CN104260800A - Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker - Google Patents
Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker Download PDFInfo
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- CN104260800A CN104260800A CN201410546958.0A CN201410546958A CN104260800A CN 104260800 A CN104260800 A CN 104260800A CN 201410546958 A CN201410546958 A CN 201410546958A CN 104260800 A CN104260800 A CN 104260800A
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- connecting rod
- elastic damping
- walking
- robot
- damping effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a leg walking system of a four-feet robot. The leg walking system is located on legs of the four-feet robot. The leg walking system is an elastic damping effect based four connecting rod type four-feet walking device with a variable length rocker essentially. The walking function of the four-feet robot is implemented through a four connecting rod mechanism with an elastic damping link. The lengths of rockers arranged in four connecting rod mechanisms of robots cannot be changed and accordingly the friction with the ground is caused due to the fact that connecting rods are easy to hang down in the walking process of the four-feet robots with ordinary four connecting rod mechanisms as walking devices. Accordingly, the four-feet robot leg system with a steering gear rocker arm as a crank, with a similar piston mechanism with the elastic damping link as the rocker, with shanks as connecting rods and with a steering gear frame as a frame is specially designed. In the leg system, the rocker can automatically adapt to the varied length when the crank rotates and accordingly the friction with the ground is avoided and the stable walking of the four-feet robot is implemented.
Description
Technical field
The invention belongs to quadruped robot technical field, particularly relate to a kind of variable-length rocking bar four-bar linkage that utilizes as the leg running gear of quadruped robot.
Background technology
Four-footed walking robot is a kind of common Land Movement robot, have very strong compatible with environment and kinematic dexterity, be thus widely used in rescue and relief work, explosive, the geoexploration of removing mines, amusement and the field such as civilian.The every bar leg of common quadruped robot has 3 initiatively degree of freedom, and every bar leg needs 3 driving links, which adds the cost of manufacture of robot and adds the overall weight of robot simultaneously.In order to overcome the problems referred to above, people have invented the quadruped robot utilizing four-bar linkage as running gear, and the every bar leg of this robot can reduce one degree of freedom, and then can reduce by a driving link, thus alleviates the weight of robot.But this robot exists an outstanding problem, be exactly that its foot track is not closed, easily cause foot and ground to produce and rub.In order to address this problem, be badly in need of a kind of four-bar linkage that can use as the running gear of quadruped robot, to alleviate the weight of robot, the system that robot foot section and ground produce this problem that rubs can be solved again.
Summary of the invention
Adopt four-bar linkage easily to produce the sagging and problem of scrape along the ground of connecting rod in the process of walking as the quadruped robot of running gear, major cause is that the rocking bar length in the four-bar linkage of this robot is immutable.For this reason, we devise especially a kind of with steering wheel pivoted arm be crank, with the quadruped robot leg system that the class piston mechanism of elastic damping element is rocking bar, shank is connecting rod, steering wheel frame is frame.In this leg system, when crank, rocking bar can adaptive change length, avoids scrape along the ground, achieve the stabilized walking of quadruped robot.
Technic relization scheme of the present invention:
With the 2DOF system that the leg system of the four link type robot of elastic damping element is made up of thigh driver element, the class piston mechanism with elastic damping element, steering wheel pivoted arm, damping shank.
Wherein, thigh driver element is made up of steering wheel, steering wheel, steering wheel frame, arm-tie.2 steering wheels are arranged in steering wheel frame, in four-bar linkage structure, serve as frame, for leg provides power.
With the class piston mechanism of elastic damping element as rocking bar, be made up of sleeve, spring, pull bar, plush copper connecting rod.Pull bar is the hollow cylinder that a length of tape has large radius disk, and spring housing is on pull bar, and near disk one end, left and right half sleeve pieces together and wrapped in sleeve by spring, and makes spring be in compressive state, makes disk be close to sleeve near steering wheel frame one end simultaneously.When shank touches ground shock, if shank and ground formed inner side angle is obtuse angle, rocking bar self adaptation is stressed makes spring by compression, and rocking bar extends.Due to the disk of the compression extruding pull bar of spring, thus make the extended length of restriction rocking bar; If shank and ground formed inner side angle is acute angle, the disk compression sleeve inwall of pull bar, makes rocking bar length not change.This mechanism can the change of self adaptation shank position, thus avoids the phenomenon of foot scrape along the ground, adds the stability of robot gait.
