacity is high, movenent performance it is steady and have from
Turn to bio-robot device.
Utility model content
Utility model aims to solve currently existing walking robot road pavements to require relatively high, bearing capacity
Low, a series of problems, such as motion process is less steady, it is proposed that one kind can answer the more complicated situation of road pavement, provide automatic row
It walks and turns to the bionical mobile robot device adjusted.
The utility model is achieved through the following technical solutions above-mentioned purpose：A kind of bionical mobile robot device, including
Upper trunk, lower trunk, trunk connecting plate, four bionic leg branch shafts, steering mechanism and four bionic leg branches；The upper body
Dry and lower trunk is fixed together by trunk connecting plate, four bionic leg branches respectively by four bionic leg branch shafts with
Upper trunk and lower trunk link together；The steering mechanism includes turning to driving motor, steering wheel and four turning-bars, four
Turning-bar is respectively the first turning-bar, the second turning-bar, third turning-bar and the 4th turning-bar；The steering driving motor is fixed
On lower trunk, steering wheel is mounted on the motor head for turning to driving motor；Four bionic leg branches are respectively first imitative
Raw leg branch, the second bionic leg branch, third bionic leg branch and the 4th bionic leg branch, the both ends point of first turning-bar
The first push rod connector and the second push rod connector are not connected, the first push rod connector is fixed on the leg support of the first bionic leg branch,
Second push rod connector is fixed on the leg support of the second bionic leg branch；The both ends of second turning-bar are separately connected third and push away
Knock-off joint and the 4th push rod connector, third push rod connector are fixed on one end of the first turning-bar, and the 5th push rod connector, which is fixed on, to be turned
To on disk；The both ends of the third turning-bar are separately connected the 5th push rod connector and the 6th push rod connector, and the 5th push rod connector is solid
Determine on the steering wheel, the 6th push rod connector is fixed on one end of the 4th turning-bar；The both ends of 4th turning-bar are separately connected
7th push rod connector and the 8th push rod connector, the 7th push rod connector are fixed on the leg support of third bionic leg branch, and described
Eight push rod connectors are fixed on the leg support of the 4th bionic leg branch；
Each bionic leg branch include the first rod piece, the second rod piece, third rod piece, the 4th rod piece, the 5th rod piece,
6th rod piece, the 7th rod piece, the 8th rod piece, the 9th rod piece, the tenth rod piece, the 8th rod piece, leg support, crank, stepper motor, circle
Bore pinion gear, cone gear；The stepper motor is fixed on by connecting plate for electric motor on leg support, the motor head of stepper motor
Cone pinion is connected, cone pinion is intermeshed passing power with cone gear, and it is defeated that cone gear is connected to gear
Enter one end of axis, gear input shaft is mounted on leg support；The crank is mounted on gear input shaft, the 7th rod piece,
One end of tenth rod piece by the 6th connection shaft part be hinged on crank, first rod piece, third rod piece and for
The stabilizer blade of ground contact is hinged by the first connection shaft part, and stabilizer blade connects as the foot of bionical mobile robot device with ground
Touch walking；First rod piece, the second rod piece and the 4th rod piece are hinged by the 5th connection shaft part, the 4th rod piece, the
Five rod pieces, the 8th rod piece are hinged by the 4th connection shaft part, and the 8th rod piece, the 9th rod piece and the tenth rod piece pass through third
It is hinged to connect shaft part, second rod piece, third rod piece, the 6th rod piece, the 7th rod piece are hinged by the 7th connection shaft part；
6th rod piece, the 5th rod piece and the 9th rod piece are hinged by the 5th connection shaft part, and the 7th connection shaft part peace
On leg support；It is actively that the crank, the tenth rod piece, the 8th rod piece, the 4th rod piece and the first rod piece, which are constituted with crank,
The first secondary five-bar mechanism, the crank, the tenth rod piece, the 9th rod piece, the 6th rod piece and third rod piece are constituted with crank
For the second five-bar mechanism of driving pair, it is actively that the crank, the 7th rod piece, third rod piece and leg support, which are constituted with crank,
Secondary four-bar mechanism；Stepper motor drives entire bionical by cone pinion and cone gear drive crank-motion
The movement of leg branch.
