CN101830252A - Deformable two-foot walking machine - Google Patents
Deformable two-foot walking machine Download PDFInfo
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- CN101830252A CN101830252A CN 201010156143 CN201010156143A CN101830252A CN 101830252 A CN101830252 A CN 101830252A CN 201010156143 CN201010156143 CN 201010156143 CN 201010156143 A CN201010156143 A CN 201010156143A CN 101830252 A CN101830252 A CN 101830252A
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Abstract
The invention relates to a deformable two-foot walking machine. The walking machine mainly comprises a front connecting plate, a rear connecting plate, a left front connecting rod, a left rear connecting rod, a right front connecting rod, a right rear connecting rod, a left foot sole, a right foot sole, a steering engine, a universal wheel, a fixed rear wheel component and a swinging rear wheel component, wherein the upper ends of the four connecting rods are respectively connected with the lower surfaces of the front and rear connecting plates, and the lower ends of the four connecting rods are respectively connected with the upper surfaces of the left and right foot soles through the steering engine; the universal wheel is fixed on the middle part of the left front connecting rod; the fixed rear wheel component is fixed at the bottom of the right foot sole; and the swinging rear wheel component is fixed at the bottom of the left foot sole. The deformable two-foot walking machine adopts a space parallel mechanism with eight rods and eight pairs, has functions of normal walking and folding deformation and becomes a wheeled mobile mechanism supported by three wheels after being deformed. Compared with an ordinary serially connected walking mechanism, the deformable two-foot walking machine has the advantages of capability of quickly moving on a flat road and passing through a narrow space after being deformed, high load drive capability, smaller volume and high traveling speed.
Description
Technical field
The present invention relates to a kind of walking machine, particularly a kind of deformable two-foot walking machine.
Background technology
Walking is the move mode that people and most of animal are had, it is a kind of supermatic motion, has very strong comformability for environment, for wheeled, crawler type and creeping motion type move, have more wide application prospect, so two-foot walking machine is the focus of studying among the robot field always.
Research for the two-foot walking machine structure at present is based on bionics mostly, promptly comes the shank joint of simulating human by the series connection of steering wheel or other types drive motor, to realize normal walking-function.Such two-foot walking machine is studied the earliest, many achievements have also been obtained, but the space requirement that drive motor series connection is settled makes that the volume of two-foot walking machine of this class is general bigger, mode of motion is single, it is powerless to face narrow and small working space, and than wheeled, crawler-mounted kinematic mechanism, moving velocity is lower on flat road surface, can't bring into play its advantage.
Summary of the invention
The objective of the invention is to improve the shortcoming of prior art and provide that a kind of load-carrying capacity is strong, high-speed, high precision, rigidity is big, movement inertia is low deformable two-foot walking machine, this two-foot walking machine not only can be realized normal walking-function, and can become a wheeled mobile mechanism by folded deformation.
For achieving the above object, the present invention adopts following technical proposals:
A kind of deformable two-foot walking machine, described deformable two-foot walking machine comprises: preceding connecting plate, back connecting plate, left front connecting rod, left back connecting rod, right front connecting rod, right back connecting rod, the left foot palm, the right crus of diaphragm palm and four steering wheels; The two ends of connecting plate lower surface are provided with attaching parts before described, the upper end of described left front connecting rod is installed in rotation on by a bearing pin on the attaching parts of described preceding connecting plate lower surface left end, the axis direction of the bearing pin before described being installed on the connecting plate lower surface left end attaching parts and the longitudinal direction angle at 45 of preceding connecting plate; Steering wheel axle on the lower end of described left front connecting rod and the steering wheel is fixed together, this steering wheel is fixedly mounted on the front end on described left foot palm surface, and the axis direction of the bearing pin before the steering wheel axis direction of this steering wheel and described being installed on the connecting plate lower surface left end attaching parts is identical.
Described right front small end is installed in rotation on by a bearing pin on the attaching parts of described preceding connecting plate lower surface right-hand member, the axis direction of the bearing pin before described being installed on the connecting plate lower surface right-hand member attaching parts and the longitudinal direction angle at 45 of preceding connecting plate; Steering wheel axle on the lower end of described right front connecting rod and the steering wheel is fixed together, this steering wheel is fixedly mounted on the front end on described right crus of diaphragm palm surface, and the axis direction of the bearing pin before the steering wheel axis direction of this steering wheel and described being installed on the connecting plate lower surface right-hand member attaching parts is identical.
