CN210592218U

CN210592218U - Mechanical foot type walking device

Info

Publication number: CN210592218U
Application number: CN201921553273.3U
Authority: CN
Inventors: 李振兴; 唐茂; 杨洪; 王佳; 吕文青
Original assignee: Suzhou Vocational University
Current assignee: Suzhou Vocational University
Priority date: 2019-09-18
Filing date: 2019-09-18
Publication date: 2020-05-22
Anticipated expiration: 2029-09-18

Abstract

The utility model discloses a walking device of sufficient formula of machinery, including a bottom plate, a drive assembly and a walking subassembly, drive assembly combines the installation with the bottom plate, and walking subassembly combines the installation with the bottom plate, and drive assembly is connected with walking subassembly, and walking subassembly passes through a supporting shaft and the rotatable connection of bottom plate, and drive assembly passes through crank structure and is connected with walking subassembly, and drive assembly drive walking subassembly is being on a parallel with horizontal plane direction and perpendicular to horizontal plane direction motion. The mechanical foot type walking device is stable in structure, can effectively support the robot as a leg structure of the robot, can ensure walking stability and provide better obstacle crossing performance, can be widely adapted to different types of robots, and is wide in application range.

Description

Mechanical foot type walking device

Technical Field

The utility model relates to a relevant technical field of robot, more accurate saying so relates to a walking device of sufficient formula of machinery.

Background

With the continuous development of related technologies of robots, robots are applied more and more widely in various fields. Among various robots, the mobile robot has better application prospect in the fields of scientific exploration, mountain transportation, fire fighting and rescue, geological exploration, military operation and the like due to stronger maneuvering performance. At present, mobile robots mainly comprise foot type, wheel type, crawler type and the like. The wheel-type and crawler-type robots are traditional motion structures, originate from driving structures such as automobiles and the like, the related technology is mature, but the wheel-type and crawler-type motion structures generally have the defect of poor obstacle crossing capability, so that the wheel-type and crawler-type motion structures are difficult to widely adapt to different terrains, and are particularly difficult to adapt to complex and variable terrain environments such as mountainous regions, jungles and the like. Compared with wheeled and tracked robots, the legged robot has the characteristics of larger working space, stronger ground adaptability, greater flexibility and the like, and gradually becomes a research hotspot of the theory and technology of the robot. The foot type robot is mainly divided into a two-foot robot, a four-foot robot, a six-foot robot and the like. The technical key of the bionic foot type robot lies in the simulation of leg and foot movement. The bionic quadruped robot in the prior art mostly takes quadruped mammals as reference objects, and simulates the movement of joints and muscles of quadruped mammals to realize the movement of the robot. The general structure of the bionic quadruped robot is complex, a processor with strong computing capability is needed for controlling and coordinating the activities of a plurality of joints, and complex control programs need to be applied, so that the research and development and manufacturing costs are high, and the popularization and application of the bionic quadruped robot are not facilitated. In the prior art, arthropods such as spiders or reptiles are also used as simulation objects of the bionic robot, but the terrain adaptability and the structural stability are required to be improved. In conclusion, by improving the structure of the foot type walking device, the advancing and obstacle crossing performance of the bionic foot type robot can be effectively improved.

SUMMERY OF THE UTILITY MODEL

In view of this, the main objective of the present invention is to provide a mechanical foot type walking device, which includes a bottom plate, a driving assembly and a walking assembly, the driving assembly is installed in combination with the bottom plate, the walking assembly is installed in combination with the bottom plate, the driving assembly is connected with the walking assembly, the walking assembly is rotatably connected with the bottom plate through a supporting shaft, the driving assembly is connected with the walking assembly through a crank structure, and the driving assembly drives the walking assembly to move in a direction parallel to the horizontal plane and in a direction perpendicular to the horizontal plane.

In order to achieve the above object, the utility model provides a walking device of sufficient formula of machinery, including a bottom plate, a drive assembly and a walking subassembly, the drive assembly is installed the one side of bottom plate, the walking subassembly is installed the bottom plate is kept away from the one side of drive assembly, the walking subassembly passes the bottom plate with the drive assembly connects, the drive assembly drive the walking subassembly is at the motion that is on a parallel with horizontal plane direction and perpendicular to horizontal plane direction.