Further, first rod piece is made of a rod piece, and second rod piece is symmetrical by two
Rod piece is constituted；The third rod piece is made of two symmetrical rod pieces；4th rod piece is symmetrical by two
Rod piece constitute；5th rod piece is made of two symmetrical two rod pieces；6th rod piece is by two left sides
Right symmetrical rod piece is constituted；7th rod piece is made of the rod piece of a root long；8th rod piece is by a rod piece structure
At；9th rod piece is made of two symmetrical rod pieces；Tenth rod piece is made of two symmetrical rod pieces；
First rod piece, the second rod piece and the triangle structure of third rod piece；Second rod piece, the 4th rod piece, the 5th rod piece
Parallelogram sturcutre is constituted with the 6th rod piece；5th rod piece, the 8th rod piece and the 9th triangle structure of rod piece；The
Six rod pieces, the 7th rod piece and the triangle structure of holder.
Further, the installation site of the second push rod connector and the first push rod connector keeps sustained height, and described the
The installation site of seven push rod connectors and the 8th push rod connector keeps sustained height, in bionical mobile robot device original state
When, four bionic leg branches pile layout in left and right and the height of original state lower bottom part stabilizer blade is consistent.
Further, the stepper motor on four bionic leg branches be respectively first motor, the second motor, third motor and
4th motor, the first motor and the second motor are distributed in the front side of lower trunk, and symmetrical distribution；The third motor
It is distributed in the two sides behind of lower trunk and symmetrical distribution with the 4th motor；First motor connects the first cone pinion and the
One cone pinion and the first cone gear are intermeshed, and the second motor connects the second cone pinion and the small tooth of the second circular cone
Wheel is intermeshed with the second cone gear, and third motor connects third cone pinion and third cone pinion is justified with third
Bore gear wheel intermeshing, the 4th motor the 4th cone pinion of connection and the 4th cone pinion and the 4th cone gear phase
Mutually engagement.
Further, the steering driving motor is fixed on by steering motor holder on lower trunk.
The technical concept of the utility model is as follows：Four bionic leg branched structures of bionical mobile robot device it is identical and
Symmetrical distribution, when bionical mobile robot device is steadily walked forward, tiled configuration movement is consistent, on the left of song
Handle is identical with the crank rolling velocity on right side, but corner is staggered, and steering driving motor does not export at this time and steering wheel is in certainly
By state, one in front and one in back state when Ke Yi Shi Xian Walk rows；When bionical mobile robot device needs turning and corner is little
In the case of, the steering by a small margin of bionical mobile robot device can be realized in the rotating speed by controlling left and right crank；When bionical shifting
When mobile robot device needs to turn and corner is bigger, the use of steering mechanism can be coordinated, by turning to driving motor
The movement of four turning-bars is pushed to may be implemented significantly to turn to.The bionic leg branch of each bionical mobile robot device
There is respective stepper motor independent control, substantially increases the flexibility of bionical mobile robot device when walking.
The control system of the utility model includes PLC controller, five stepper motor drivers, five stepper motor drivings
Device is respectively the first driver, the second driver, third driver, fourth drive and the 5th controller, is respectively used to drive
First motor, the second motor, third motor, the 4th motor and steering driving motor；The output end of the controller is respectively with
One driver, the second driver, third driver, fourth drive and the 5th controller input terminal be connected in parallel；Described
The output end of one controller is connect with first motor, receives the pulse signal control first motor that controller is sent out；Described second
The output end of controller is connect with the second motor, is received the pulse signal that controller is sent out and is controlled the second motor；The third control
The output end of device processed is connect with third motor, receives the pulse signal control third motor that controller is sent out；4th control
The output end of device is connect with the 4th motor, is received the pulse signal that controller is sent out and is controlled the 4th motor, the 5th controller
Output end with turn to driving motor connect, receive controller send out pulse signal control steering driving motor.
The course of work of the utility model is as follows：Stepper motor drives crank rotation, crank handle turns robot leg to rotate,
The foot of its end can keep significant period of time uniform rectilinear in the link of walking, enhance entire robot and advanced
Stability in journey；Turn to the rotation of driving motor driving steering wheel；Steering wheel drives turning-bar to control each bionic leg branch
The steering of chain, to control the divertical motion of entire four-leg bionic robot.