The two ends of described back connecting plate lower surface are provided with attaching parts, the upper end of described left back connecting rod is installed in rotation on by a bearing pin on the attaching parts of described back connecting plate lower surface left end, the described axis direction of the bearing pin on the connecting plate lower surface left end attaching parts of back and the longitudinal direction angle at 45 of back connecting plate of being installed in; Steering wheel axle on the lower end of described left back connecting rod and the steering wheel is fixed together, this steering wheel is fixedly mounted on the rear end on described left foot palm surface, and the steering wheel axis direction of this steering wheel is identical with the described axis direction that is installed in the bearing pin on the connecting plate lower surface left end attaching parts of back.
Described right back small end is installed in rotation on by a bearing pin on the attaching parts of described back connecting plate lower surface right-hand member, the described axis direction of the bearing pin on the connecting plate lower surface right-hand member attaching parts of back and the longitudinal direction angle at 45 of back connecting plate of being installed in; Steering wheel axle on the lower end of described right back connecting rod and the steering wheel is fixed together, this steering wheel is fixedly mounted on the rear end on described right crus of diaphragm palm surface, and the steering wheel axis direction of this steering wheel is identical with the described axis direction that is installed in the bearing pin on the connecting plate lower surface right-hand member attaching parts of back.
Further, angle between the axis direction of the bearing pin before the axis direction of the bearing pin before described being installed on the connecting plate lower surface left end attaching parts and described being installed on the connecting plate lower surface right-hand member attaching parts is 90 °, angle between the axis direction of the bearing pin after the axis direction of the bearing pin before described being installed on the connecting plate lower surface left end attaching parts and described being installed on the connecting plate lower surface left end attaching parts is 90 °, and the angle between the axis direction of the bearing pin after the axis direction of the bearing pin after described being installed on the connecting plate lower surface left end attaching parts and described being installed on the connecting plate lower surface right-hand member attaching parts is 90 °; Angle between the axis direction of the bearing pin before the axis direction of the bearing pin after described being installed on the connecting plate lower surface right-hand member attaching parts and described being installed on the connecting plate lower surface right-hand member attaching parts is 90 °.
Further, described attaching parts is a trench structure, and the bottom surface of this attaching parts is fixed together with the two ends, the left and right sides of forward and backward connecting plate lower surface respectively, and symmetry offers pin-and-hole on the two side of this attaching parts; Described steering wheel all is fixedly mounted on the upper surface two ends of left and right sole by the steering wheel frame; Described steering wheel frame is the bending side of L type, and the sidewall of described L type steering wheel frame is provided with pin-and-hole, and the bottom surface two side ends of described L type steering wheel frame is provided with the pedestal of downward bending and the fixed-wing that upwards bends; Described steering wheel frame is fixed on the upper surface two ends of left and right sole by pedestal, and described steering wheel is fixed together by fixed-wing and steering wheel frame.
Further, described two ends up and down left front, left back, right front, right back connecting rod are slotting ear structure, and the ear wall of described slotting ear is provided with pin-and-hole; Described left front small end insert pin-and-hole set on the ear ear wall before described being installed on the connecting plate lower surface left end upper connector two side set pin-and-hole be installed in rotation on by a bearing pin; Described left front connecting rod lower end one is inserted pin-and-hole set on the ear sidewall and is captiveed joint with the described steering wheel axle that is fixedly mounted on the steering wheel of left foot palm surface front end, and set pin-and-hole set pin-and-hole on the described steering wheel frame sidewall that is installed in the surperficial front end of left foot palm is installed in rotation on by a bearing pin on another slotting ear sidewall.
Described left back small end is inserted pin-and-hole set on the ear ear wall and is installed in described that set pin-and-hole is installed in rotation on by a bearing pin on the connecting plate lower surface left end upper connector two side, back; Described left back connecting rod lower end one is inserted pin-and-hole set on the ear sidewall and is captiveed joint with the described steering wheel axle that is fixedly mounted on the steering wheel of rear end, left foot palm surface, and set pin-and-hole set pin-and-hole on the described steering wheel frame sidewall that is installed in the surperficial rear end of left foot palm is installed in rotation on by a bearing pin on another slotting ear sidewall.
Described right front small end insert pin-and-hole set on the ear ear wall before described being installed on the connecting plate lower surface right-hand member upper connector two side set pin-and-hole be installed in rotation on by a bearing pin; Described right front connecting rod lower end one is inserted pin-and-hole set on the ear sidewall and is captiveed joint with the described steering wheel axle that is fixedly mounted on the steering wheel of right crus of diaphragm palm surface front end, and set pin-and-hole set pin-and-hole on the described steering wheel frame sidewall that is installed in the surperficial front end of right crus of diaphragm palm is installed in rotation on by a bearing pin on another slotting ear sidewall.
