CN208484760U - A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism - Google Patents
A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism Download PDFInfo
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- CN208484760U CN208484760U CN201820883102.6U CN201820883102U CN208484760U CN 208484760 U CN208484760 U CN 208484760U CN 201820883102 U CN201820883102 U CN 201820883102U CN 208484760 U CN208484760 U CN 208484760U
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Abstract
The utility model discloses a kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism, including trunk and four lower limb, four lower limb symmetrically are distributed in the quadrangle below trunk, and the structure of four lower limb is identical；Trunk includes six-degree-of-freedom parallel connection mechanism and four driving units；Six-degree-of-freedom parallel connection mechanism both ends respectively set two driving units；Six-degree-of-freedom parallel connection mechanism includes moving platform and silent flatform arranged in parallel, and fixed on moving platform there are six rod piece motors, is connected with six rods between rod piece motor and silent flatform；Lower limb include thigh, shank and foot；The upper end of thigh is fixedly connected with driving unit, and thigh lower end is rotatably connected with shank upper end, and shank lower end connects foot.The trunk of the utility model expands the space of robot, reduces the complexity of robot waist portion mechanism, improves the kinematic accuracy of quadruped robot waist, improves robot stabilization and movenent performance, expands the application field of robot.
Description
Technical field
The utility model belongs to robot field, and in particular to a kind of four-leg bionic machine based on six-degree-of-freedom parallel connection mechanism
Device people.
Background technique
Currently, robot is divided into biomimetic type leg legged type robot, wheeled robot, crawler frame according to move mode
People, the main purpose of research are to enhance the carrying ability of the movenent performance and robot platform of robot moving system.Tradition
Legged type robot waist mainly use serial mechanism mode to design, mechanical complexity is high, and kinematic dexterity and precision are low, machine
Device people's platform carrying ability is weak, and the weight and volume of robot entirety is excessive, it is difficult to meet actual demands of engineering.Therefore, it develops
The robot of the waist based on parallel institution (trunk) is to the movenent performance of hoisting machine people's entirety, carrying ability and control essence out
It spends most important.
Summary of the invention
For the defects in the prior art and insufficient, the utility model provides a kind of based on six-degree-of-freedom parallel connection mechanism
Four-leg bionic robot overcomes the defect that existing robotic complexity is high, kinematic dexterity and precision are low.
In order to achieve the above objectives, the utility model takes the following technical solution:
A kind of multiple degrees of freedom four-leg bionic robot, including trunk and four lower limb, four lower limb symmetrically are distributed
Quadrangle below trunk, and the structure of four lower limb is identical；The trunk includes six-degree-of-freedom parallel connection mechanism and is used for
Respectively drive four driving units of each lower extremity movement；Two drivings are fixed in one end of the six-degree-of-freedom parallel connection mechanism
Unit, the fixed another two driving unit of the other end；
The six-degree-of-freedom parallel connection mechanism includes moving platform and silent flatform arranged in parallel, is fixed on moving platform
Six rod piece motors are connected with six rods for having connected moving platform with silent flatform between rod piece motor and silent flatform
Come；Six rods energy independent telescope and can freely swing around tie point to simultaneously coordination to realize in three-dimensional space
Corresponding actions improve movenent performance and the flexibility of robot；
The lower limb upper end is fixedly connected with the driving unit.
The utility model also has following technical characteristic:
Optionally, described two, six rod piece motors are distributed on moving platform for one group by even circumferential, on silent flatform
Three groups of rod piece articulation pieces are distributed with by even circumferential, there are two every group of rod piece articulation pieces；
Every group of rod piece motor is shifted to install with rod piece articulation piece, in rod piece motor and between nearest rod piece articulation piece
It is hinged with the rod piece, to realize six-degree-of-freedom parallel by six mobilizable rod pieces between moving platform and silent flatform
The multifreedom motion of structure.