The beneficial effects of the utility model are：The bio-robot leg of the utility model uses plane multi link machine
Structure, the Planar Multi-linkage have both the good flexibility and the rigid good advantage of closed chain mechanism of open chain mechanism, have motional inertia
Low, the advantages that motor imagination speed block and bearing capacity is strong；The utility model modules using modularization due to being set simultaneously
Meter, replacing, disparate modules are convenient and efficient；The utility model is designed using symmetrical structure, and movement is flexible, and bearing capacity is strong, has
Simple and compact for structure, reasonable design is processed and the good advantage of assembly technology.
Description of the drawings
Fig. 1 is the overall structure diagram of the bionical mobile robot device of the utility model.
Fig. 2 is the schematic top plan view after the bionical upper trunk of mobile robot device removal of the utility model.
Fig. 3 is the inside overall structure diagram after the bionical upper trunk of mobile robot device removal of the utility model.
Fig. 4 is the structural schematic diagram of the utility model any one bionic leg branch of bionical mobile robot device.
In figure, the first bionic legs of 1- branch, the second bionic legs of 2- branch, 3- leg branches shaft, the upper trunks of 4-, 5- thirds are imitative
Raw leg branch, the 4th bionic leg branches of 6-, 7- lower trunks, the 8, the 4th turning-bar, the 7th push rod connectors of 9-, 11- thirds turning-bar,
12- steering wheels, the second turning-bars of 13-, the first turning-bars of 15-, 18- steering motors holder, 19- turn to driving motor, 21- first
Large conical gear, the second push rods of 22- connector, the first small conical gears of 23-, 24- first motors, the first push rods of 25- connector, 26-
Second motor, the second small conical gears of 27-, the second large conical gears of 28-, 29- thirds large conical gear, 30- third conicles
Gear, 31- thirds motor, the 4th motors of 32-, the fourth-largest conical gears of 33-, the 4th small conical gears of 34-, the 8th push rods of 35-
Connector, the connection shafts of 36- first part, the 6th rod pieces of 37-, the connection shafts of 38- second part, 39- connecting plate for electric motor, 40- leg supports,
41- cranks connecting shaft, 42- cranks, the tenth rod pieces of 43-, 44- thirds connection shaft part, the 9th rod pieces of 45-, the 8th rod pieces of 46-,
The 5th rod pieces of 47-, the connection shafts of 48- the 4th part, the 4th rod pieces of 49-, the second rod pieces of 50-, the connection shafts of 51- the 5th part, 52-
One rod piece, 53- thirds rod piece, the 7th rod pieces of 54-
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings：
As shown in figures 1-4, a kind of bionical mobile robot device, including upper trunk 4, lower trunk 7, trunk connecting plate, four
Root bionic leg branch shaft 3, steering mechanism and four bionic leg branches；The upper trunk 4 and lower trunk 7 pass through trunk connecting plate
It is fixed together, four bionic leg branches are connected to by four bionic leg branch shafts 3 with upper trunk 4 and lower trunk 7 respectively
Together；The steering mechanism includes turning to driving motor 19, steering wheel 12 and four turning-bars, and four turning-bars are respectively first
Turning-bar 15, the second turning-bar 13, third turning-bar 11 and the 4th turning-bar 8；The steering driving motor 19 is fixed on lower body
On dry 7, steering wheel 12 is mounted on the motor head for turning to driving motor 19；Four bionic leg branches are respectively first bionical
Leg branch 1, the second bionic leg branch 2, third bionic leg branch 5 and the 4th bionic leg branch 6, the two of first turning-bar 15
End is separately connected the first push rod connector 25 and the second push rod connector 22, and the first push rod connector 25 is fixed on the first bionic leg branch 1
Leg support 40 on, the second push rod connector 22 is fixed on the leg support 40 of the second bionic leg branch 2；Second turning-bar 13