Described right back small end is inserted pin-and-hole set on the ear ear wall and is installed in described that set pin-and-hole is installed in rotation on by a bearing pin on the connecting plate lower surface right-hand member upper connector two side, back; Described right back connecting rod lower end one is inserted pin-and-hole set on the ear sidewall and is captiveed joint with the described steering wheel axle that is fixedly mounted on the steering wheel of rear end, right crus of diaphragm palm surface, and set pin-and-hole set pin-and-hole on the described steering wheel frame sidewall that is installed in the surperficial rear end of right crus of diaphragm palm is installed in rotation on by a bearing pin on another slotting ear sidewall.
Further, described left front connecting rod, left back connecting rod, right front connecting rod and right back connecting rod are driven by lower end institute bonded assembly steering wheel separately respectively, and all can rotate in 0 ° to 180 ° scope around steering wheel separately.
Described left front connecting rod, left back connecting rod, right front connecting rod and right back connecting rod can rotate in 0 ° to 180 ° scope around the bearing pin of installing between upper end and the attaching parts separately respectively.
Further, described left front connecting rod, left back connecting rod, right front connecting rod and right back length of connecting rod equate; Described forward and backward connecting plate is parallel to each other, and the upper surface of described forward and backward connecting plate is in the same horizontal surface; Described left and right sole is parallel to each other, and the upper surface of described left and right sole is in the same horizontal surface.
Further, the front end face of the described right crus of diaphragm palm is bent to form U type stay bearing plate downwards, and aft end face is bent to form a cambered surface downwards; Described left foot palm front end face is bent to form U type stay bearing plate downwards, and the left end limit of this bending place offers a breach, and the aft end face right part of the described left foot palm is bent to form U type stay bearing plate downwards, and the aft end face left part is straight setting.
Further, the middle part of described left front connecting rod is installed with a cardan wheel, when this walking machine distortion, described left front, left back, right front, right back connecting rod turns to and the parallel position of left and right sole facies palmaris, described cardan wheel contacts with ground, and left front connecting rod was to ground-surface vertical dimension when the height of this cardan wheel turned to left and right sole facies palmaris parallel position greater than described left front connecting rod.
Further, described right crus of diaphragm palm lower surface rearward end is provided with fixedly wheel assembly, and described fixedly wheel assembly comprises: motor, motor frame, coupler and trailing wheel, described motor is fixedly mounted on right crus of diaphragm palm lower surface rear end by the motor frame, and described trailing wheel is installed on the described motor by coupler.
Rear end, described left foot palm bottom is provided with the swing wheel assembly, described swing wheel assembly comprises: motor, steering wheel, rocking bar, coupler and trailing wheel, described left foot palm aft end face left part is straight place and is provided with notch, described steering wheel is installed in this notch place, and the steering wheel axle of this steering wheel is downward perpendicular to left foot palm facies palmaris; The front end of described rocking bar is equipped with motor, and described trailing wheel is installed on this motor by coupler, and the rear end of described rocking bar is fixed together with the steering wheel axle that is installed in described left foot palm aft end face left part steering wheel; Described rocking bar is driven by steering wheel, can rotate in 0 ° to 180 ° scope of horizontal surface.
Further, the ground plane of the U type stay bearing plate of the earth point of described trailing wheel and left and right sole is on same horizontal surface.
The beneficial effect that the present invention had:
1, the present invention takes into account double feet walking and wheeled mobile two kinds of mode of motion, can realize normal walking-function, can also become a wheeled mobile mechanism by folded deformation, can high-speed mobile on smooth road surface and pass through narrow and small working space, expanded the operating range of two-foot walking machine greatly.
2, the present invention adopts the space parallel mechanism of eight bars, eight pairs, and all drive motor all are positioned at lower horizontal surface, has load driving ability preferably than general series connection walking mechanism.
3, load-carrying capacity of the present invention is strong, moving velocity is fast, and the precision height, rigidity is big, movement inertia is low, for the realization of two-foot walking machine walking-function provides a kind of new mode.
