CN210101820U - Leg mechanism of four-legged robot - Google Patents
Leg mechanism of four-legged robot Download PDFInfo
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- CN210101820U CN210101820U CN201920759059.7U CN201920759059U CN210101820U CN 210101820 U CN210101820 U CN 210101820U CN 201920759059 U CN201920759059 U CN 201920759059U CN 210101820 U CN210101820 U CN 210101820U
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- connecting rods
- trunk
- driving motors
- clamping plate
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Abstract
The four-legged robot leg mechanism comprises a trunk and legs; the trunk is a rectangular frame; the four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the trunk in pairs; the legs comprise connecting rods A, connecting rods B, connecting rods C, connecting rods D, driving motors A and driving motors B, the driving motors A and the driving motors B are fixedly installed at the side edges of the trunk and are located at the same horizontal height, the connecting rods A, the connecting rods B, the connecting rods C and the connecting rods D are sequentially hinged to form a five-link mechanism, the connecting rods A are connected with shafts of the driving motors A and swing under the driving of the driving motors A to drive the five-link mechanism to deform, and the connecting rods B are connected with shafts of the driving motors B and swing under the driving of the driving motors B to drive the five-link mechanism to deform. The utility model has the advantages that the leg structure is simple relatively, and is reliable and stable, can realize four-footed robot's the motion function such as the gos forward, retreat, turn and the original place falls the head.
Description
Technical Field
The utility model relates to a sufficient robot technical field, especially a four-footed robot leg mechanism.
Background
With the continuous development of the robot technology, the application field of the foot type robot is wider and wider. The legged robot has an incomparable peculiarity with a wheeled robot, which utilizes isolated ground support rather than the continuous ground support required by a wheeled robot. The foot robot can stably walk on uneven ground or avoid obstacles in a non-contact mode.
However, the existing foot type robot has a relatively complex structure and a complicated linkage of a transmission mechanism. Resulting in higher manufacturing cost and greater difficulty in electronic control design.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough of prior art, and provide a four-footed robot leg mechanism, it has solved current sufficient formula robot structure complicacy relatively, drive mechanism links up loaded down with trivial details problem.
The technical scheme of the utility model is that: the four-legged robot leg mechanism comprises a trunk and legs;
the trunk is a rectangular frame;
the four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the trunk in pairs; the legs comprise connecting rods A, connecting rods B, connecting rods C, connecting rods D, driving motors A and driving motors B, the driving motors A and the driving motors B are fixedly installed at the side edges of the trunk and are located at the same horizontal height, the connecting rods A, the connecting rods B, the connecting rods C and the connecting rods D are sequentially hinged to form a five-link mechanism, the connecting rods A are connected with shafts of the driving motors A and swing under the driving of the driving motors A to drive the five-link mechanism to deform, and the connecting rods B are connected with shafts of the driving motors B and swing under the driving of the driving motors B to drive the five-link mechanism to deform.
The utility model discloses still further technical scheme is: the length ratio between the connecting rods A and B and between the connecting rods C and D is 1: 3: 3: 1.
the utility model discloses a further technical scheme is: the hinged part of the connecting rod B and the connecting rod C is connected with a buffer rubber block.
Compared with the prior art, the utility model have following advantage:
1. the leg structure is relatively simple, stable and reliable, each leg comprises a plane five-bar mechanism, the connecting rods A and B in the plane five-bar mechanisms are controlled to rotate respectively through the driving motors A and B, deformation of the plane five-bar mechanisms can be achieved, actions of a single leg such as forward stepping, backward stepping, stepping in place and translation can be achieved, and the movement functions of the four-legged robot such as forward movement, backward movement, turning, falling in place and the like can be achieved through matching and combination of the four legs for different actions.
2. The trunk is provided with a swing mechanism and a clamping plate mechanism, and the swing mechanism can swing within a certain angle to raise or lower the height of the clamping plate mechanism, so that convenience is brought to a user.