Both ends be separately connected third push rod connector and the 4th push rod connector, third push rod connector is fixed on the one of the first turning-bar 15
End, the 5th push rod connector are fixed on steering wheel 12；The both ends of the third turning-bar 11 be separately connected the 5th push rod connector and
6th push rod connector, the 5th push rod connector are fixed on steering wheel 12, and the 6th push rod connector is fixed on the one of the 4th turning-bar 8
End；The both ends of 4th turning-bar 8 are separately connected the 7th push rod connector 9 and the 8th push rod connector 35, and the 7th push rod connector 9 is solid
It is scheduled on the leg support 40 of third bionic leg branch 5, the 8th push rod connector 35 is fixed on the leg branch of the 4th bionic leg branch 6
On frame 40；Each bionic leg branch includes the first rod piece 52, the second rod piece 50, third rod piece 53, the 4th rod piece 49, the
Five rod pieces 47, the 6th rod piece 37, the 7th rod piece, the 8th rod piece 46, the 9th rod piece 45, the tenth rod piece 43, the 8th rod piece 46, leg branch
Frame 40, crank 42, stepper motor, cone pinion, cone gear；The stepper motor is fixed on by connecting plate for electric motor 39
On leg support 40, the motor head of stepper motor connects cone pinion, and cone pinion is transmitted with cone gear intermeshing
Power, cone gear are connected to one end of crank connecting shaft 41, and crank connecting shaft 41 is mounted on leg support 40；The crank
42 are mounted in crank connecting shaft 41, and the 7th rod piece, one end of the tenth rod piece 43 are hinged by the 6th connection shaft part
On crank 42, first rod piece 52, third rod piece 53 and the stabilizer blade for being contacted with ground pass through the first connection shaft part
36 is hinged, and stabilizer blade contacts walking with ground as the foot of bionical mobile robot device；First rod piece 52, the second rod piece
50 and the 4th rod piece 49 it is hinged by the 5th connection shaft part 51, the 4th rod piece 49, the 5th rod piece 47, the 8th rod piece 46 are logical
It crosses the 4th connection shaft part 48 to be hinged, the 8th rod piece 46, the 9th rod piece 45 connect shaft with the tenth rod piece 43 by third
Part 44 is hinged, and second rod piece 50, third rod piece 53, the 6th rod piece 37, the 7th rod piece 54 pass through the 7th connection shaft part hinge
It connects；6th rod piece 37, the 5th rod piece 47 and the 9th rod piece 45 are hinged by the 5th connection shaft part 51, and the described 7th connects
Switch through shaft member on leg support 40；The crank 42, the tenth rod piece 43, the 8th rod piece 46, the 4th rod piece 49 and the first bar
Part 52 constitutes the first five-bar mechanism for driving pair with crank 42, the crank 42, the tenth rod piece 43, the 9th rod piece 45,
6th rod piece 37 and third rod piece 53 constitute the second five-bar mechanism for driving pair with crank 42, the crank the 42, the 7th
Rod piece 54, third rod piece 53 and leg support 40 constitute the four-bar mechanism for driving pair with crank 42；Stepper motor passes through circle
Cone pinion gear and cone gear drive crank 42 to move and then drive the movement of entire bionic leg branch.
First rod piece 52 is made of a rod piece, and second rod piece 50 is by two symmetrical rod piece structures
At；The third rod piece 53 is made of two symmetrical rod pieces；4th rod piece 49 is symmetrical by two
Rod piece is constituted；5th rod piece 47 is made of two symmetrical two rod pieces；6th rod piece 37 is by two
Symmetrical rod piece is constituted；7th rod piece 54 is made of the rod piece of a root long；8th rod piece 46 is by one
Rod piece is constituted；9th rod piece 45 is made of two symmetrical rod pieces；Tenth rod piece 43 is symmetrical by two
Rod piece constitute；53 triangle structure of first rod piece 52, the second rod piece 50 and third rod piece；Second rod piece
50, the 4th rod piece 49, the 5th rod piece 47 and the 6th rod piece 37 constitute parallelogram sturcutre；5th rod piece 47, the 8th bar
45 triangle structure of part 46 and the 9th rod piece；6th rod piece 37, the 7th rod piece 54 and the triangle structure of holder.