Preferably, the drive assembly includes a motor, a motor connecting piece and a shaft coupling, the motor connecting piece with the bottom plate is connected, the motor with the motor connecting piece is connected, the motor is located the motor connecting piece is kept away from the one end of bottom plate, the output shaft of motor passes the motor connecting piece, the shaft coupling sets up the bottom plate with between the motor, the shaft coupling with the coaxial fixed connection of output shaft of motor, just the walking subassembly passes the bottom plate with the coupling joint.

Preferably, the walking assembly comprises a driving shaft, a crank rod, a transmission shaft, a bottom rod, a top rod, a supporting rod, two connecting rods and a supporting shaft assembly, the driving shaft penetrates through the bottom plate, the driving shaft is rotatably connected with the bottom plate, and the driving shaft is fixedly connected with the coupler; the crank rod is positioned at one end of the bottom plate, which is far away from the driving assembly, one end of the crank rod is connected with the driving shaft, and the other end of the crank rod is connected with the transmission shaft; the transmission shaft is parallel to the driving shaft and extends along the direction far away from the driving shaft; the bottom rod is positioned at one end of the crank rod, which is far away from the bottom plate, the middle part of the bottom rod is rotatably connected with the bottom plate through the supporting shaft assembly, and the top rod is positioned at one end of the bottom rod, which is far away from the bottom plate; the transmission shaft penetrates through the bottom rod, is connected with the bottom rod in a slidable manner, and has a sliding direction parallel to the horizontal plane direction relative to the bottom rod; one end of the supporting rod is rotatably connected with the end part of the ejector rod far away from the transmission shaft, the middle of the supporting rod is rotatably connected with the end part of the bottom rod far away from the transmission shaft, the two connecting rods are parallel to the supporting rod, one end of each connecting rod is rotatably connected with the bottom rod, and the other end of each connecting rod is rotatably connected with the ejector rod.

Preferably, the driving shaft is rotatably connected with the bottom plate through a bearing, a pressing plate is arranged on the bottom plate, far away from one end of the driving assembly, surrounding the driving shaft, and the pressing plate is fixedly connected with the bottom plate to fix the bearing.

Preferably, a linear bearing is arranged at the joint of the transmission shaft and the ejector rod and surrounds the transmission shaft, and the linear bearing is fixedly connected with the ejector rod.

Preferably, the supporting shaft assembly comprises a supporting shaft, a bearing support and a deep groove ball bearing, the bearing support is connected with the bottom plate, the deep groove ball bearing is installed in the middle of the bottom rod, one end of the supporting shaft is connected with the bearing support, and the other end of the supporting shaft is connected with the deep groove ball bearing.

Preferably, the support shaft assembly comprises a bearing pressing plate, and the bearing pressing plate is arranged at one end, far away from the bottom plate, of the bottom rod and is fixedly connected with the bottom rod.

Preferably, the crank rod is provided with a round hole and a limit hole, the driving shaft is inserted into the round hole and fixedly connected with the crank rod, and the transmission shaft is inserted into the limit hole and connected with the crank rod.

Preferably, the middle part of the bottom rod is provided with a middle hole, one end of the bottom rod is provided with a long strip-shaped waist hole, the other end of the bottom rod is provided with a bottom rod groove, the middle hole is connected with the supporting shaft assembly, and the transmission shaft is inserted into the waist hole.

Preferably, one end of the ejector rod is provided with an ejector hole, the other end of the ejector rod is provided with an ejector rod groove, and the transmission shaft is inserted into the ejector hole.

Compared with the prior art, the utility model discloses a walking device of sufficient formula of machinery's advantage lies in: the mechanical foot type walking device is stable in structure, can effectively support the robot as a leg structure of the robot, can ensure the walking stability and provides better obstacle crossing performance; the mechanical foot type walking device can be widely adapted to different types of robots and has a wide application range.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a mechanical foot type walking device according to the present invention.

