CN212149086U - Cam linkage type four-foot walking machine - Google Patents
Cam linkage type four-foot walking machine Download PDFInfo
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- CN212149086U CN212149086U CN202020536293.6U CN202020536293U CN212149086U CN 212149086 U CN212149086 U CN 212149086U CN 202020536293 U CN202020536293 U CN 202020536293U CN 212149086 U CN212149086 U CN 212149086U
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Abstract
The utility model provides a cam coordinated type four-footed walking machine adopts single drive power to realize thigh translation and shank wobbling motion decoupling zero through two way cam mechanism. The cam mechanism of the thigh part realizes leg translation movement, and the cam mechanism of the shank part realizes leg lifting movement. The four thigh cams have certain corner phase difference to meet the phase change requirement of four-foot alternation. When one leg is in the leg lifting phase, the upper cam oscillating bar mechanism drives the lower leg to swing to complete the leg lifting movement; when one leg is in the landing phase, the upper cam swing rod mechanism is in the resting period, so that the lower leg is kept upright. And a gait cycle is completed along with the sequential lifting of the four legs. This walking machine both can guarantee the walking motion law of every leg, can realize again that each is instantaneous to all have the tripodia to support among the walking process, has the high characteristics of stability, and this walking machine only needs a driver, and control is simple, and the transmission is exquisite, does benefit to overall structure's lightweight and miniaturization.
Description
Technical Field
The utility model belongs to bionical four-footed robot field, concretely relates to cam coordinated type four-footed walking machine.
Background
The walking machine is contacted with the ground through discrete points in the moving process, each supporting leg can realize discontinuous ground support, the walking machine is good in flexibility, has strong obstacle-crossing capability and terrain adaptability, and has wide application prospect in material transportation in complex terrain environments such as military activities, disaster relief and the like. At present, driving layouts and design forms of the four-foot walking machine are various, but the four-foot walking machine is driven by more than two independent driving units, the overall quality and control are complex, and the reliability is low. Therefore, the utility model provides an adopt single power input's four-footed walking mechanism has avoided because of the big quality and the low reliability problem that too much drive unit introduced, through mechanical innovation design, provides one kind simultaneously and has used cam mechanism as the mechanical transmission of core, has realized the decoupling zero of shank horizontal motion and vertical motion and the gait coordinated movement of four-footed.
SUMMERY OF THE UTILITY MODEL
The utility model provides a cam coordinated type four-footed walking machine adopts single drive power to realize thigh translation and shank wobbling motion decoupling zero through two way cam mechanism, both can guarantee the walking motion law of every leg, can satisfy the alternating phase change requirement of four-footed again to each of guaranteeing four-footed moving mechanism walking process is instantaneous all has the tripodia to support. The walking machine only needs one driver, is simple to control, has exquisite transmission, is beneficial to the light weight and miniaturization of the whole structure, can carry image acquisition equipment, and realizes disaster relief detection in a narrow space; because the material and the manufacturing cost are low, the material has good application prospect in toy development.
The utility model discloses a realize through following method:
the cam linkage type four-foot walking machine consists of four legs, a transmission system and a workbench, and all the parts are arranged on the workbench through a bracket. The motion and power of the motor is transmitted to the shafts through a gear train. Thigh cams of the two front legs are arranged on the front transverse shaft, and thigh cams of the two rear legs are arranged on the rear transverse shaft; when the thigh cams rotate and drive the leg push rods to move respectively, the thigh parts fixedly connected to the push rods move synchronously along the push rods, and therefore translation of the thigh parts along thigh shafts is achieved. The four shank cams are respectively arranged on the lower transverse shafts, and when the shank cams rotate and respectively drive the shank parts to swing around shank mandrels, the shank lifting motion is realized. Each shank support is fixedly connected to each thigh part respectively, and translation of each shank part along with each thigh part is realized. When the four thigh cams are installed, a certain corner phase difference is kept between the cams, so that when one leg translates forwards relative to the workbench, the other three legs translate backwards relative to the workbench, meanwhile, the lower leg part on the leg translates forwards relatively, the lower leg part on each leg translates backwards relatively keeps upright, and a gait cycle is completed along with sequential leg lifting of the four legs.
The technical effects are as follows:
1. the utility model discloses a four-footed walking machine transmission has realized thigh translation and shank wobbling motion decoupling zero through two way cam mechanism with single power input, both can guarantee the walking motion law of every leg, can satisfy the four-footed phase change in turn again to guarantee four-footed moving mechanism's walking.