The installation site of the second push rod connector 22 and the first push rod connector 25 keeps sustained height, the 7th push rod
The installation site of connector 9 and the 8th push rod connector 35 keeps sustained height, in bionical mobile robot device original state, four
A bionic leg branch piles layout in left and right and the height of original state lower bottom part stabilizer blade is consistent.
Stepper motor on four bionic leg branches is respectively first motor 24, the second motor 26, third motor 31 and
Four motors 32, the first motor 24 and the second motor 26 are distributed in the front side of lower trunk 7, and symmetrical distribution；Described
Three motors 31 and the 4th motor 32 are distributed in the two sides behind of lower trunk 7 and symmetrical distribution；The connection of first motor 24 first
Cone pinion 23 and the intermeshing of the first cone pinion 23 and the first cone gear 21, the second circle of the second motor 26 connection
It bores pinion gear 27 and the second cone pinion 27 and the second cone gear 28 is intermeshed, third motor 31 connects third circular cone
Pinion gear 30 and third cone pinion 30 and the intermeshing of third cone gear 29, it is small that the 4th motor 32 connects the 4th circular cone
Gear 34 and the intermeshing of the 4th cone pinion 34 and the 4th cone gear 33.
The steering driving motor 19 is fixed on by steering motor holder 18 on lower trunk 7.
The technical concept of the utility model is as follows：Four bionic leg branched structures of bionical mobile robot device it is identical and
Symmetrical distribution, when bionical mobile robot device is steadily walked forward, tiled configuration movement is consistent, on the left of song
Handle is identical with the crank rolling velocity on right side, but corner is staggered, and steering driving motor does not export at this time and steering wheel is in certainly
By state, one in front and one in back state when Ke Yi Shi Xian Walk rows；When bionical mobile robot device needs turning and corner is little
In the case of, the steering by a small margin of bionical mobile robot device can be realized in the rotating speed by controlling left and right crank；When bionical shifting
When mobile robot device needs to turn and corner is bigger, the use of steering mechanism can be coordinated, by turning to driving motor
The movement of four turning-bars is pushed to may be implemented significantly to turn to.The bionic leg branch of each bionical mobile robot device
There is respective stepper motor independent control, substantially increases the flexibility of bionical mobile robot device when walking.
The control system of the utility model includes PLC controller, five stepper motor drivers, five stepper motor drivings
Device is respectively the first driver, the second driver, third driver, fourth drive and the 5th controller, is respectively used to drive
First motor, the second motor, third motor, the 4th motor and steering driving motor；The output end of the controller is respectively with
One driver, the second driver, third driver, fourth drive and the 5th controller input terminal be connected in parallel；Described
The output end of one controller is connect with first motor, receives the pulse signal control first motor that controller is sent out；Described second
The output end of controller is connect with the second motor, is received the pulse signal that controller is sent out and is controlled the second motor；The third control
The output end of device processed is connect with third motor, receives the pulse signal control third motor that controller is sent out；4th control
The output end of device is connect with the 4th motor, is received the pulse signal that controller is sent out and is controlled the 4th motor, the 5th controller
Output end with turn to driving motor connect, receive controller send out pulse signal control steering driving motor.
The course of work of the utility model is as follows：Stepper motor drives crank rotation, crank handle turns robot leg to rotate,
The foot of its end can keep significant period of time uniform rectilinear in the link of walking, enhance entire robot and advanced
Stability in journey；Turn to the rotation of driving motor driving steering wheel；Steering wheel drives turning-bar to control each bionic leg branch
The steering of chain, to control the divertical motion of entire four-leg bionic robot.
Above-described embodiment is the preferred embodiment of the utility model, is not the limit to technical solutions of the utility model
System, as long as without the technical solution that creative work can be realized on the basis of the above embodiments, is regarded as falling into
In the rights protection scope of the utility model patent.