Crank in double leval jib is that A shape connecting rod and U-shaped connecting rod assembly form, and the axle that one end and the steering wheel of U-shaped connecting rod export is connected, and the other end is connected with the A word end of A shape connecting rod, and the other end of A shape connecting rod connects shank.This combination stock rotates under servo driving, makes calf-raise or reduction.
Damping shank is as the shank of robot, and it is made up of spring, F shape connecting rod, tapered rod, shank pole.On F shape connecting rod, side lever is connected with the pull bar in rocking bar, and the cut to lengthen of rocking bar the angle on shank and ground; The intermediate bar of F shape connecting rod is connected with A shape stock, and A shape connecting rod makes shank raise around steering wheel output shaft rotation or declines.The upper cover of shank pole has spring to be connected on F shape connecting rod, and can slide up and down at the central through hole place of F shape connecting rod, the other end is connected on tapered rod.
The advantage of this system: four-bar linkage has good stability, crank uses A shape connecting rod, and connecting rod uses F shape connecting rod to ensure that rigidity and the intensity of mechanism; Piston mechanism as rocking bar is easy for installation, is its adaptively changing length during use completely, without the need to driving and controlling; Thigh driver element is that twin shaft exports, and ensures thigh and connecting rod junction reasonable stress; Various rod member layout in a perpendicular, and has double damping mechanism, ensures that the walking of robot four-footed is stable; Multimachine structure multiple-unit combines together, and integrated level is high, and system is simplified, reliable and stable.
Accompanying drawing explanation
Figure 1 shows that thigh driver element axonometric drawing in one embodiment of the invention.
Figure 2 shows that the class piston mechanism detail isometric view with elastic damping element in one embodiment of the invention.
Figure 3 shows that steering wheel pivoted arm birds-eye view in one embodiment of the invention.
Figure 4 shows that damping shank axonometric drawing in one embodiment of the invention.
Figure 5 shows that integral structure front elevation in one embodiment of the invention.
Figure 6 shows that integral structure axonometric drawing in one embodiment of the invention.
Detailed description of the invention
As shown in figures 1 to 6, with the leg system of the four link type robot of elastic damping element by Fig. 1 thigh driver element, Fig. 2 with the class piston mechanism of elastic damping element, Fig. 3 combines stock, Fig. 4 damping shank becomes one system.
As Fig. 1, thigh driver element: 1 steering wheel, 2 steering wheels, 3 steering wheel framves, 4 arm-ties.Upper and lower 2 steering wheels of steering wheel frame carrying, top steering wheel rotates, and controls whole piece leg and horizontally rotates, and steering wheel below rotates and controls leg lifting, and arm-tie is fixed on above the ear of upside steering wheel, is connected with rocking bar.
As Fig. 2, the class piston mechanism with elastic damping element: 5 left half sleeves, 7 pull bars, 8 plush copper connecting rods, 9 springs.Spring housing on pull bar, and makes the disk end of pull bar press close to sleeve one end, is gone out the elasticity modulus of spring by research foot trajectory calculation.
As Fig. 3, steering wheel pivoted arm: 10U shape connecting rod, 11A shape connecting rod, one end of U-shaped connecting rod is connected with the double output shaft of steering wheel, and the other end is connected with the A word end of A shape connecting rod, and the other end of A shape connecting rod connects shank, ensures leg strength and stiffness.
As Fig. 4, damping shank: 12F shape connecting rod, 13 springs, 14 shank poles, 15 tapered rods, shank pole is through the centre hole of F shape connecting rod, and spring housing, on pole, is then fixed on taper connecting rod, plays cushioning effect.
As Fig. 5-6, according to Fig. 1-4, Fig. 1 thigh driver element, Fig. 2 with the class piston mechanism of elastic damping element, Fig. 3 combines stock, Fig. 4 damping shank becomes one system.