Optionally, the rod piece and rod piece articulation piece are hinged；Connecting rod, connecting rod one are equipped between the rod piece and rod piece motor
End is rotatably connected with rod piece motor, and the other end of connecting rod is connect with rod piece by flake flexural pivot；
Rod piece can do spatial movement, connecting rod can do circle rotation around rod piece motor, in connecting rod under the cooperation of flake flexural pivot
Under the action of flake flexural pivot, the spatial movement of rod piece increases；Wherein flake flexural pivot makes the space of six degree of freedom platform increase
Greatly, movenent performance and the flexibility of complete machine are improved.
Optionally, the driving unit includes driving motor, and driving motor lower end is fixedly connected with the upper end of the lower limb；It drives
One end of dynamic motor is fixed on the outside of moving platform or silent flatform, and the other end of driving motor is fixed with vertical driving motor and fixes
Plate, lateral driving motor support plate is connected in driving motor fixed plate lower end, and driving motor support plate is located at driving motor
Lower section, and the end vertical connection silent flatform of driving motor support plate or the outside of moving platform；The driving motor fixed plate and
Driving motor support plate is T-shaped structure.
Optionally, the lower limb include thigh, shank and foot；The upper end of thigh is fixedly connected with the driving unit, greatly
Leg lower end is rotatably connected with shank upper end, and shank lower end connects foot；Axis connection is used between the thigh and shank；It is described
The bottom of foot is spherical structure.
Compared with prior art, beneficial has the technical effect that the utility model
A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism provided by the utility model, with ordinary robot
It compares, parallel institution can contribute to the adjustment of posture, for external interference, can play buffer function, improve robot
Stability；The trunk of the six-degree-of-freedom parallel connection mechanism of design expands the space of robot, reduces robot waist
The mechanical complexity of mechanism improves the kinematic accuracy of quadruped robot waist, improves legged type robot stability and movement
Performance expands the application field of legged type robot.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the trunk structural schematic diagram of the utility model.
Fig. 3 is the overall structure diagram of the six-degree-of-freedom parallel connection mechanism of the utility model.
Fig. 4 is the driving motor structural schematic diagram of the utility model.
Fig. 5 is the driving motor structural schematic diagram of the utility model.
Fig. 6 is the driving motor fixed plate structure schematic diagram of the utility model.
Fig. 7 is the driving motor supporting plate structure schematic diagram of the utility model.
Fig. 8 is the lower limb structure schematic diagram of the utility model.
Fig. 9 is the ankle-joint of the utility model and the overall structure diagram of sole.
Figure 10 is the ankle-joint of the utility model and the integrally-built side view of sole.
Figure 11 is the overall structure diagram of the ankle-joint of the utility model.
Figure 12 is the structural schematic diagram of the support plate of the utility model.
Figure 13 is the structural schematic diagram of the support frame of the utility model.
Figure 14 is the structural schematic diagram of the first connecting rod of the utility model.
Figure 15 is the structural schematic diagram of the second connecting rod of the utility model.
Each label indicates in figure are as follows: 1- lower limb, 2- trunk；
10- ankle-joint, 20- sole, 40- six-degree-of-freedom parallel connection mechanism, 50- driving unit, 60- thigh, 70- shank,
80- foot；
11- support plate, 12- support frame, 13- support frame, 14- screw rod transmission unit, 15- ankle-joint control unit, 16-
One connecting rod, 17- second connecting rod；
The first support shaft of 111-, the second support shaft of 112-, 113- limit hole, 114- sole connector；
The leg 131- connection ring, 132- second connecting rod articulation piece, 133- stand connection；
The connecting pin 141-, 142- screw rod, the self-locking mainshaft nut mechanism of 143-, 144- motor, 145- screw rod motion guide rail,
146- connecting support, 147- counterweight vibration damper bar；
151- controls box；
161- mounting hole；
21- heel, 22- arch of foot, 23- sole control unit, 24- toe, 25- elasticity hawser；
211- ankle-joint connector；
41- moving platform, 42- silent flatform, 43- rod piece, 44- connecting rod, 45- flake flexural pivot；
411- rod piece motor, 421- rod piece articulation piece；
51- driving motor, 52- driving motor fixed plate, 53- driving motor support plate.