Claims (5)
1. a kind of bionical mobile robot device, it is characterised in that：Including upper trunk (4), lower trunk (7), trunk connecting plate, four
Root bionic leg branch shaft (3), steering mechanism and four bionic leg branches；The upper trunk (4) and lower trunk (7) pass through trunk
Connecting plate is fixed together, and four bionic leg branches pass through four bionic leg branch shafts (3) and upper trunk (4) and lower body respectively
Dry (7) link together；The steering mechanism includes turning to driving motor (19), steering wheel (12) and four turning-bars, four
Turning-bar is respectively the first turning-bar (15), the second turning-bar (13), third turning-bar (11) and the 4th turning-bar (8)；It is described
It turns to driving motor (19) to be fixed on lower trunk (7), steering wheel (12) is mounted on the motor head for turning to driving motor (19)；
Four bionic leg branches are respectively the first bionic leg branch (1), the second bionic leg branch (2), third bionic leg branch (5)
With the 4th bionic leg branch (6), the both ends of first turning-bar (15) are separately connected the first push rod connector (25) and second and push away
Knock-off joint (22), the first push rod connector (25) are fixed on the leg support (40) of the first bionic leg branch (1), the second push rod connector
(22) it is fixed on the leg support (40) of the second bionic leg branch (2)；The both ends of second turning-bar (13) are separately connected
Three push rod connectors and the 4th push rod connector, third push rod connector are fixed on one end of the first turning-bar (15), the 5th push rod connector
It is fixed on steering wheel (12)；The both ends of the third turning-bar (11) are separately connected the 5th push rod connector and the 6th push rod connects
Head, the 5th push rod connector are fixed on steering wheel (12), and the 6th push rod connector is fixed on one end of the 4th turning-bar (8)；It is described
The both ends of 4th turning-bar (8) are separately connected the 7th push rod connector (9) and the 8th push rod connector (35), the 7th push rod connector (9)
It is fixed on the leg support (40) of third bionic leg branch (5), the 8th push rod connector (35) is fixed on the 4th bionic leg branch
On the leg support (40) of chain (6)；
Each bionic leg branch includes the first rod piece (52), the second rod piece (50), third rod piece (53), the 4th rod piece
(49), the 5th rod piece (47), the 6th rod piece (37), the 7th rod piece (54), the 8th rod piece (46), the 9th rod piece (45), the tenth bar
Part (43), leg support (40), crank (42), stepper motor, cone pinion, cone gear；The stepper motor passes through electricity
Machine connecting plate (39) is fixed on leg support (40), and the motor head of stepper motor connects cone pinion, cone pinion and circle
It bores gear wheel and is intermeshed passing power, cone gear is connected to one end of crank connecting shaft (41), crank connecting shaft (41)
On leg support (40)；The crank (42) is mounted in crank connecting shaft (41), the 7th rod piece, the tenth rod piece
(43) one end is hinged on by the 6th connection shaft part on crank (42), first rod piece (52), third rod piece (53)
Hinged by the first connection shaft part (36) with the stabilizer blade for being contacted with ground, stabilizer blade is as bionical mobile robot device
Foot contacts walking with ground；First rod piece (52), the second rod piece (50) and the 4th rod piece (49) are turned by the 5th connection
Shaft member (51) is hinged, and the 4th rod piece (49), the 5th rod piece (47), the 8th rod piece (46) pass through the 4th connection shaft part (48)
Hinged, the 8th rod piece (46), the 9th rod piece (45) and the tenth rod piece (43) connect shaft part (44) by third and are hinged, institute
It is hinged by the 7th connection shaft part to state the second rod piece (50), third rod piece (53), the 6th rod piece (37), the 7th rod piece (54),
6th rod piece (37), the 5th rod piece (47) and the 9th rod piece (45) are hinged and described by the 5th connection shaft part (51)
5th connection shaft part (51) is mounted on leg support (40)；The crank (42), the tenth rod piece (43), the 8th rod piece (46),
4th rod piece (49) and the first rod piece (52) are constituted with the first five-bar mechanism that crank (42) is driving pair, the crank
(42), the tenth rod piece (43), the 9th rod piece (45), the 6th rod piece (37) and third rod piece (53) constitute based on crank (42)
The second secondary five-bar mechanism is moved, the crank (42), the 7th rod piece (54), third rod piece (53) and leg support (40) constitute
With the four-bar mechanism that crank (42) is driving pair；Stepper motor drives crank (42) by cone pinion and cone gear
Move and then drive the movement of entire bionic leg branch.