Fig. 2 is a schematic structural view of a crank rod of a mechanical foot type walking device according to the present invention.

Fig. 3 is a schematic structural view of a bottom bar of a mechanical foot type walking device according to the present invention.

Fig. 4 is a schematic structural diagram of a push rod of a mechanical foot type walking device according to the present invention.

Fig. 5 is a schematic structural view of a supporting rod of a mechanical foot type walking device according to the present invention.

Fig. 6 is a diagram showing the movement trace of the walking unit on the horizontal plane of the mechanical foot type walking device of the present invention.

Fig. 7 is a diagram showing the movement trace of the walking unit of the mechanical foot type walking device of the present invention on the horizontal plane.

Detailed Description

As shown in fig. 1, a mechanical foot type walking device of the present invention includes a base plate 10, a driving assembly 20 and a walking assembly 30. The driving assembly 20 is installed in combination with the base plate 10, the walking assembly 30 is installed in combination with the base plate 10, the driving assembly 20 is connected with the walking assembly 30, and the driving assembly 20 drives the walking assembly 30 to move in a direction parallel to the horizontal plane and in a direction perpendicular to the horizontal plane. Specifically, the driving assembly 20 is installed on one side of the base plate 10, the walking assembly 30 is installed on one side of the base plate 10 far away from the driving assembly 20, and the walking assembly 30 passes through the base plate 10 and is connected with the driving assembly 20. The mechanical foot type walking device can be combined with a robot through the bottom plate 10 to form a walking device of the robot.

The driving assembly 20 includes a motor 21, a motor connector 22 and a coupling 23. The motor connecting piece 22 is an L-shaped piece, and the motor connecting piece 22 is connected with the bottom plate 10. The motor 21 is connected with the motor connecting piece 22, the motor 21 is located at one end of the motor connecting piece 22 far away from the bottom plate 10, and an output shaft of the motor 21 penetrates through the motor connecting piece 22. The coupler 23 is arranged between the base plate 10 and the motor 21, the coupler 23 is coaxially and fixedly connected with an output shaft of the motor 21, the walking assembly 30 penetrates through the base plate 10 and the coupler 23, and the motor 21 drives the walking assembly 30 to move through the coupler 23.

The walking assembly 30 includes a driving shaft 31, a crank lever 32, a transmission shaft 33, a bottom lever 34, a top lever 35, a support lever 36, two connecting rods 37 and a support shaft assembly 38. The driving shaft 31 vertically penetrates through the bottom plate 10, the driving shaft 31 is rotatably connected with the bottom plate 10 through a bearing, the driving shaft 31 penetrates through the bottom plate 10 and faces towards one end of the driving assembly 20 and is fixedly connected with the coupler 23, the driving shaft 31 is coaxial with an output shaft of the motor 21, and the motor 21 drives the driving shaft 31 to rotate through the coupler 23. Specifically, a pressing plate 311 is disposed on one end of the bottom plate 10, which is far away from the driving assembly 20, and surrounds the driving shaft 31, and the pressing plate 311 is fixedly connected with the bottom plate 10 to fix the bearing. The crank rod 32 is located at one end of the base plate 10 far away from the driving assembly 20, one end of the crank rod 32 is connected with the driving shaft 31, and the other end of the crank rod 32 is connected with the transmission shaft 33. The transmission shaft 33 is parallel to the driving shaft 31, and the transmission shaft 33 extends in a direction away from the driving shaft 31. The bottom bar 34 is located at one end of the crank lever 33 far away from the bottom plate 10, and the middle part of the bottom bar 34 is rotatably connected with the bottom plate 10 through the support shaft assembly 38. The transmission shaft 33 passes through the bottom rod 34, the transmission shaft 33 is slidably connected with the bottom rod 34, and the sliding direction of the transmission shaft 33 relative to the bottom rod 34 is parallel to the horizontal plane. The top rod 35 is located at one end of the bottom rod 34 far away from the bottom plate 10, and the length of the top rod 35 is smaller than that of the bottom rod 34. The transmission shaft 33 penetrates through the top rod 35, the transmission shaft 33 is slidably connected with the top rod 35, and the sliding direction of the transmission shaft 33 relative to the top rod 35 is a direction perpendicular to the horizontal plane. Specifically, a linear bearing 331 is disposed around the transmission shaft 33 at a connection position of the transmission shaft 33 and the ejector rod 35, the linear bearing 331 is fixedly connected with the ejector rod 35, and the transmission shaft 33 can reciprocate linearly relative to the linear bearing 331. One end of the support rod 36 is rotatably connected with the end of the top rod 35 far away from the transmission shaft 33, the middle of the support rod 36 is rotatably connected with the end of the bottom rod 34 far away from the transmission shaft 33, and the other end of the support rod 36 is in contact with the ground. Two the connecting rod 37 all with the bracing piece 36 is parallel, just the equal one end of connecting rod 37 with the rotatable connection of sill bar 34, the connecting rod 37 other end with ejector pin 35 rotatable connection.