2. The utility model discloses contained thigh axle construction, made the roller gear on each leg can rotate along with the thigh axle respectively and can remove along the thigh axle along with the thigh axle respectively again.
3. The utility model discloses four thigh cams and four shank cams have been contained, have realized lifting the leg phase and have fallen to the ground in turn the gait cycle.
4. The utility model discloses with simple form, reasonable overall arrangement has realized the research of four-footed walking machine under the single power input, has improved the device's reliability and application scope.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is an overall structure diagram of the cam linkage type four-foot walking machine of the utility model.
Fig. 2 is a structural diagram of the main transmission system of the middle cam linkage type four-foot walking machine.
Fig. 3 is a structural view of the left front leg of the cam linkage type four-legged walking machine of the utility model.
Figure 4 is a structural diagram of the right front leg of the cam linkage type four-foot walking machine.
Figure 5 is a left rear leg structure diagram of the middle cam linkage type four-foot walking machine.
Figure 6 is a right rear leg structure diagram of the middle cam linkage type four-foot walking machine.
In the figure: left front leg-1, right front leg-2, left back leg-3, right back leg-4, transmission system-5, working table-6, thigh cam-11, 21, 31, 41, top bar-12, 22, 32, 42, thigh-13, 23, 33, 43, calf cam-14, 24, 34, 44, calf-15, 25, 35, 45, compression spring-16, 26, 36, 46, upper bevel gear-171, 172, 272, 371, 372, 471, 472, cylindrical gear-181, 182, 281, 282, 381, 382, 481, 482, lower bevel gear-191, 192, 291, 292, 391, 392, 491, 492, thigh shaft-111, 211, 311, 411, lower longitudinal shaft-112, 212, 312, 412, lower transverse shaft-113, 213, 313, 413, mandrel-114, 214, 314, 414, top bar guide support-115, 215, 315, 415, 1161, 1162, 21661, 2162, 21661, 2162, 3162. 4161, 4162, shank supports-117, 217, 317, 417, motor-51, main bevel gears-521, 522, main shaft-53, front split bevel gears-541, 542, rear split bevel gears-551, 552, front cross shaft-56, rear cross shaft-57, motor support-58, main shaft supports-591, 592.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings by way of examples.
Fig. 1 shows a cam linkage type four-legged walking machine, which mainly comprises a left front leg 1, a right front leg 2, a left rear leg 3, a right rear leg 4, a transmission system 5 and a workbench 6. As shown in fig. 2 to 6, each part is mounted on the table 6 by a motor bracket 58, spindle brackets 591 and 592, and thigh shaft brackets 1161, 1162, 2161, 2162, 3161, 3162, 4161 and 4162.
As shown in fig. 2, the motion and power of the motor 51 are transmitted to the main shaft 53 through the main bevel gears 521 and 522, and then transmitted to the front horizontal shaft 56 and the rear horizontal shaft 57 through the front branch bevel gears 541 and 542 and the rear branch bevel gears 551 and 552 with the transmission ratio of 1, the front horizontal shaft 56 drives the thigh cams 11 and 21 of the two front legs to rotate, and the rear horizontal shaft 57 drives the thigh cams 31 and 41 of the two rear legs to rotate.
As shown in fig. 3 to 6, the motion transmission routes from the thigh to the calf of each leg are:
left front leg 1: front transverse shaft 56 → upper bevel gear 171 → upper bevel gear 172 → thigh shaft 111 → cylindrical gear 181 → cylindrical gear 182 → lower longitudinal shaft 112 → lower bevel gear 191 → lower bevel gear 192 → lower transverse shaft 113 → calf cam 14;
right front leg 2: front transverse shaft 56 → upper bevel gear 271 → upper bevel gear 272 → thigh shaft 211 → cylindrical gear 281 → cylindrical gear 282 → lower longitudinal shaft 212 → lower bevel gear 291 → lower bevel gear 292 → lower transverse shaft 213 → lower lobe 24;
left rear leg 3: the rear transverse shaft 57 → the upper bevel gear 371 → the upper bevel gear 372 → the thigh shaft 311 → the cylindrical gear 381 → the cylindrical gear 382 → the lower longitudinal shaft 312 → the lower bevel gear 391 → the lower bevel gear 392 → the lower transverse shaft 313 → the shank cam 34;
right rear leg 4: rear transverse shaft 57 → upper bevel gear 471 → upper bevel gear 472 → thigh shaft 411 → cylindrical gear 481 → cylindrical gear 482 → lower longitudinal shaft 412 → lower bevel gear 491 → lower bevel gear 492 → lower transverse shaft 413 → calf cam 44.