Claims (5)
1. based on a four link type four-footed running gear for the elongated rocking bar of elastic damping effect, it is characterized in that, mechanism is made up of the four-bar linkage system of the elongated rocking bar based on elastic damping effect, and thigh driver element is connected on body by steering wheel; Be connected to the class piston mechanism of elastic damping element on the arm-tie be connected with thigh driver element; The twin shaft mouth of steering wheel pivoted arm and driver element is connected; Shank as connecting rod is connected with steering wheel pivoted arm with the class piston mechanism of elastic damping element respectively.
2. the four link type four-footed running gear of the elongated rocking bar based on elastic damping effect according to claim 1, it is characterized in that, with in the class piston mechanism of elastic damping element, pull bar is the hollow cylinder that a length of tape has large radius disk, spring housing is on pull bar, near disk one end, left and right half sleeve pieces together and wraps in sleeve by spring, and make spring be in compressive state, make disk be close to sleeve near steering wheel frame one end simultaneously, this mechanism is easy for installation, is its adaptively changing length during use completely, without the need to driving and controlling.
3. the four link type four-footed running gear of the elongated rocking bar based on elastic damping effect according to claim 1, it is characterized in that, one end of 10U shape connecting rod is connected with the double output shaft of steering wheel, the other end is connected with the A word end of 11A shape connecting rod, the other end of 11A shape connecting rod connects shank, ensures leg strength and stiffness.
4. the four link type four-footed running gear of the elongated rocking bar based on elastic damping effect according to claim 1, it is characterized in that, 14 shank poles are through the centre hole of 12F shape connecting rod, and 13 spring housings are on pole, then be fixed on 15 taper connecting rods, play cushioning effect.
5. according to claim 1, 2, 3, the four link type four-footed running gear of the elongated rocking bar based on elastic damping effect described in 4, it is characterized in that, adopt four-bar linkage, as the quadruped robot of running gear, the phenomenon of scrape along the ground easily occurs in the process of walking, the phenomenon of scrape along the ground is there is in the shank be embodied in as connecting rod because foot track does not close, the phenomenon of this friction makes robot ambulation unstable, chattering is serious, reduce the life-span of robotic part simultaneously, this structure ensure that when crank, rocking bar can adaptive change length, avoid scrape along the ground, achieve the stabilized walking of quadruped robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410546958.0A CN104260800A (en) | 2014-10-16 | 2014-10-16 | Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410546958.0A CN104260800A (en) | 2014-10-16 | 2014-10-16 | Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker |
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| Publication Number | Publication Date |
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| CN104260800A true CN104260800A (en) | 2015-01-07 |
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| CN201410546958.0A Pending CN104260800A (en) | 2014-10-16 | 2014-10-16 | Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker |
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| CN (1) | CN104260800A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890759A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Four-footed robot |
| CN105523099A (en) * | 2016-01-21 | 2016-04-27 | 昆明理工大学 | Self-shock absorption deformable mechanical walking leg |
| CN106444785A (en) * | 2016-11-25 | 2017-02-22 | 中国铁道科学研究院 | Portable tunnel lining detection apparatus |