Specifically, the support shaft assembly 38 includes a support shaft 381, a bearing support 382 and a deep groove ball bearing 383, the bearing support 382 with the bottom plate 10 is connected, the deep groove ball bearing 383 is installed in the middle of the bottom rod 34, one end of the support shaft 381 is connected with the bearing support 382, the other end is connected with the deep groove ball bearing 383, the support shaft 381 is fixed by a bearing plate 3831 with the one end that the deep groove ball bearing 383 is connected, the bearing plate 3831 is arranged the bottom rod 34 is kept away from the one end of the bottom plate 10 with the bottom rod 34 fixed connection.

Further, as shown in fig. 2, the crank lever 32 has a circular hole 321 and a limiting hole 322, the driving shaft 31 is inserted into the circular hole 321 to be fixedly connected with the crank lever 32, and the transmission shaft 33 is inserted into the limiting hole 322 to be connected with the crank lever 32.

As shown in fig. 3, the bottom bar 34 has a central hole 341 in the middle, an elongated waist hole 342 at one end of the bottom bar 34 and a bottom bar groove 343 at the other end, two link holes 344 at the side of the waist hole 342, and two support holes 345 at both sides of the bottom bar groove 343. The deep groove ball bearing 383 is installed in the middle hole 341, the transmission shaft 33 is inserted into the waist hole 342, and the transmission shaft 33 can slide along the waist hole 342. The connecting rod hole 344 is connected to the connecting rod 37 by a bolt, and the support hole 345 is connected to the support rod 36 by a cylindrical pin.

As shown in fig. 4, the stem 35 has a top hole 351 at one end and a stem groove 352 at the other end, two link holes 354 are formed at the side of the top hole 351, and two support holes 353 are formed at both sides of the stem groove 352. The linear bearing 331 is installed in the top hole 351, the connecting rod hole 354 is connected to the connecting rod 37 by a bolt, and the support hole 353 is connected to the support rod 36 by a cylindrical pin.

As shown in fig. 5, the supporting rod 36 has a contact end 363 at one end, two coaxial first holes 361 at the other end, and two coaxial second holes 362 at the middle part. The contact end 363 is in contact with the ground, the first hole 361 is connected to the support hole 353 through a cylindrical pin, and the second hole 362 is connected to the support hole 345 through a cylindrical pin.

The bottom rod 34, the top rod 35, the support rod 36 and the two connecting rods 37 are connected to form a quadrilateral structure, and the position relationship is changed under the driving of the transmission shaft 33, so that the support rod 36 is controlled and driven to move in the directions parallel to the horizontal plane and perpendicular to the horizontal plane.

Specifically, as shown in fig. 6 and 7, in terms of the movement sequence, the circular locus centered on G is the movement locus of the crank lever 32, and A, B, C, D is four bisectors on the movement locus circle of the crank lever 32. When the crank lever 32 moves around the point G at the point H, the bottom lever 34 rotates around the point K as a center in an arc track, and drives the support lever 36 to move in the horizontal plane. When the crank lever 32 moves clockwise from point a around point G, the bottom lever 34 is not displaced in the vertical direction, and the top lever 35 moves the support lever 36 along the FNH arc, so that the support lever 36 moves in the direction perpendicular to the horizontal plane.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The mechanical foot type walking device is characterized by comprising a bottom plate, a driving assembly and a walking assembly, wherein the driving assembly is installed on one surface of the bottom plate, the walking assembly is installed on one surface, far away from the driving assembly, of the bottom plate, the walking assembly penetrates through the bottom plate and is connected with the driving assembly, and the driving assembly drives the walking assembly to move in the direction parallel to the horizontal plane and in the direction perpendicular to the horizontal plane.