Description of drawings
Fig. 1 is structural representation Fig. 1 of the present invention;
Fig. 2 is structural representation Fig. 2 of the present invention;
Fig. 3 is the structural representation of attaching parts among the present invention;
Fig. 4 is the structural representation view of centered rudder frame of the present invention;
Fig. 5 is the structural representation of left front connecting rod among the present invention;
Fig. 6 is the structural representation of left back connecting rod among the present invention;
Fig. 7 is the structural representation of right front connecting rod among the present invention;
Fig. 8 is the structural representation of right back connecting rod among the present invention;
Fig. 9 is the connection structure scheme drawing of left front connecting rod, attaching parts, steering wheel and steering wheel frame among the present invention;
Figure 10 is the connection structure scheme drawing of left back connecting rod, attaching parts, steering wheel and steering wheel frame among the present invention;
Figure 11 is the connection structure scheme drawing of right front connecting rod, attaching parts, steering wheel and steering wheel frame among the present invention;
Figure 12 is the connection structure scheme drawing of right back connecting rod, attaching parts, steering wheel and steering wheel frame among the present invention;
Figure 13 is the structural representation of the right crus of diaphragm palm among the present invention;
Figure 14 is the structural representation of the left foot palm among the present invention;
Figure 15 is the right crus of diaphragm palm among the present invention and the fixing connection structure scheme drawing of wheel assembly;
Figure 16 is the connection structure scheme drawing of the left foot palm among the present invention with the swing wheel assembly;
Figure 17 is a gait processes scheme drawing of the present invention;
Figure 18 is a folded deformation process scheme drawing of the present invention;
Figure 19 is the birds-eye view behind the folded deformation of the present invention;
Figure 20 is the upward view behind the folded deformation of the present invention;
Figure 21 is a penetrate scheme drawing of the present invention;
The specific embodiment
Below in conjunction with description of drawings the specific embodiment of the present invention.
As shown in Figure 1, 2, a kind of deformable two-foot walking machine, deformable two-foot walking machine comprises: preceding connecting plate 1, back connecting plate 2, left front connecting rod 3, left back connecting rod 4, right front connecting rod 5, right back connecting rod 6, the left foot palm 11,12 and four steering wheels 17,18,19,20 of the right crus of diaphragm palm; The two ends of preceding connecting plate 1 lower surface are provided with attaching parts 7,9, the upper end of left front connecting rod 3 is installed in rotation on by a bearing pin 13 on the attaching parts 7 of described preceding connecting plate 1 lower surface left end, the axis direction of the bearing pin 13 before described being installed on the connecting plate 1 lower surface left end attaching parts 7 and the longitudinal direction angle at 45 of preceding connecting plate 1; Steering wheel axle 25 on the lower end of left front connecting rod 3 and the steering wheel 17 is fixed together, this steering wheel 17 is fixedly mounted on the front end that described left foot is slapped 11 upper surfaces, and the axis direction of the bearing pin 13 before steering wheel axle 25 axis directions of this steering wheel 17 and described being installed on the connecting plate 1 lower surface left end attaching parts 7 is identical.
Right front connecting rod 5 upper ends are installed in rotation on by a bearing pin 15 on the attaching parts 9 of described preceding connecting plate 1 lower surface right-hand member, the axis direction of the bearing pin 15 before described being installed on the connecting plate 1 lower surface right-hand member attaching parts 9 and the longitudinal direction angle at 45 of preceding connecting plate 1; Steering wheel axle 27 on the lower end of right front connecting rod 5 and the steering wheel 19 is fixed together, this steering wheel 19 is fixedly mounted on the front end that described right crus of diaphragm is slapped 12 upper surfaces, and the axis direction of the bearing pin 15 before steering wheel axle 27 axis directions of this steering wheel 19 and described being installed on the connecting plate 1 lower surface right-hand member attaching parts 9 is identical.
The two ends of back connecting plate 2 lower surfaces are provided with attaching parts 8,10, the upper end of described left back connecting rod 4 is installed in rotation on by a bearing pin 14 on the attaching parts 8 of described back connecting plate 2 lower surface left ends, the described axis direction of the bearing pin 14 on the connecting plate 2 lower surface left end attaching partss 8 of back and the longitudinal direction angle at 45 of back connecting plate 2 of being installed in; Steering wheel axle 26 on the lower end of left back connecting rod 4 and the steering wheel 18 is fixed together, this steering wheel 18 is fixedly mounted on the rear end that described left foot is slapped 11 upper surfaces, and steering wheel axle 26 axis directions of this steering wheel 18 are identical with the described axis direction that is installed in the bearing pin 14 on the connecting plate 2 lower surface left end attaching partss 8 of back.