| CN107089276A (en) * | 2017-05-04 | 2017-08-25 | 河海大学常州校区 | A kind of Foot sole structure of robot with foldable toe |
| CN108583716A (en) * | 2018-06-06 | 2018-09-28 | 昆明理工大学 | A kind of locomotive moving device |
| CN109204602A (en) * | 2018-10-31 | 2019-01-15 | 南京航空航天大学 | Miniature quadruped robot |
| CN109878594A (en) * | 2019-02-20 | 2019-06-14 | 北京交通大学 | A kind of main passive matrix parallel flexible articulation mechanism |
| CN109911053A (en) * | 2019-03-04 | 2019-06-21 | 林佳琳 | A kind of multi link Form of Bionics Mechanical Legs and climbing robot |
| CN110027700A (en) * | 2019-04-09 | 2019-07-19 | 沈阳无距科技有限公司 | Steering engine connecting rod and unmanned plane |
| CN110842933A (en) * | 2019-10-23 | 2020-02-28 | 常州固高智能装备技术研究院有限公司 | Cargo transport robot convenient to automatically regulated angle |
| CN112092940A (en) * | 2020-09-11 | 2020-12-18 | 六安科亚信息科技有限公司 | Crawling software robot |
| CN113147949A (en) * | 2021-04-22 | 2021-07-23 | 上海扩博智能技术有限公司 | Walking joint for robot |
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| CN103448828A (en) * | 2013-06-03 | 2013-12-18 | 上海大学 | Leg structure of quadruped bionic robot |
| CN103481963A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Two-stage buffer foot device applicable to obstacle crossing robot |
| CN103625572A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Quadruped robot leg with elastic four-rod mechanism |
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| CN102001371B (en) * | 2010-11-23 | 2012-05-23 | 南京航空航天大学 | Hydraulically-driven four-foot robot |
| US20130192406A1 (en) * | 2012-01-31 | 2013-08-01 | Johnny Godowski | Fast Runner Limb Articulation System |
| CN103448828A (en) * | 2013-06-03 | 2013-12-18 | 上海大学 | Leg structure of quadruped bionic robot |
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| CN103481963A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Two-stage buffer foot device applicable to obstacle crossing robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890759A (en) * | 2015-07-10 | 2015-09-09 | 陕西九立机器人制造有限公司 | Four-footed robot |
| CN104890759B (en) * | 2015-07-10 | 2017-06-16 | 陕西九立机器人制造有限公司 | A kind of quadruped robot |
| CN105523099A (en) * | 2016-01-21 | 2016-04-27 | 昆明理工大学 | Self-shock absorption deformable mechanical walking leg |
| CN105523099B (en) * | 2016-01-21 | 2018-05-25 | 昆明理工大学 | One kind is from the deformable mechanical step of damping |
| CN106444785A (en) * | 2016-11-25 | 2017-02-22 | 中国铁道科学研究院 | Portable tunnel lining detection apparatus |
| CN106444785B (en) * | 2016-11-25 | 2023-09-15 | 中国铁道科学研究院集团有限公司 | Portable tunnel lining check out test set |
| CN107089276B (en) * | 2017-05-04 | 2019-01-22 | 河海大学常州校区 | A kind of Foot sole structure of robot with foldable toe |
| CN107089276A (en) * | 2017-05-04 | 2017-08-25 | 河海大学常州校区 | A kind of Foot sole structure of robot with foldable toe |
| CN108583716A (en) * | 2018-06-06 | 2018-09-28 | 昆明理工大学 | A kind of locomotive moving device |
| CN108583716B (en) * | 2018-06-06 | 2024-05-07 | 昆明理工大学 | Locomotive advancing device |
| CN109204602A (en) * | 2018-10-31 | 2019-01-15 | 南京航空航天大学 | Miniature quadruped robot |
| CN109878594A (en) * | 2019-02-20 | 2019-06-14 | 北京交通大学 | A kind of main passive matrix parallel flexible articulation mechanism |
| CN109878594B (en) * | 2019-02-20 | 2021-08-13 | 北京交通大学 | Leg mechanism with active-passive driving parallel flexible joints |
| CN109911053A (en) * | 2019-03-04 | 2019-06-21 | 林佳琳 | A kind of multi link Form of Bionics Mechanical Legs and climbing robot |
| CN110027700A (en) * | 2019-04-09 | 2019-07-19 | 沈阳无距科技有限公司 | Steering engine connecting rod and unmanned plane |
| CN110842933A (en) * | 2019-10-23 | 2020-02-28 | 常州固高智能装备技术研究院有限公司 | Cargo transport robot convenient to automatically regulated angle |
| CN112092940A (en) * | 2020-09-11 | 2020-12-18 | 六安科亚信息科技有限公司 | Crawling software robot |
| CN113147949A (en) * | 2021-04-22 | 2021-07-23 | 上海扩博智能技术有限公司 | Walking joint for robot |
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Application publication date: 20150107 |