Specific embodiment
Specific embodiment of the present utility model is described in detail below in conjunction with Figure of description.It should be understood that
It is that specific embodiment described herein is merely to illustrate and explains the utility model is not intended to limit the utility model.
Embodiment 1:
The present embodiment provides a kind of multiple degrees of freedom four-leg bionic robots, as shown in Figures 1 to 8, including trunk 2 and four
Lower limb 1, four lower limb 1 symmetrically are distributed in the quadrangle of 2 lower section of trunk, and the structure of four lower limb 1 is identical；It is described
Four driving units 50 that trunk 2 includes six-degree-of-freedom parallel connection mechanism 40 and moves for respectively driving each lower limb 1；Described six
Two driving units 50, the fixed another two driving unit 50 of the other end are fixed in one end of freedom degree parallel connection mechanism 40；It is described
Lower limb 1 include thigh 60, shank 70 and foot 80；The upper end of thigh 60 is fixedly connected with the driving unit 50,60 lower end of thigh
It is rotatably connected with 70 upper end of shank, 70 lower end of shank connects foot 80.
The six-degree-of-freedom parallel connection mechanism 40 includes moving platform 41 and silent flatform 42 arranged in parallel, in moving platform 41
There are six rod piece motors 411 for upper fixation, and it is flat for that will move that six rods 43 are connected between rod piece motor 411 and silent flatform 42
Platform and silent flatform connect；Six rods 43 can independent telescope and can freely swing around tie point to coordination simultaneously with
It realizes corresponding actions in three-dimensional space, improves movenent performance and the flexibility of robot；
Through the above technical solutions, a kind of four-leg bionic machine based on six-degree-of-freedom parallel connection mechanism provided by the utility model
Device people, compared with ordinary robot, parallel institution can contribute to the adjustment of posture, for external interference, can play slow
Punching effect, improves the stability of robot；The trunk of the six-degree-of-freedom parallel connection mechanism of design expands the space of robot,
The mechanical complexity for reducing robot waist portion mechanism improves the kinematic accuracy of quadruped robot waist, improves sufficient formula machine
Device people stability and movenent performance expand the application field of legged type robot.
In the present embodiment, six 411 two, rod piece motor are distributed on moving platform 41 for one group by even circumferential,
Three groups of rod piece articulation pieces 421 are distributed with by even circumferential on silent flatform 42, there are two every group of rod piece articulation pieces 421；
Every group of rod piece motor 411 is shifted to install with rod piece articulation piece 421, in rod piece motor 411 and apart from nearest rod piece
The rod piece 43 is hinged between articulation piece 421, to pass through six mobilizable bars between moving platform 41 and silent flatform 42
The multifreedom motion of the realization six-degree-of-freedom parallel connection mechanism 40 of part 43.
Specifically, rod piece 43 and rod piece articulation piece 421 are hinged；Connecting rod is equipped between the rod piece 43 and rod piece motor 411
44,44 one end of connecting rod is rotatably connected with rod piece motor 411, and the other end and rod piece 43 of connecting rod 44 are connected by flake flexural pivot 45
It connects；
Rod piece 43 can do spatial movement, connecting rod 44 can do circumference rotation around rod piece motor 411 under the cooperation of flake flexural pivot 45
Turn, under the action of connecting rod 44 and flake flexural pivot 45, the spatial movement of rod piece 43 increases；Wherein flake flexural pivot 45 makes six degree of freedom
The space of platform substantially increases, and improves movenent performance and the flexibility of complete machine.
In the present embodiment, driving unit 50 include driving motor 51,51 lower end of driving motor be fixedly connected it is described under
The upper end of limb 1；One end of driving motor 51 is fixed on 42 outside of moving platform 41 or silent flatform, and the other end of driving motor 51 is fixed
There is vertical driving motor fixed plate 52, lateral driving motor support plate 53 be connected in 52 lower end of driving motor fixed plate,
Driving motor support plate 53 is located at 51 lower section of driving motor, and the end vertical of driving motor support plate 53 connects silent flatform 42
Or the outside of moving platform 41；The driving motor fixed plate 52 and driving motor support plate 53 are T-shaped structure.