Right back connecting rod 6 upper ends are installed in rotation on by a bearing pin 16 on the attaching parts 10 of described back connecting plate 2 lower surface right-hand members, the described axis direction of the bearing pin 16 on the connecting plate 2 lower surface right-hand member attaching partss 10 of back and the longitudinal direction angle at 45 of back connecting plate 2 of being installed in; Steering wheel axle 28 on the lower end of right back connecting rod 6 and the steering wheel 20 is fixed together, this steering wheel 20 is fixedly mounted on the rear end that described right crus of diaphragm is slapped 12 upper surfaces, and steering wheel axle 28 axis directions of this steering wheel 20 are identical with the described axis direction that is installed in the bearing pin 16 on the connecting plate 2 lower surface right-hand member attaching partss 10 of back.
Forward and backward connecting plate 1,2 is parallel to each other, and the upper surface of described forward and backward connecting plate 1,2 is in the same horizontal surface; Described left and right sole 11,12 is parallel to each other, and the upper surface of described left and right sole 11,12 is in the same horizontal surface.
Left front connecting rod 3, left back connecting rod 4, right front connecting rod 5 and right back connecting rod 6 are driven by lower end institute bonded assembly steering wheel 17,18,19,20 separately respectively, and all can rotate in 0 ° to 180 ° scope around steering wheel 17,18,19,20 separately.
Left front connecting rod 3, left back connecting rod 4, right front connecting rod 5 and right back connecting rod 6 can rotate in 0 ° to 180 ° scope around the bearing pin of installing between upper end and the attaching parts 7,8,9,10 separately 13,14,15,16 respectively.
Angle between the axis direction of the bearing pin 15 before the axis direction of the bearing pin 13 before described being installed on the connecting plate 1 lower surface left end attaching parts 7 and described being installed on the connecting plate 1 lower surface right-hand member attaching parts 9 is 90 °, angle between the axis direction of the bearing pin 14 after the axis direction of the bearing pin 13 before described being installed on the connecting plate 1 lower surface left end attaching parts 7 and described being installed on the connecting plate 2 lower surface left end attaching partss 8 is 90 °, and the angle between the axis direction of the bearing pin 16 after the axis direction of the bearing pin 14 after described being installed on the connecting plate 2 lower surface left end attaching partss 8 and described being installed on the connecting plate 2 lower surface right-hand member attaching partss 10 is 90 °; Angle between the axis direction of the bearing pin 15 before the axis direction of the bearing pin 16 after described being installed on the connecting plate 2 lower surface right-hand member attaching partss 10 and described being installed on the connecting plate 1 lower surface right-hand member attaching parts 9 is 90 °.
The middle part of left front connecting rod 3 is installed with a cardan wheel 29, when this walking machine distortion, four connecting rods 3,4,5,6 turn to and the parallel position of left and right sole 11,12 facies palmarises, cardan wheel 29 contacts with ground, and left front connecting rod 3 was to ground-surface vertical dimension when the height of this cardan wheel 29 turned to left and right sole 11,12 facies palmaris parallel positions greater than described left front connecting rod 3.
Shown in Fig. 3 to 12, attaching parts 7,8,9,10 is a trench structure, the bottom surface of this attaching parts is fixed together with the two ends, the left and right sides of forward and backward connecting plate 1,2 lower surfaces respectively, and symmetry offers pin-and-hole 71,81,91,101 on the two side of this attaching parts 7,8,9,10; Steering wheel 17,18,19,20 all is fixedly mounted on the upper surface two ends of left and right sole 11,12 by steering wheel frame 21,22,23,24; Steering wheel frame 21,22,23,24 is the bending side of L type, the sidewall of described L type steering wheel frame 21,22,23,24 is provided with pin-and-hole 211,221,231,241, and the bottom surface two side ends of described L type steering wheel frame 21,22,23,24 is provided with the pedestal 212,222,232,242 of downward bending and the fixed-wing 213,223,233,243 that upwards bends; Steering wheel frame 21,22,23,24 is fixed on the upper surface two ends of left and right sole 11,12 by pedestal 212,222,232,242, and steering wheel 17,18,19,20 is fixed together by fixed-wing 213,223,233,243 and steering wheel frame 21,22,23,24.
