CN219857422U

CN219857422U - Bionic robot running mechanism

Info

Publication number: CN219857422U
Application number: CN202320624393.8U
Authority: CN
Inventors: 张清杨
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-03-27
Filing date: 2023-03-27
Publication date: 2023-10-20
Anticipated expiration: 2033-03-27

Abstract

The utility model provides a walking mechanism of a bionic robot, which relates to the technical field of bionic robots. According to the utility model, through the front leg assembly and the steering mechanism, the toothed bar can be driven to swing left and right at one end of the frame through the steering gear, so that the front support bar at one end of the toothed bar is pushed by the transverse shaft, the first connecting rod driving the front support bar to move is connected with the driving bar and the first inserting shaft through the spherical joint shaft, and the front support bar can be kept in a laterally-offset walking state, so that the connecting rod type walking mechanism has a steering function, and the production cost of the steerable bionic robot walking mechanism is greatly reduced by matching with the connecting rod type mechanism adopted by the main body.

Description

Bionic robot running mechanism

Technical Field

The utility model relates to the technical field of bionic robots, in particular to a walking mechanism of a bionic robot.

Background

The bionic robot is a robot simulating biology and working with biological characteristics, and the running mechanism is an important executive component of the running robot. The development of the bionic robot can make up for serious shortages of young labor force, solve the social problems of household service, medical treatment and the like of the aging society, open up new industry, create new employment opportunities and have wide development prospect.

For example, chinese patent number is: CN 217170854U's "a bionic robot running gear", including the running gear body, the activity is provided with rocker and landing leg on the running gear body, the activity is provided with the supporting legs on the landing leg, the supporting legs include movable mounting in just be the thimble that rectangular array distributes on the landing leg, the thimble is pressed the shrink in order to laminate ground.

In the prior art, a connecting rod type travelling mechanism is adopted, and a travelling mechanism with one power source is arranged relative to each mechanical joint, so that the production cost of the robot can be reduced, the connecting rod type travelling mechanism can be widely applied to a robot structure for executing simple tasks, but in the prior art, the steering operation of the multi-power source travelling mechanism is difficult to realize, so that the flexibility is greatly reduced, and therefore, the connecting rod type bionic robot travelling mechanism capable of flexibly steering is provided.

Disclosure of Invention

The utility model aims to solve the problem that the flexibility of a connecting rod type walking mechanism is greatly reduced because the steering operation of the walking mechanism with multiple power sources is difficult to realize in the prior art.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: the bionic robot walking mechanism comprises a frame, a walking servo motor, a rear shaft and a front shaft, wherein a steering mechanism is movably installed at one end of the frame, the steering mechanism comprises a steering motor, a steering gear installed at the output end of the steering motor, a toothed bar and a transverse shaft fixedly inserted at the axis of the toothed bar, two ends of the transverse shaft are movably inserted with two sides of one end of the frame respectively, and two ends of the transverse shaft are sleeved with reset springs;

the front leg assembly comprises a front rotary table, a first inserting shaft, a first connecting rod, a second inserting shaft, a front supporting rod and a third connecting rod, wherein the front rotary table is fixedly installed with the front rotary table, the first inserting shaft is fixedly inserted with the front rotary table, the first inserting shaft and one end of the second inserting shaft are respectively provided with a first spherical joint shaft and a second spherical joint shaft, the first spherical joint shaft is movably installed with one end of the first connecting rod, the second spherical joint shaft is movably installed with the center of the first connecting rod, the first connecting rod is rotatably installed with the bottom of the front supporting rod, the top end of the first connecting rod is rotatably installed with one end of the third connecting rod, the other end of the third connecting rod is rotatably installed with the transverse shaft, a reset spring is positioned between the third connecting rod and the frame, the other end of the second inserting shaft is rotatably installed with one end of the second connecting rod, and the other end of the second connecting rod is rotatably installed with the outer side of the frame.

Preferably, the rear shaft and the front shaft are respectively movably inserted into two ends of the frame, and the rear gear and the front gear are respectively and fixedly arranged on the rear shaft and the front shaft.

Preferably, the walking servo motor is fixedly arranged in the frame, the output end of the walking servo motor is provided with a driving gear, the rear gear and the front gear are respectively positioned on two sides of the driving gear, and the rear gear and the front gear are meshed with the driving gear.

Preferably, the rear leg assemblies are arranged at two ends of the rear shaft, each rear leg assembly comprises a rear rotary disc, and the axle center of the rear rotary disc is fixedly arranged at one end of the rear shaft.

Preferably, a fourth connecting rod is rotatably arranged on the rear shaft, a fifth connecting rod is rotatably arranged at the center of the fourth connecting rod, the fifth connecting rod is rotatably arranged with the frame, and a rear supporting rod is rotatably arranged at one end of the fifth connecting rod.