In the present embodiment, axis connection is used between thigh 60 and shank 70；The bottom of the foot 80 is spherical junctions
Structure.
Embodiment 2:
The present embodiment the difference from embodiment 1 is that, lower limb 1 in the present embodiment include thigh 60, ankle-joint 10 and foot
The palm 20, the rotatably mounted ankle-joint 10 in 20 upper end of sole.
As shown in Fig. 9 to Figure 15, ankle-joint 10 includes the support plate 11 connecting with sole 20 and 11 rear and front end of support plate
The support frame 12 that is rotatably connected, the support frame 13 being rotatably connected with 12 left and right ends of support frame, screw rod transmission unit 14 and
For controlling the ankle-joint control unit 15 of ankle-joint 10；14 upper end of screw rod transmission unit is fixed on 13 top of support frame,
Two connecting pins 141 of 14 lower end of screw rod transmission unit pass through the left and right ends of two 16 hinged support plates 11 of first connecting rod, lead to
The left and right ends for crossing two second connecting rods, 17 hinged support frame 13, to realize pitching movement and the flip-flop movement of support plate 11；
Support plate and first connecting rod are attached by ankle portion by connecting rod shaft, and first connecting rod is able to drive inner support
Body makes rotating motion, and greatly reduces mechanical complications, improves robot motion's stationarity, and robot anklebone is made to have one
Fixed flexibility；Pitching movement and the flip-flop movement of ankle-joint are realized using symmetrical two double leval jibs, kinetic stability is high
And it is easily controllable；Self-locking screw rod mainshaft nut mechanism is used to provide power for two four-bar mechanisms, in ankle in stabilization
When state, the self-locking function of screw rod transmission unit can guarantee the action stability of robot, and can be in robot by stablizing
State improves the response time of system when switching to move state, and screw rod transmission unit is connect with support frame using articulated manner, because
This its can be rotated relative to support frame, be added significantly to robot and encountering extraneous hit or system flexibility when complicated landform
And kinetic stability.
Sole 20 includes the heel 21 connecting with ankle-joint 10, the arch of foot 22 of inclination laying, set on 22 upper surface of arch of foot
Sole control unit 23 and toe 24 positioned at 22 end of arch of foot；The both ends of the arch of foot 22 by torsional spring respectively with heel 21
Top and toe 24 connect, torsional spring is able to achieve the relative rotation between arch of foot 22 and heel 21, toe 24, makes 21 bottom of heel
Face and toe 24 can be as supporting points and ground face contact.It is used between the heel and arch of foot of sole part, arch of foot and left and right toe
Torsional spring connection, and it is provided with a large amount of sensor for being used to obtain robot and terrain environment in foot palm part point, it is not only able to drop
The complexity of low sole some mechanical mechanism improves robot and integrally controls precision, moreover it is possible to mitigate sole part total quality, drop
Low control system difficulty；In addition, being provided with elastic hawser between heel and arch of foot, elastic rope exterior is good by elastoplasticity
Material cladding, and heel is provided with vibration when the good rubber material of elasticity contacts to earth for reducing sole to robot
The influence of ontology, and elastic hawser also ensures that sole still can have good connect when encountering raised barrier with ground
Touching, to ensure the dynamic stability and static stability of robot entirety.
Through the above technical solutions, ankle-joint provided in this embodiment and sole, can effectively improve legged mobile robot pair
The adaptability and anti-interference ability of complicated landform, the reliability of enhancing and ground face contact improve robot in irregular terrain profiles
Walking stability under environment, expands the interaction capabilities of robot sole and environment, and correspondingly reduces the mechanical complexity of sole,
Improve the control precision of ankle-joint and sole.
In the present embodiment, ankle-joint control unit 15 includes control box 151 and sensor；Control box 151 is mounted on support
On frame 13, control box 151 issues corresponding control instruction so that ankle for receiving, handling the sensor information on ankle-joint 10
Joint 10 executes corresponding operating.