Left front connecting rod 3, left back connecting rod 4, right front connecting rod 5 and right back connecting rod 6 equal in length; The two ends up and down of described left front, left back, right front, right back connecting rod 3,4,5,6 are slotting ear structure, left front connecting rod 3 upper ends are inserted ear ear wall and are provided with pin-and-hole 30, this pin-and-hole 30 before described being installed on connecting plate 1 lower surface left end upper connector 7 two sides set pin-and-hole 71 be installed in rotation on by a bearing pin 13; The slotting ear wall that ear is inserted in left front connecting rod 3 lower ends is provided with pin-and-hole 31,32, wherein one insert pin-and-hole 31 set on the ear sidewall and slap the steering wheel axle 25 of the steering wheel 17 of 11 upper surface front ends and captive joint with the described left foot that is fixedly mounted on, set pin-and-hole 32 slaps with the described left foot that is installed in that set pin-and-hole 211 is installed in rotation on by a bearing pin on steering wheel frame 21 sidewalls of 11 upper surface front ends on another slotting ear sidewall.
Left back connecting rod 4 upper ends are inserted pin-and-hole 33 set on the ear ear wall and are installed in described that set pin-and-hole 81 is installed in rotation on by a bearing pin 14 on connecting plate 2 lower surface left end upper connectors 8 two sides, back; The slotting ear wall that ear is inserted in left back connecting rod 4 lower ends is provided with pin-and- hole 34,35, wherein one insert pin-and-hole 34 set on the ear sidewall and slap the steering wheel axle 26 of the steering wheel 18 of 11 upper surface rear ends and captive joint with the described left foot that is fixedly mounted on, set pin-and-hole 35 slaps with the described left foot that is installed in that set pin-and-hole 221 is installed in rotation on by a bearing pin on steering wheel frame 22 sidewalls of 11 upper surface rear ends on another slotting ear sidewall.
Right front connecting rod 5 upper ends insert pin-and-hole 36 set on the ear ear wall before described being installed on connecting plate 1 lower surface right-hand member upper connector 9 two sides set pin-and-hole 91 be installed in rotation on by a bearing pin 15; The slotting ear wall that ear is inserted in right front connecting rod 5 lower ends is provided with pin-and- hole 37,38, wherein one insert pin-and-hole 37 set on the ear sidewall and slap the steering wheel axle 27 of the steering wheel 19 of 12 upper surface front ends and captive joint with the described right crus of diaphragm that is fixedly mounted on, set pin-and-hole 38 slaps with the described right crus of diaphragm that is installed in that set pin-and-hole 231 is installed in rotation on by a bearing pin on steering wheel frame 23 sidewalls of 12 upper surface front ends on another slotting ear sidewall.
Right back connecting rod 6 upper ends are inserted pin-and-hole 39 set on the ear ear wall and are installed in described that set pin-and-hole 101 is installed in rotation on by a bearing pin 16 on connecting plate 2 lower surface right-hand member upper connectors 10 two sides, back; The slotting ear wall that ear is inserted in right back connecting rod 6 lower ends is provided with pin-and- hole 40,41, one inserts pin-and-hole 40 set on the ear sidewall slaps the steering wheel axle 28 of the steering wheel 20 of 12 upper surface rear ends and captives joint with the described right crus of diaphragm that is fixedly mounted on, and set pin-and-hole 41 slaps with the described right crus of diaphragm that is installed in that set pin-and-hole 241 is installed in rotation on by a bearing pin on steering wheel frame 24 sidewalls of 12 upper surface rear ends on another slotting ear sidewall.
Shown in Figure 13,14, the front end face of the right crus of diaphragm palm 12 is bent to form U type stay bearing plate 42 downwards, and aft end face is bent to form a cambered surface downwards; Left foot is slapped 11 front end faces and is bent to form U type stay bearing plate 43 downwards, the left end limit of this bending place offers a breach 44, the aft end face right part of the left foot palm 11 is bent to form U type stay bearing plate 45 downwards, and the aft end face left part is straight setting, and this left foot is slapped 11 aft end face left parts and is straight place and is provided with notch 46.
Shown in Figure 15,16, right crus of diaphragm is slapped 12 lower surface rearward end and is provided with fixedly wheel assembly, fixedly wheel assembly comprises: motor 47, motor frame 48, coupler 49 and trailing wheel 50, motor 47 is fixedly mounted on right crus of diaphragm by motor frame 48 and slaps 12 lower surface rear ends, and trailing wheel 50 is installed on the described motor 47 by coupler 49.
Left foot is slapped rear end, 11 bottom and is provided with the swing wheel assembly, the swing wheel assembly comprises: motor 51, steering wheel 52, rocking bar 53, coupler 54 and trailing wheel 55, steering wheel 52 is installed in left foot and slaps 11 aft end face left parts and be notch 46 places that straight place is provided with, and it is downward that the steering wheel axle of this steering wheel 52 is slapped 11 facies palmarises perpendicular to left foot; The front end of rocking bar 53 is equipped with motor 51, and trailing wheel 55 is installed on this motor 51 by coupler 54, the rear end of rocking bar 53 be installed in described left foot and slap the steering wheel axle of 11 aft end face left part notches, 46 place's steering wheels 52 and be fixed together; Rocking bar 53 is driven by steering wheel 52, can rotate in 0 ° to 180 ° scope of horizontal surface.