Preferably, the top end of the rear supporting rod is rotatably provided with a sixth connecting rod, and the sixth connecting rod is rotatably arranged with the other end of the frame.

Preferably, the steering gear is engaged with the rack bar.

Compared with the prior art, the utility model has the advantages and positive effects that:

1. according to the utility model, through the front leg assembly and the steering mechanism, the toothed bar can be driven to swing left and right at one end of the frame through the steering gear, so that the front support bar at one end of the frame is pushed by the transverse shaft, and the first connecting rod driving the front support bar to move is connected with the driving bar and the first inserting shaft through the spherical joint shaft, so that the front support bar can be kept in a laterally-offset walking state, and the connecting rod type walking mechanism has a steering function.

2. In the utility model, the linear motion and the steering motion of the walking mechanism can be realized by adopting two motors, namely the walking servo motor for walking and the steering motor for steering, and the connecting rod mechanism adopted by the main body is matched, so that the production cost of the steerable bionic robot walking mechanism is greatly reduced, the multi-motor walking mechanism has higher reliability compared with a multi-motor walking mechanism with a joint motor, the debugging work among various drives is reduced, and the aim of light design is fulfilled.

Drawings

Fig. 1 is a perspective view of a walking mechanism of a bionic robot according to the present utility model;

fig. 2 is a perspective view of a steering mechanism of a walking mechanism of a bionic robot according to the present utility model;

fig. 3 is a perspective view of a front leg assembly of a walking mechanism of a bionic robot according to the present utility model;

FIG. 4 is a side view of a walking mechanism of a bionic robot according to the present utility model;

fig. 5 is a schematic diagram of a steering state of a walking mechanism of a bionic robot according to the present utility model.

Legend description:

1. a frame; 2. a walking servo motor; 20. a drive gear; 3. a rear axle; 30. a rear gear; 4. a front axle; 40. a front gear;

5. a rear leg assembly; 50. a rear turntable; 51. a fourth link; 52. a fifth link; 53. a rear strut; 54. a sixth link;

6. a front leg assembly; 60. a front turntable; 61. a first insertion shaft; 62. a first ball-type joint shaft; 63. a first link; 64. a second link; 65. a second insertion shaft; 66. a second ball-type joint shaft; 67. a front strut; 68. a third link;

7. a steering mechanism; 70. a steering motor; 71. a steering gear; 72. a toothed bar; 73. a horizontal axis; 74. and a return spring.

Detailed Description

In order that the above objects, features and advantages of the utility model will be more clearly understood, a further description of the utility model will be rendered by reference to the appended drawings and examples. It should be noted that, without conflict, the embodiments of the present utility model and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced otherwise than as described herein, and therefore the present utility model is not limited to the specific embodiments of the disclosure that follow.

Example 1

Referring to fig. 1-4: the bionic robot travelling mechanism comprises a frame 1, a travelling servo motor 2, a rear shaft 3 and a front shaft 4, wherein the rear shaft 3 and the front shaft 4 are respectively movably inserted into two ends of the frame 1, a rear gear 30 and a front gear 40 are respectively and fixedly arranged on the rear shaft 3 and the front shaft 4, the travelling servo motor 2 is fixedly arranged in the frame 1, a driving gear 20 is arranged at the output end of the travelling servo motor 2, the rear gear 30 and the front gear 40 are respectively positioned at two sides of the driving gear 20, the rear gear 30 and the front gear 40 are meshed with the driving gear 20, rear leg assemblies 5 are respectively arranged at two ends of the rear shaft 3, the rear leg assemblies 5 comprise a rear turntable 50, the axle center of the rear turntable 50 is fixedly arranged at one end of the rear shaft 3, a fourth connecting rod 51 is rotatably arranged on the rear shaft 3, a fifth connecting rod 52 is rotatably arranged at the center of the fourth connecting rod 51, one end of the fifth connecting rod 52 is rotatably arranged with the frame 1, a rear supporting rod 53 is rotatably arranged at the top of the rear supporting rod 53, and a sixth connecting rod 54 is rotatably arranged at the other end of the frame 1;

two groups of front leg assemblies 6 are movably mounted on the outer side of one end of the frame 1, each group of front leg assemblies 6 comprises a front rotary table 60, a first inserting shaft 61, a first connecting rod 63, a second connecting rod 64, a second inserting shaft 65, a front supporting rod 67 and a third connecting rod 68, the front rotary table 60 is fixedly mounted on the front shaft 4, the first inserting shaft 61 is fixedly inserted into the front rotary table 60, one ends of the first inserting shaft 61 and the second inserting shaft 65 are respectively provided with a first spherical joint shaft 62 and a second spherical joint shaft 66, the first spherical joint shaft 62 is movably mounted with one end of the first connecting rod 63, the second spherical joint shaft 66 is movably mounted with the center of the first connecting rod 63, the first connecting rod 63 is rotatably mounted with the bottom of the front supporting rod 67, the top end of the first connecting rod 63 is rotatably mounted with one end of the third connecting rod 68, and the other end of the third connecting rod 68 is rotatably mounted with the transverse shaft 73.