3. The clamping plate mechanism is suitable for rapidly clamping and taking plate type objects, the clamping plate mechanism serves as a trigger element through the abutting rod in an opening state, a user uses the object to be clamped to stir the abutting rod to enable the end of the abutting rod to enter the through groove of the first clamping plate, the clamping plate mechanism is immediately folded under the action of the elastic element to become a folding state, the object to be clamped is clamped between the first clamping plate and the second clamping plate, rapid clamping can be achieved, in addition, the clamping plate mechanism is in the folding state, the first clamping plate and the second clamping plate are fixed in an adsorption mode through the matching of the magnet and the iron sheet, certain clamping force is guaranteed, and the object is prevented from being separated.
The invention is further described below with reference to the figures and examples.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of a quadruped robot applied by the present invention;
fig. 3 is a schematic view of the connection relationship among the trunk, the swing mechanism and the clamping plate mechanism of the quadruped robot;
fig. 4 is a schematic structural view of a clamping plate mechanism of a quadruped robot applied by the utility model.
Detailed Description
Example 1:
as shown in fig. 1, the leg mechanism of the four-legged robot includes a trunk 1 and legs.
The trunk 1 is a rectangular frame.
The four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the trunk 1 in pairs; the legs comprise a connecting rod A21, a connecting rod B22, a connecting rod C23, a connecting rod D24, a driving motor A25 and a driving motor B26, the driving motor A25 and the driving motor B26 are fixedly installed at the side edge of the trunk 1 and are located at the same horizontal height, the connecting rod A21, the connecting rod B22, the connecting rod C23 and the connecting rod D24 are sequentially hinged to form a plane five-bar mechanism, the connecting rod A21 is connected with a crankshaft of the driving motor A25 and swings under the driving of the driving motor A25 to drive the plane five-bar mechanism to deform, and the connecting rod B22 is connected with a crankshaft of the driving motor B26 and swings under the driving of the driving motor B26 to drive the plane five-bar mechanism to deform.
Preferably, the trunk 1 is provided with a limiting frame 11 for limiting the maximum rotation angle of the swing frame 36.
Preferably, the length ratio between the link a21 and link B22 to the link C23 and link D24 is 1: 3: 3: 1.
preferably, a buffer rubber block 27 is connected to the hinged part of the connecting rod B22 and the connecting rod C23.
Brief description the gait control method of the utility model: the utility model discloses can realize the gait of advancing and the rotatory gait of original place, the control step is as follows respectively:
advancing gait: 1. controlling the right leg at the front end of the trunk and the left leg at the rear side of the trunk to simultaneously step forwards; 2. and controlling the left leg at the front end of the trunk and the right leg at the rear side of the trunk to simultaneously step forwards, and simultaneously driving the trunk to move forwards by a step distance, thereby completing a cycle of forward gait control.
Rotating gait in situ: 1. controlling the left leg at the front end of the trunk to step backwards, controlling the right leg at the rear end of the trunk to step forwards, and controlling the other two legs to be always in contact with the ground and keep still in the process of stepping by the left leg at the front end and the rear leg at the right end; 2. then controlling the left leg at the front end of the trunk and the right leg at the rear end of the trunk to simultaneously rub and move on the ground so as to return to the state before stepping, thereby applying a rotating couple system to the trunk; the trunk can rotate by controlling the other two legs to alternately do the stepping action of vertical up-and-down movement in situ while the front left leg and the rear right leg move in a friction manner.
Turning under the two gaits can be realized by controlling the step distances of legs on two sides of the trunk to step out to be different, namely differential turning.
As shown in fig. 1-4, a quadruped robot loaded with the present invention further includes a swing mechanism and a clamping plate mechanism.
The swing mechanism is arranged on the trunk 1 and comprises a shaft seat 31, a worm seat 32, a driving motor C33, a rotating shaft 34, a turbine 35, a swing frame 36 and a worm 37; the shaft seat 31, the worm seat 32 and the driving motor C33 are all fixedly arranged on the trunk 1; two ends of the rotating shaft 34 are movably arranged on the shaft seat 31; the turbine 35 and the swing frame 36 are both fixedly arranged on the rotating shaft 34; one end of the worm 37 is movably arranged on the worm seat 32, and the other end is connected with a crankshaft of a driving motor C33 and meshed with the turbine 35. The driving motor C33 is activated to rotate the worm 37, which in turn rotates the worm wheel 35, and the worm wheel 35 drives the rotating shaft 34 and the swing frame 36 to rotate synchronously.