The ground plane of the U type stay bearing plate 42,43,45 of the earth point of trailing wheel 50,55 and left and right sole 11,12 is on same horizontal surface.
Shown in Fig. 1 to 17, in motion process, the upper surface of the present invention's left foot palm 11 when initial condition and the upper surface of the right crus of diaphragm palm 12 are in the same horizontal surface, the upper surface of the upper surface of preceding connecting plate 1 and back connecting plate 2 is in the same horizontal surface, four connecting rods 3,4,5,6 are all perpendicular to horizontal surface, the rocking bar 53 parallel left sides that place left foot to slap 11 lower surfaces, and the front end of rocking bar 53 is positioned at left foot and slaps the breach 44 that left end limit, the downward bending place of 11 front end faces is offered.
Because four connecting rods 3,4,5,6 respectively by lower end institute bonded assembly steering wheel 17 separately, 18,19,20 drive, can be around steering wheel 17 separately, 18,19,20 rotate in 0 ° to 180 ° scope, while four connecting rods 3,4,5,6 again can be respectively around upper end and attaching parts 7 separately, 8,9, the bearing pin of installing between 10 13,14,15,16 rotate in 0 ° to 180 ° scope, so when walking, when the right crus of diaphragm palm 12 moves forward with respect to the left foot palm 11, four connecting rods 3,4,5,6 with respect to preceding, back connecting plate 1,2 and left, the right crus of diaphragm palm 11,12 rotate along different separately rotation directions respectively; When the left foot palm 11 moves forward with respect to the right crus of diaphragm palm 12 in like manner.
Shown in Figure 18,19,20, the left foot palm 11 moves forward with respect to the right crus of diaphragm palm 12 when distortion, and preceding connecting plate 1 and back connecting plate 2 move round about, but the distance between preceding connecting plate 1 and the back connecting plate 2 is constant, and all the time in same horizontal surface; The left foot palm 11 and the right crus of diaphragm palm 12 move round about, but the distance between the left foot palm 11 and the right crus of diaphragm palm 12 is constant, and all the time in same horizontal surface; Before connecting plate 1 and back connecting plate 2 in vertical direction left sole 11 and right crus of diaphragm to slap the plane at 12 places close because rocking bar 53 is to slap 11 aft end face left part notches, 46 place's steering wheels 52 and drive by being installed in described left foot, described rocking bar 53 horizontally rotates 180 ° of expansion backward;
After being badly deformed, left front connecting rod 3, left back connecting rod 4, right front connecting rod 5 and right back connecting rod 6 all are parallel to a left side, the right crus of diaphragm palm 11,12 facies palmarises, because being installed in the height of the cardan wheel 29 on the left front connecting rod 3 turns to and a left side greater than described left front connecting rod 3, the right crus of diaphragm palm 11, left front connecting rod 3 is to ground-surface vertical dimension during 12 facies palmaris parallel positions, make left, the right crus of diaphragm palm 11,12 front end lifts, this moment a whole walking mechanism left side, the right crus of diaphragm palm 11, U type stay bearing plate 42 on 12,43,45 at cardan wheel 29 and two trailing wheels 50, built on stilts under 55 supported at three points, this two-foot walking machine folded deformation become a wheeled mobile mechanism.
As shown in figure 21, when the present invention meets obstacle in gait processes, Foldable and deformable become a wheeled mobile mechanism from obstacle below by.
In sum, embodiments of the present invention only provide a kind of deformable two-foot walking machine of the best, technology contents of the present invention and technical characterstic disclose as above, yet the personage who is familiar with this technology still may make various replacement and the modifications that do not deviate from creation spirit of the present invention based on disclosed content; Therefore, protection scope of the present invention is not limited to the technology contents that embodiment discloses, so all equivalences of doing according to shape of the present invention, structure and principle change, all is encompassed in protection scope of the present invention.