2. bionical mobile robot device according to claim 1, it is characterised in that：First rod piece (52) is by one
Root rod piece is constituted, and second rod piece (50) is made of two symmetrical rod pieces；The third rod piece (53) is by two
The symmetrical rod piece of root is constituted；4th rod piece (49) is made of two symmetrical rod pieces；5th rod piece
(47) it is to be made of two symmetrical two rod pieces；6th rod piece (37) is by two symmetrical rod piece structures
At；7th rod piece (54) is made of the rod piece of a root long；8th rod piece (46) is made of a rod piece；It is described
9th rod piece (45) is made of two symmetrical rod pieces；Tenth rod piece (43) is by two symmetrical rod piece structures
At；First rod piece (52), the second rod piece (50) and third rod piece (53) triangle structure；Second rod piece
(50), the 4th rod piece (49), the 5th rod piece (47) and the 6th rod piece (37) constitute parallelogram sturcutre；5th rod piece
(47), the 8th rod piece (46) and the 9th rod piece (45) triangle structure；6th rod piece (37), the 7th rod piece (54) and branch
Frame constitutes triangular structure.
3. bionical mobile robot device according to claim 1, it is characterised in that：The second push rod connector (22) and
The installation site of first push rod connector (25) keeps sustained height, the 7th push rod connector (9) and the 8th push rod connector (35)
Installation site keep sustained height, in bionical mobile robot device original state, four bionic leg branches are in left and right heap
Height at layout and original state lower bottom part stabilizer blade is consistent.
4. bionical mobile robot device according to claim 1, it is characterised in that：Stepping on four bionic leg branches
Motor is respectively first motor (24), the second motor (26), third motor (31) and the 4th motor (32), the first motor
(24) and the second motor (26) is distributed in the front sides of lower trunk (7), and symmetrical distribution；The third motor (31) and the 4th
Motor (32) is distributed in the two sides behind of lower trunk (7) and symmetrical distribution；First motor (24) connects the small tooth of the first circular cone
It takes turns (23) and the first cone pinion (23) is intermeshed with the first cone gear (21), the second circle of the second motor (26) connection
It bores pinion gear (27) and the second cone pinion (27) is intermeshed with the second cone gear (28), third motor (31) connection
Third cone pinion (30) and third cone pinion (30) and third cone gear (29) intermeshing, the 4th motor
(32) it connects the 4th cone pinion (34) and the 4th cone pinion (34) is intermeshed with the 4th cone gear (33).
5. bionical mobile robot device according to claim 1, it is characterised in that：The steering driving motor (19) is logical
Steering motor holder (18) is crossed to be fixed on lower trunk (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721780582.5U CN207670528U (en) | 2017-12-19 | 2017-12-19 | Bionical mobile robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721780582.5U CN207670528U (en) | 2017-12-19 | 2017-12-19 | Bionical mobile robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207670528U true CN207670528U (en) | 2018-07-31 |
Family
ID=62969518
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721780582.5U Expired - Fee Related CN207670528U (en) | 2017-12-19 | 2017-12-19 | Bionical mobile robot device |
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| Country | Link |
|---|---|
| CN (1) | CN207670528U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146532A (en) * | 2017-12-19 | 2018-06-12 | 浙江工业大学 | Bionical mobile robot device |
| CN109398523A (en) * | 2018-09-05 | 2019-03-01 | 北京交通大学 | It is a kind of with rest adjustment characteristic closed chain quadruped robot |
| CN109398522A (en) * | 2018-09-05 | 2019-03-01 | 北京交通大学 | A kind of variable topological leg mechanism four-footed platform |
-
2017
- 2017-12-19 CN CN201721780582.5U patent/CN207670528U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146532A (en) * | 2017-12-19 | 2018-06-12 | 浙江工业大学 | Bionical mobile robot device |
| CN109398523A (en) * | 2018-09-05 | 2019-03-01 | 北京交通大学 | It is a kind of with rest adjustment characteristic closed chain quadruped robot |
| CN109398522A (en) * | 2018-09-05 | 2019-03-01 | 北京交通大学 | A kind of variable topological leg mechanism four-footed platform |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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