Screw rod transmission unit 14 includes sequentially connected connecting pin 141, screw rod 142, self-locking mainshaft nut machine from bottom to up
Structure 143, motor 144, the screw rod motion guide rail 145 coaxial with screw rod 142 and connecting support 146；Connecting pin in the present embodiment
141 be inverted U-shaped, 142 one end of screw rod by achieving a fixed connection at the top of screw thread and connecting pin 141,142 other end of screw rod and
The self-locking mainshaft nut mechanism 143 configured on the output shaft of motor 144 is connected, and realizes by motor output power, drives self-locking
Mainshaft nut mechanism 143 rotates, and then screw rod 142 is driven to move up and down, and is compiled by the increment in ankle-joint control unit 15
Code device and digital Hall sensor detection 144 rotational angle of motor, the positive and negative rotation for controlling motor 144, realize ankle-joint 10
Up and down motion and flip-flop movement；Screw rod 142 is inducted into screw rod motion guide rail 145 after engaging with self-locking mainshaft nut mechanism 143,
145 upper end of screw rod motion guide rail and connecting support 146 are hinged, and connecting support 146 is fixed on 13 top of support frame；It is described self-locking
Mainshaft nut mechanism 143 connects the motor 144, and the motor 144 is the linear brushless DC motor with retarder, in motor
144 tops are equipped with the connector for connecting counterweight vibration damper bar 147, and counterweight vibration damper bar 147 is moved for screw rod transmission unit 14
When for first connecting rod 16 and second connecting rod 17 provide certain lateral force so as to its stable motion and alleviate system vibration to four-footed machine
The influence of device human body.
In the present embodiment, the connecting pin 141 of screw rod transmission unit 14, screw rod 142, self-locking mainshaft nut mechanism 143, electricity
Machine 144 and screw rod motion guide rail 145 be parallel side-by-side setting two, two 145 upper ends of screw rod motion guide rail with it is same
A connecting support 146 is hinged, and connecting support 146 is fixed on 13 top of support frame.When two motors 144 receive ankle-joint control list
Member 15 issue rotating Vortex signals after, self-locking mainshaft nut mechanism 143 will push screw rod 142 so that drive first connecting rod 16,
Second connecting rod 17, support frame 12, support plate 11 do the pitching movement of certain angle around support frame 13；When two motors 144 receive
After the counter rotating signal that ankle-joint control unit 15 issues, self-locking mainshaft nut mechanism 143 will push screw rod 142 and then drive
First connecting rod 16, second connecting rod 17, support frame 12, support plate 11 do the flip-flop movement of certain angle around the first support shaft 111,
And then keep the kinetic stability of robot entirety.
In the present embodiment, 11 rear and front end of support plate is equipped with rotatable first support shaft 111, in the left and right of support plate 11
Both ends are equipped with rotatable second support shaft 112, and the limit hole 113 of perforation, support plate 11 are offered in the second support shaft 112
Lower end is equipped with sole connector 114；Preferably, through hole is equipped in support plate 11, to mitigate the weight of ankle-joint；Support
Frame 13 is that Y-shaped structure, the upper end of support frame 13 are leg connection ring 131, and the intersection position of the Y-shaped structure of support frame 13 is left
Right two sides are set there are two second connecting rod articulation piece 132.
Specifically, support frame 12 is square structure, before support plate 11 is mounted on support frame 12 by the first support shaft 111
Afterwards on two sides, the first support shaft 111 is fixedly connected by being interference fitted with the connecting hole on the side of front and back two of support frame 12；
Two ends of 13 lower section of support frame as described above are connected on the side of left and right two of support frame 12 by stand connection 133, bracket
Connector 133 is bolted and fixed with support frame 13, and support frame 12 is relative to 133 energy of support frame 13 and stand connection
Enough rotations.