The clamping plate mechanism is fixedly connected to the swing frame 36 and moves in an arc-shaped track on a vertical plane along with the swing of the swing frame 36. The clamping plate mechanism comprises a first clamping plate 41, a second clamping plate 42, an elastic element 43, a resisting rod 44 and a rotating pin 45; the first clamping plate 41 and the second clamping plate 42 are hinged at the rear ends respectively, a through groove 411 for a support rod to pass through is arranged on the first clamping plate 41, a boss 412 for supporting the support rod is arranged on the inner surface of the first clamping plate 41, an iron block 413 is arranged at the front end of the first clamping plate 41, a magnet 421 corresponding to the iron block 413 at the front end of the first clamping plate 41 is arranged at the front end of the second clamping plate 42, the opposite surfaces of the first clamping plate 41 and the second clamping plate 42 are defined as respective inner surfaces, and the opposite surfaces of the first clamping plate 41 and the second clamping plate 42 are defined as respective outer surfaces; the elastic member 43 has one end connected to the inner surface of the first clamping plate 41 and the other end connected to the inner surface of the second clamping plate 42, and the abutting rod 44 is movably connected at one end to the front end of the second clamping plate 42 through a rotating pin 45.
The clamping plate mechanism can be switched between an opening state and a closing state, when the clamping plate mechanism is in the opening state, the first clamping plate 41 and the second clamping plate 42 form an included angle of 50-80 degrees, the end of the abutting rod 44 abuts against a boss 412 on the inner surface of the first clamping plate 41, and the elastic element 43 is in a stretching state; when the clamping plate mechanism is in a closed state, the first clamping plate 41 is attached to the second clamping plate 42, the first clamping plate 41 is fixed with the magnet 421 at the front end of the second clamping plate 42 through the iron block 413 at the front end in a suction manner, and the end of the abutting rod 44 penetrates out of the through groove 411 of the first clamping plate 41.
Preferably, the elastic element 43 is a rubber band.
Claims (3)
1. Leg mechanism of four-footed robot, characterized by: comprises a trunk (1) and legs;
the trunk (1) is a rectangular frame;
the four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the trunk (1) in pairs; the legs comprise connecting rods A (21), B (22), C (23), D (24), A (25) and B (26), the A (25) and B (26) are fixedly installed at the side edge of the trunk (1) and are located at the same horizontal height, the A (21), B (22), C (23) and D (24) are sequentially hinged to form a five-bar mechanism, the A (21) is connected with a crankshaft of the A (25) and swings under the driving of the A (25) to drive the five-bar mechanism to deform, the B (22) is connected with the crankshaft of the B (26) and swings under the driving of the B (26) to drive the five-bar mechanism to deform.
2. The leg mechanism of a quadruped robot as claimed in claim 1, wherein: the length ratio between the link A (21) and the link B (22) and the link C (23) and the link D (24) is 1: 3: 3: 1.
3. the leg mechanism of a quadruped robot as claimed in claim 2, wherein: the hinged part of the connecting rod B (22) and the connecting rod C (23) is connected with a buffer rubber block (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920759059.7U CN210101820U (en) | 2019-05-21 | 2019-05-21 | Leg mechanism of four-legged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920759059.7U CN210101820U (en) | 2019-05-21 | 2019-05-21 | Leg mechanism of four-legged robot |
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| Publication Number | Publication Date |
|---|---|
| CN210101820U true CN210101820U (en) | 2020-02-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920759059.7U Active CN210101820U (en) | 2019-05-21 | 2019-05-21 | Leg mechanism of four-legged robot |
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| CN (1) | CN210101820U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645774A (en) * | 2020-06-03 | 2020-09-11 | 浙江大学 | Rear-sky-turning biped robot |
| CN111924019A (en) * | 2020-07-29 | 2020-11-13 | 北京科技大学 | Eight-degree-of-freedom disc type brushless motor driven quadruped robot |
-
2019
- 2019-05-21 CN CN201920759059.7U patent/CN210101820U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111645774A (en) * | 2020-06-03 | 2020-09-11 | 浙江大学 | Rear-sky-turning biped robot |
| CN111924019A (en) * | 2020-07-29 | 2020-11-13 | 北京科技大学 | Eight-degree-of-freedom disc type brushless motor driven quadruped robot |
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