When the thigh cams 11, 21, 31, 41 rotate and drive the leg push rods 12, 22, 32, 42 to move along the push rod guide brackets 115, 215, 315, 415, the thigh parts 13, 23, 33, 43 fixed on the push rods 12, 22, 32, 42 move synchronously with the corresponding push rods, so as to realize the translation of the thigh parts 13, 23, 33, 43 along the thigh shafts 111, 211, 311, 411.
When the lower leg cams 14, 24, 34, 44 rotate and respectively drive the lower leg parts 15, 25, 35, 45 to swing around the lower leg mandrels 114, 214, 314, 414, the leg lifting movement of the lower legs is realized.
Each lower leg support 117, 217, 317, 417 is secured to each thigh section 13, 23, 33, 43, respectively, enabling translation of each lower leg section 15, 25, 35, 45 with each thigh section 13, 23, 33, 43.
The cylindrical gears 181, 281, 381, 481 are respectively mounted on the thigh shafts 111, 211, 311, 411, and the cylindrical gears 181, 281, 381, 481 on the respective legs can rotate together with the thigh shafts 111, 211, 311, 411 respectively and can move along the thigh shafts 111, 211, 311, 411 together with the thigh portions 13, 23, 33, 43 respectively.
According to the gait requirement, the four thigh cams 11, 21, 31 and 41 are installed to keep a certain rotation angle phase difference between the cams so as to complete the gait cycle of sequentially alternating leg lifting phase and landing phase.
The lower legs of the leg lifting phase swing, and the lower legs of the leg landing phase stand, namely: when each thigh cam 11, 21, 31, 41 rotates to make each thigh part 13, 23, 33, 43 move forward (namely, in a leg lifting phase) relative to the workbench 6, the corresponding shank cam 14, 24, 34, 44 completes the pushing stroke and the return stroke, and the corresponding shank 15, 25, 35, 45 swings; when the thigh cams 11, 21, 31, 41 rotate to move the thigh portions 13, 23, 33, 43 backward relative to the table 6 (i.e., in a landing phase), the corresponding lower leg cams 14, 24, 34, 44 are in close rest, and the corresponding lower leg portions 15, 25, 35, 45 are erected.
In this example, the cam and follower maintain high secondary contact in the following ways: the thigh cam mechanism adopts a shape sealing mode, namely, the thigh cam adopts an end cam to keep high-pair contact; the lower leg cam mechanism adopts a force closing mode, namely, each lower leg cam mechanism respectively adopts a pressing spring 16, 26, 36 and 46 to keep high-pair contact.
By adjusting the proportional relation between the push angle and the return angle of the thigh cams 11, 21, 31 and 41, the three-foot gait and the two-foot gait can be respectively realized, namely when the proportion between the push angle and the return angle of the thigh cams 11 and 21 of the left and right front legs is 1:3 and the proportion between the push angle and the return angle of the thigh cams 31 and 41 of the left and right rear legs is 3:1, the three-foot gait can be realized; when the ratio of the push angle to the return angle of each thigh cam 11, 21, 31, 41 is 1:1, a bipedal gait can be achieved.
In summary, the above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a cam coordinated type four-footed walking machine, includes left front leg (1), right front leg (2), left back leg (3), right back leg (4), transmission system (5) and workstation (6), and each part is fixed in on the workstation through the support, characterized by: the motion and power of the motor (51) are transmitted to the shafts through a gear train; thigh cams (11, 21) of two front legs are arranged on a front transverse shaft (56), thigh cams (31, 41) of two rear legs are arranged on a rear transverse shaft (57), and when the thigh cams (11, 21, 31, 41) rotate and drive leg push rods (12, 22, 32, 42) to move respectively, thigh parts (13, 23, 33, 43) fixedly connected to the push rods (12, 22, 32, 42) move synchronously with the thigh parts, so that translation of the thigh parts (13, 23, 33, 43) along the thigh shafts (111, 211, 311, 411) is realized; the four lower leg cams (14, 24, 34, 44) are respectively arranged on the lower transverse shafts (113, 213, 313, 413), and when the lower leg cams (14, 24, 34, 44) rotate and respectively drive the lower leg parts (15, 25, 35, 45) to swing around the lower leg mandrels (114, 214, 314, 414), the leg lifting movement of the lower legs is realized; each lower leg support (117, 217, 317, 417) is fixedly connected to each thigh part (13, 23, 33, 43) respectively, so that each lower leg part (15, 25, 35, 45) can translate along with each thigh part (13, 23, 33, 43); when the four thigh cams (11, 21, 31 and 41) are installed, a certain corner phase difference is kept among the cams, so that when one leg translates forwards relative to the workbench (6), the other three legs translate backwards relative to the workbench (6), the lower leg parts on the legs translate forwards relatively to swing, the lower leg parts on the legs translate backwards relatively to keep upright, and a gait cycle is completed along with sequential leg lifting of the four legs.