In this embodiment, when the walking servo motor 2 rotates positively, the driving gear 20 drives the rear gears 30 and the front gears 40 on both sides thereof to rotate, so that the rear shaft 3 and the front shaft 4 can respectively drive the rear rotary plate 50 and the front rotary plate 60 of the rear leg assembly 5 and the front leg assembly 6 to rotate, the rear rotary plate 50 can be driven by the fourth connecting rod 51, the rear supporting rod 53 limited by the fifth connecting rod 52 and the sixth connecting rod 54 can swing repeatedly, the front rotary plate 60 can drive the front supporting rod 67 limited by the second connecting rod 64, the second inserting shaft 65 and the third connecting rod 68 to swing repeatedly through the first connecting rod 61 and the first connecting rod 63, the front supporting rod 67 and the rear supporting rod 53 positioned at the outer side of the frame 1 at diagonal angles can synchronously walk, and the forward and backward movement of the walking mechanism can be adjusted through the change of the forward and backward rotation directions of the walking servo motor 2.

Example two

Referring to fig. 1-5: one end of the frame 1 is movably provided with a steering mechanism 7, the steering mechanism 7 comprises a steering motor 70, a steering gear 71 arranged at the output end of the steering motor, a toothed bar 72 and a transverse shaft 73 fixedly inserted at the axis of the toothed bar, two ends of the transverse shaft 73 are respectively movably inserted at two sides of one end of the frame 1, two ends of the transverse shaft 73 are sleeved with a return spring 74, and the steering gear 71 is meshed with the toothed bar 72; when the steering motor 70 is started, the toothed bar 72 is driven to swing left and right at one end of the frame 1 by the steering gear 71, so that the return spring 74 at one end of the transverse shaft 73 is stretched, and the return spring 74 at the other end is compressed.

Two groups of front leg assemblies 6 are movably mounted on the outer side of one end of the frame 1, each group of front leg assemblies 6 comprises a front rotary table 60, a first inserting shaft 61, a first connecting rod 63, a second connecting rod 64, a second inserting shaft 65, a front supporting rod 67 and a third connecting rod 68, the front rotary table 60 is fixedly mounted on the front shaft 4, the first inserting shaft 61 is fixedly inserted into the front rotary table 60, one ends of the first inserting shaft 61 and the second inserting shaft 65 are respectively provided with a first spherical joint shaft 62 and a second spherical joint shaft 66, the first spherical joint shaft 62 is movably mounted on one end of the first connecting rod 63, the second spherical joint shaft 66 is movably mounted on the center of the first connecting rod 63, the first connecting rod 63 is rotatably mounted on the bottom of the front supporting rod 67, the top end of the first connecting rod 63 is rotatably mounted on one end of the third connecting rod 68, the other end of the third connecting rod 68 is rotatably mounted on the cross shaft 73, a reset spring 74 is positioned between the third connecting rod 68 and the frame 1, the other end of the second inserting shaft 65 is rotatably mounted on one end of the second connecting rod 64, and the other end of the second connecting rod 64 is rotatably mounted on the outer side of the frame 1.

In this embodiment, when the walking mechanism is in a walking motion and needs to turn, the rack 72 is driven by the steering motor 70 and the steering gear 71 to swing left and right at one end of the frame 1, so that the transverse shaft 73 is utilized to push the third connecting rod 68 and the front strut 67 at one end of the rack, the first connecting rod 63 with the front strut 67 slides from the first inserting shaft 61 and the second inserting shaft 65, and the first connecting rod 63 can still be driven by the first inserting shaft 61 on the front turntable 60 due to the adoption of the first spherical joint shaft 62 and the second spherical joint shaft 66 at the connecting position, so that the front strut 67 at the end can keep a laterally offset walking state, when the linear walking needs to be restored, the steering motor 70 stops working, and the return springs 74 at the two ends restore elastic deformation, so that the transverse shaft 73 returns to the initial position, and the front struts 67 at the two ends are straightened, so that the linear walking can be performed.

The application method and the working principle of the device are as follows: when the travelling mechanism needs to turn, the toothed bar 72 can be driven by the turning motor 70 and the turning gear 71 to swing left and right at one end of the frame 1, so that the cross shaft 73 is utilized to push the third connecting rod 68 and the front supporting rod 67 at one end of the toothed bar, and the first connecting rod 63 connected with the front supporting rod 67 slides from the first inserting shaft 61 and the second inserting shaft 65, and the first connecting rod 63 can still be driven by the first inserting shaft 61 on the front turntable 60 due to the adoption of the first spherical joint shaft 62 and the second spherical joint shaft 66 at the connecting position, so that the front supporting rod 67 at the end can keep a laterally-offset travelling state.