2. The mechanical foot-type walking device according to claim 1, wherein said driving assembly comprises a motor, a motor connecting member and a coupling, said motor connecting member is connected to said base plate, said motor is connected to said motor connecting member, said motor is located at an end of said motor connecting member away from said base plate, an output shaft of said motor passes through said motor connecting member, said coupling is disposed between said base plate and said motor, said coupling is coaxially and fixedly connected to an output shaft of said motor, and said walking assembly passes through said base plate and is connected to said coupling.

3. The robotic foot-type walker of claim 2 wherein the walker assembly comprises a drive shaft, a crank rod, a drive shaft, a bottom rod, a top rod, a support rod, two links and a support shaft assembly, the drive shaft passing through the bottom plate, the drive shaft rotatably connected to the bottom plate, the drive shaft fixedly connected to the coupler; the crank rod is positioned at one end of the bottom plate, which is far away from the driving assembly, one end of the crank rod is connected with the driving shaft, and the other end of the crank rod is connected with the transmission shaft; the transmission shaft is parallel to the driving shaft and extends along the direction far away from the driving shaft; the bottom rod is positioned at one end of the crank rod, which is far away from the bottom plate, the middle part of the bottom rod is rotatably connected with the bottom plate through the supporting shaft assembly, and the top rod is positioned at one end of the bottom rod, which is far away from the bottom plate; the transmission shaft penetrates through the bottom rod, is connected with the bottom rod in a slidable manner, and has a sliding direction parallel to the horizontal plane direction relative to the bottom rod; one end of the supporting rod is rotatably connected with the end part of the ejector rod far away from the transmission shaft, the middle of the supporting rod is rotatably connected with the end part of the bottom rod far away from the transmission shaft, the two connecting rods are parallel to the supporting rod, one end of each connecting rod is rotatably connected with the bottom rod, and the other end of each connecting rod is rotatably connected with the ejector rod.

4. The mechanical foot-type walking device according to claim 3, wherein said driving shaft is rotatably connected to said base plate through a bearing, a pressing plate is disposed on one end of said base plate away from said driving assembly around said driving shaft, and said pressing plate is fixedly connected to said base plate to fix said bearing.

5. The mechanical foot-type walking device according to claim 3, wherein a linear bearing is arranged around the transmission shaft at the joint of the transmission shaft and the top rod, and the linear bearing is fixedly connected with the top rod.

6. The robotic foot-type walking device of claim 3, wherein said support shaft assembly comprises a support shaft, a bearing support and a deep groove ball bearing, said bearing support is connected to said bottom plate, said deep groove ball bearing is mounted in the middle of said bottom bar, one end of said support shaft is connected to said bearing support, and the other end is connected to said deep groove ball bearing.

7. The robotic foot-style walking device according to claim 6, wherein said support shaft assembly comprises a bearing plate, said bearing plate being disposed at an end of said bottom bar remote from said base plate and fixedly connected to said bottom bar.

8. The mechanical foot type walking device according to claim 3, wherein said crank rod has a circular hole and a limit hole, said driving shaft is inserted into said circular hole and fixedly connected with said crank rod, and said driving shaft is inserted into said limit hole and connected with said crank rod.

9. The robotic foot-type walking device according to claim 3, wherein said bottom bar has a central hole in the middle, said bottom bar has an elongated waist hole at one end and a bottom bar slot at the other end, said central hole is connected to said support shaft assembly, and said transmission shaft is inserted into said waist hole.

10. The robotic foot walker according to claim 3 wherein the top bar has a top hole at one end and a top bar groove at the other end, the top hole having the drive shaft inserted therein.