Specifically, 16 upper and lower ends of first connecting rod are equipped with mounting hole 161,161 sets of the lower end mounting hole of first connecting rod 16
It is realized outside the second support shaft 112 and by connecting rod shaft and is connected with each other, connecting rod shaft passes through limit hole 113 and passed through
It is full of cooperation and 161 inner wall of lower end mounting hole of first connecting rod 16 achieves a fixed connection；Second connecting rod 17 is H-shaped structure, and second connects
The upper end hinge splint of bar 17 is hinged by the second connecting rod articulation piece 132 of connecting rod shaft and support frame 13；First connecting rod 16
The mounting hole 161 of upper end, second connecting rod 17 lower end handover clamping plate and 14 lower end of screw rod transmission unit connecting pin U-shaped
Hinge splint by connecting rod shaft it is hinged, wherein the mounting hole 161 of the upper end of first connecting rod 16 is located at screw rod transmission unit
Between the hinge splint of the U-shaped of the connecting pin of 14 lower ends, the hinge splint position of the U-shaped of the connecting pin of 14 lower end of screw rod transmission unit
Between the handover clamping plate of the lower end of second connecting rod 17, to realize the hinged of three components.
In the present embodiment, sole control unit 23 is fixedly connected by screw with arch of foot 22, sole control unit 23 and
Rubber material is nested between the upper surface of arch of foot 22 to protect sole control unit 23 not by the interference of external environment；It is turning round
The installation site of spring is equipped with arch of foot absolute encoder, for detecting the relative rotation angle of arch of foot 22 and heel 21, toe 24,
And the signal that will test is transmitted to sole control unit 23；And then foundation is provided for the control and optimisation strategy of whole system, it is
Sole control unit 23 judges that 20 current state of sole provides state parameter；Displacement sensor and diaphragm type are equipped with below heel 21
Pressure sensor, to measure heel 21 at a distance from ground and the non-coplanar force of foot of robot distribution；24 position of toe is set
It is equipped with diaphragm type pressure sensor and acceleration transducer, before non-coplanar force distribution and the robot to obtain foot of robot
Into speed.Specifically, in the present embodiment, there are two toe 24 is set, respectively left foot toe and right crus of diaphragm toe improve the steady of sole 20
Qualitative and flexibility.
Preferably, elastic hawser 25 is equipped between heel 21 and the end of arch of foot 22, elastic hawser 25 can guarantee foot
It slaps and still keeps the good mobile stabilization contacted to guarantee quadruped robot ontology when 20 parts encounter complicated landform with ground
Property and static stability.
Specifically, being equipped with the ankle-joint connector that can be rotatably connected sole 20 and ankle-joint 10 in the upper end of heel 21
211, so that the two is had the deflection freedom degree of certain angle, to alleviate when robot encounters collision or interference to robot stabilization
It influences.
More specifically, ankle-joint connector 211 is rotatably connected with sole connector 114.
In other embodiments, first connecting rod 16 and the left and right ends of support plate 11 can be connect using ball-and-socket hinge device to
Realize that first connecting rod 16 and support plate 11 do flip-flop movement around the first support shaft 111.
Preferred embodiments of the present invention, still, the utility model and unlimited are described in detail in conjunction with attached drawing above
Detail in above embodiment can be to the skill of the utility model in the range of the technology design of the utility model
Art scheme carries out a variety of simple variants, these simple variants belong to the protection scope of the utility model.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the utility model is to each
No further explanation will be given for the possible combination of kind.
In addition, any combination can also be carried out between a variety of different embodiments of the utility model, as long as it is not disobeyed
The thought for carrying on the back the utility model, equally should be considered as content disclosed in the utility model.
Claims (5)
1. a kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism, including trunk (2) and four lower limb (1), four
Lower limb (1) symmetrically are distributed in the quadrangle below trunk (2), and the structure of four lower limb (1) is identical；Its feature exists
In the trunk (2) includes six-degree-of-freedom parallel connection mechanism (40) and four drivings for respectively driving each lower limb (1) movement
Unit (50)；Two driving units (50) are fixed in one end of the six-degree-of-freedom parallel connection mechanism (40), and the other end is fixed another
Two driving units (50)；
The six-degree-of-freedom parallel connection mechanism (40) includes moving platform arranged in parallel (41) and silent flatform (42), in moving platform
(41) fixed on there are six rod piece motor (411), are connected with six rods between rod piece motor (411) and silent flatform (42)
(43) for connecting moving platform and silent flatform；Six rods (43) can independent telescope and the use that can freely swing around tie point
With coordination simultaneously to realize corresponding actions in three-dimensional space, movenent performance and the flexibility of robot are improved；
The upper end of the lower limb (1) is fixedly connected with the driving unit (50).