In addition, when the mechanism walks, the walking servo motor 2 drives the rear gears 30 and the front gears 40 on two sides of the mechanism to rotate through the driving gear 20, so that the rear shaft 3 and the front shaft 4 can respectively drive the rear rotary plate 50 and the front rotary plate 60 of the rear leg assembly 5 and the front leg assembly 6 to rotate, the rear rotary plate 50 can be driven by the fourth connecting rod 51, the rear supporting rod 53 limited by the fifth connecting rod 52 and the sixth connecting rod 54 can swing repeatedly, and the front rotary plate 60 can drive the front supporting rod 67 limited by the second connecting rod 64, the second inserting shaft 65 and the third connecting rod 68 to swing repeatedly through the first connecting rod 61 and the first connecting rod 63, so that the front supporting rod 67 and the rear supporting rod 53 which are positioned on the outer side of the frame 1 and are positioned on diagonal angles can walk synchronously.

The present utility model is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present utility model without departing from the technical content of the present utility model still belong to the protection scope of the technical solution of the present utility model.

Claims

1. The utility model provides a bionic robot walking mechanism, includes frame (1), walking servo motor (2), rear axle (3), front axle (4), its characterized in that: a steering mechanism (7) is movably mounted at one end of the frame (1), the steering mechanism (7) comprises a steering motor (70) and a steering gear (71) mounted at the output end of the steering motor, a toothed bar (72) and a transverse shaft (73) fixedly inserted at the axis of the toothed bar, two ends of the transverse shaft (73) are movably inserted with two sides of one end of the frame (1) respectively, and two ends of the transverse shaft (73) are sleeved with a reset spring (74);

two groups of front leg assemblies (6) are movably arranged at the outer side of one end of the frame (1), each of the two groups of front leg assemblies (6) comprises a front rotary table (60), a first inserting shaft (61), a first connecting rod (63), a second connecting rod (64), a second inserting shaft (65), a front supporting rod (67) and a third connecting rod (68), the front rotary table (60) is fixedly arranged on the front shaft (4), the first inserting shaft (61) is fixedly inserted into the front rotary table (60), one end of the first inserting shaft (61) and one end of the second inserting shaft (65) are respectively provided with a first spherical joint shaft (62) and a second spherical joint shaft (66), the first spherical joint shaft (62) is movably arranged on one end of the first connecting rod (63), the second spherical joint shaft (66) is movably arranged on the center of the first connecting rod (63), the first connecting rod (63) is rotatably arranged on the bottom of the front supporting rod (67), the top of the first connecting rod (63) is rotatably arranged on one end of the third connecting rod (68), the other end of the third connecting rod (68) is rotatably arranged on the other end of the first connecting rod (73) and one end of the reset spring (74) is rotatably arranged between the first connecting rod (64) and the frame (65), and the other end of the second connecting rod (64) is rotatably arranged outside the frame (1).

2. A biomimetic robotic walking mechanism as in claim 1, wherein: the rear shaft (3) and the front shaft (4) are respectively movably inserted into two ends of the frame (1), and the rear gear (30) and the front gear (40) are respectively and fixedly arranged on the rear shaft (3) and the front shaft (4).

3. A biomimetic robotic walking mechanism as in claim 2, wherein: the walking servo motor (2) is fixedly arranged inside the frame (1), the driving gear (20) is arranged at the output end of the walking servo motor (2), the rear gear (30) and the front gear (40) are respectively positioned at two sides of the driving gear (20), and the rear gear (30) and the front gear (40) are meshed with the driving gear (20).

4. A biomimetic robotic walking mechanism as in claim 1, wherein: rear leg assemblies (5) are arranged at two ends of the rear shaft (3), each rear leg assembly (5) comprises a rear rotary table (50), and the axis of the rear rotary table (50) is fixedly arranged at one end of the rear shaft (3).

5. The biomimetic robotic walking mechanism of claim 4, wherein: the rear axle (3) is rotatably provided with a fourth connecting rod (51), the center of the fourth connecting rod (51) is rotatably provided with a fifth connecting rod (52), the fifth connecting rod (52) is rotatably provided with a frame (1), and one end of the fifth connecting rod (52) is rotatably provided with a rear supporting rod (53).

6. A biomimetic robotic walking mechanism as in claim 5, wherein: the top end of the rear supporting rod (53) is rotatably provided with a sixth connecting rod (54), and the sixth connecting rod (54) is rotatably arranged with the other end of the frame (1).

7. A biomimetic robotic walking mechanism as in claim 1, wherein: the steering gear (71) is engaged with a rack bar (72).