2. The cam-linked four-footed walker according to claim 1 wherein: the motion and power of the motor (51) are transmitted to the main shaft (53) through the main bevel gears (521, 522), and then transmitted to the front transverse shaft (56) and the rear transverse shaft (57) through the front shunt bevel gears (541, 542) and the rear shunt bevel gears (551, 552) with the transmission ratio of 1, the front transverse shaft (56) drives the thigh cams (11, 21) of the two front legs to rotate, and the rear transverse shaft (57) drives the thigh cams (31, 41) of the two rear legs to rotate.
3. The cam-linked four-footed walker according to claim 1 wherein: the motion transmission route from the thigh to the lower leg of each leg is that the motion of the front transverse shaft (56) or the rear transverse shaft (57) is respectively transmitted to each thigh shaft (111, 211, 311, 411) by the upper bevel gear (171, 172, 271, 272, 371, 372, 471, 472) of each leg, then is respectively transmitted to each lower longitudinal shaft (112, 212, 312, 412) by the cylindrical gear (181, 182, 281, 282, 381, 382, 481, 482), finally is respectively transmitted to the lower transverse shaft (113, 213, 313, 413) of each leg by the lower bevel gear (191, 192, 291, 292, 391, 392, 491, 492), and each lower transverse shaft (113, 213, 313, 413) respectively drives each lower leg cam (14, 24, 34, 44) to rotate.
4. The cam-linked four-footed walker according to claim 1 wherein: the cylindrical gears (181, 281, 381, 481) are respectively arranged on the thigh shafts (111, 211, 311, 411), and the cylindrical gears (181, 281, 381, 481) on the legs can rotate along with the thigh shafts (111, 211, 311, 411) respectively and can move along the thigh shafts (111, 211, 311, 411) along with the thigh parts (13, 23, 33, 43) respectively.
5. The cam-linked four-footed walker according to claim 1 wherein: according to the gait requirement, the four thigh cams (11, 21, 31, 41) keep a certain rotation angle phase difference when being installed, and complete the gait cycle of the successive alternation of the leg lifting phase and the landing phase.
6. The cam-linked four-footed walker according to claim 1 wherein: the lower legs of the leg-lifting phase swing, and the lower legs of the leg-landing phase stand upright.
7. The cam-linked four-footed walker according to claim 1 wherein: when each thigh cam (11, 21, 31, 41) rotates to enable each thigh part (13, 23, 33, 43) to move forwards relative to the workbench (6), the corresponding shank cam (14, 24, 34, 44) completes the push stroke and the return stroke, and the corresponding shank (15, 25, 35, 45) swings; when each thigh cam (11, 21, 31, 41) rotates to move each thigh portion (13, 23, 33, 43) backward relative to the workbench (6), the corresponding shank cam (14, 24, 34, 44) is in close rest, and erection of the corresponding shank portion (15, 25, 35, 45) is realized.
8. The cam-linked four-footed walking machine of any one of claims 5 to 7 wherein: by adjusting the proportional relation between the push angle and the return angle of the thigh cams (11, 21, 31, 41), a tripodia gait and a biped gait can be realized respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020536293.6U CN212149086U (en) | 2020-04-13 | 2020-04-13 | Cam linkage type four-foot walking machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020536293.6U CN212149086U (en) | 2020-04-13 | 2020-04-13 | Cam linkage type four-foot walking machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114655331A (en) * | 2022-04-22 | 2022-06-24 | 湖北工业大学 | Claw holding type inchworm robot |
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- 2020-04-13 CN CN202020536293.6U patent/CN212149086U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114655331A (en) * | 2022-04-22 | 2022-06-24 | 湖北工业大学 | Claw holding type inchworm robot |
| CN114655331B (en) * | 2022-04-22 | 2023-02-03 | 湖北工业大学 | Claw holding type inchworm robot |
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