2. the four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism as described in claim 1, which is characterized in that described six
(411) two, a rod piece motor are distributed on moving platform (41) for one group by even circumferential, equal by circumference on silent flatform (42)
Even that three groups of rod piece articulation pieces (421) are distributed with, there are two every group of rod piece articulation pieces (421)；
Every group of rod piece motor (411) shifts to install with rod piece articulation piece (421), in rod piece motor (411) and apart from nearest bar
The rod piece (43) are hinged between part articulation piece (421), to pass through six between moving platform (41) and silent flatform (42)
Mobilizable rod piece (43) realizes the multifreedom motion of six-degree-of-freedom parallel connection mechanism (40).
3. the four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism as claimed in claim 2, which is characterized in that the bar
Part (43) and rod piece articulation piece (421) are hinged；Connecting rod (44) are equipped between the rod piece (43) and rod piece motor (411), connecting rod
(44) one end is rotatably connected with rod piece motor (411), and the other end of connecting rod (44) and rod piece (43) pass through flake flexural pivot (45)
Connection；
Under rod piece (43) cooperates in flake flexural pivot (45), spatial movement can be done, connecting rod (44) can do circle around rod piece motor (411)
Zhou Xuanzhuan, under the action of connecting rod (44) and flake flexural pivot (45), the spatial movement of rod piece (43) increases；Wherein flake flexural pivot
(45) space of six degree of freedom platform is substantially increased, movenent performance and the flexibility of complete machine are improved.
4. the four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism as described in claim 1, which is characterized in that the drive
Moving cell (50) includes driving motor (51), and driving motor (51) lower end is fixedly connected with the upper end of the lower limb (1)；Driving motor
(51) one end is fixed on the outside of moving platform (41) or silent flatform (42), and the other end of driving motor (51) is fixed with vertical drive
Dynamic motor fixing plate (52), lateral driving motor support plate (53) is connected in driving motor fixed plate (52) lower end, is driven
Motor support plate (53) is located at below driving motor (51), and the end vertical of driving motor support plate (53) connects silent flatform
(42) or the outside of moving platform (41)；The driving motor fixed plate (52) and driving motor support plate (53) are T-shaped knot
Structure.
5. the four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism as described in claim 1, which is characterized in that under described
Limb (1) includes thigh (60), shank (70) and foot (80)；The upper end of thigh (60) is fixedly connected with the driving unit (50),
Thigh (60) lower end is rotatably connected with shank (70) upper end, and shank (70) lower end connects foot (80)；The thigh (60) with
Axis connection is used between shank (70)；The bottom of the foot (80) is spherical structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820883102.6U CN208484760U (en) | 2018-06-07 | 2018-06-07 | A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism |
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| CN201820883102.6U CN208484760U (en) | 2018-06-07 | 2018-06-07 | A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639182A (en) * | 2018-06-07 | 2018-10-12 | 长安大学 | A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism |
| CN110497979A (en) * | 2019-08-19 | 2019-11-26 | 长安大学 | A kind of list driving force can adaptive landform multiple degrees of freedom foot device |
| CN113146538A (en) * | 2021-04-26 | 2021-07-23 | 燕山大学 | Movable platform capable of realizing six-degree-of-freedom posture adjustment |
-
2018
- 2018-06-07 CN CN201820883102.6U patent/CN208484760U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639182A (en) * | 2018-06-07 | 2018-10-12 | 长安大学 | A kind of four-leg bionic robot based on six-degree-of-freedom parallel connection mechanism |
| CN110497979A (en) * | 2019-08-19 | 2019-11-26 | 长安大学 | A kind of list driving force can adaptive landform multiple degrees of freedom foot device |
| CN113146538A (en) * | 2021-04-26 | 2021-07-23 | 燕山大学 | Movable platform capable of realizing six-degree-of-freedom posture adjustment |
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