Claims (8)
1. deformable two-foot walking machine, it is characterized in that: described deformable two-foot walking machine comprises: preceding connecting plate, back connecting plate, left front connecting rod, left back connecting rod, right front connecting rod, right back connecting rod, the left foot palm, the right crus of diaphragm palm and four steering wheels; The two ends of connecting plate lower surface are provided with attaching parts before described, the upper end of described left front connecting rod is installed in rotation on by a bearing pin on the attaching parts of described preceding connecting plate lower surface left end, the axis direction of the bearing pin before described being installed on the connecting plate lower surface left end attaching parts and the longitudinal direction angle at 45 of preceding connecting plate; Steering wheel axle on the lower end of described left front connecting rod and the steering wheel is fixed together, this steering wheel is fixedly mounted on the front end on described left foot palm surface, and the axis direction of the bearing pin before the steering wheel axis direction of this steering wheel and described being installed on the connecting plate lower surface left end attaching parts is identical;
Described right front small end is installed in rotation on by a bearing pin on the attaching parts of described preceding connecting plate lower surface right-hand member, the axis direction of the bearing pin before described being installed on the connecting plate lower surface right-hand member attaching parts and the longitudinal direction angle at 45 of preceding connecting plate; Steering wheel axle on the lower end of described right front connecting rod and the steering wheel is fixed together, this steering wheel is fixedly mounted on the front end on described right crus of diaphragm palm surface, and the axis direction of the bearing pin before the steering wheel axis direction of this steering wheel and described being installed on the connecting plate lower surface right-hand member attaching parts is identical;
The two ends of described back connecting plate lower surface are provided with attaching parts, the upper end of described left back connecting rod is installed in rotation on by a bearing pin on the attaching parts of described back connecting plate lower surface left end, the described axis direction of the bearing pin on the connecting plate lower surface left end attaching parts of back and the longitudinal direction angle at 45 of back connecting plate of being installed in; Steering wheel axle on the lower end of described left back connecting rod and the steering wheel is fixed together, this steering wheel is fixedly mounted on the rear end on described left foot palm surface, and the steering wheel axis direction of this steering wheel is identical with the described axis direction that is installed in the bearing pin on the connecting plate lower surface left end attaching parts of back;
Described right back small end is installed in rotation on by a bearing pin on the attaching parts of described back connecting plate lower surface right-hand member, the described axis direction of the bearing pin on the connecting plate lower surface right-hand member attaching parts of back and the longitudinal direction angle at 45 of back connecting plate of being installed in; Steering wheel axle on the lower end of described right back connecting rod and the steering wheel is fixed together, this steering wheel is fixedly mounted on the rear end on described right crus of diaphragm palm surface, and the steering wheel axis direction of this steering wheel is identical with the described axis direction that is installed in the bearing pin on the connecting plate lower surface right-hand member attaching parts of back.
2. a kind of deformable two-foot walking machine according to claim 1, it is characterized in that: the angle between the axis direction of the bearing pin before the axis direction of the bearing pin before described being installed on the connecting plate lower surface left end attaching parts and described being installed on the connecting plate lower surface right-hand member attaching parts is 90 °, angle between the axis direction of the bearing pin after the axis direction of the bearing pin before described being installed on the connecting plate lower surface left end attaching parts and described being installed on the connecting plate lower surface left end attaching parts is 90 °, and the angle between the axis direction of the bearing pin after the axis direction of the bearing pin after described being installed on the connecting plate lower surface left end attaching parts and described being installed on the connecting plate lower surface right-hand member attaching parts is 90 °; Angle between the axis direction of the bearing pin before the axis direction of the bearing pin after described being installed on the connecting plate lower surface right-hand member attaching parts and described being installed on the connecting plate lower surface right-hand member attaching parts is 90 °.
3. a kind of deformable two-foot walking machine according to claim 2, it is characterized in that: described attaching parts is a trench structure, the bottom surface of this attaching parts is fixed together with the two ends, the left and right sides of forward and backward connecting plate lower surface respectively, and symmetry offers pin-and-hole on the two side of this attaching parts;
Described steering wheel all is fixedly mounted on the upper surface two ends of left and right sole by the steering wheel frame; Described steering wheel frame is the bending side of L type, and the sidewall of described L type steering wheel frame is provided with pin-and-hole, and the bottom surface two side ends of described L type steering wheel frame is provided with the pedestal of downward bending and the fixed-wing that upwards bends; Described steering wheel frame is fixed on the upper surface two ends of left and right sole by pedestal, and described steering wheel is fixed together by fixed-wing and steering wheel frame;
Described two ends up and down left front, left back, right front, right back connecting rod are slotting ear structure, and the ear wall of described slotting ear is provided with pin-and-hole;
Described left front small end insert pin-and-hole set on the ear ear wall before described being installed on the connecting plate lower surface left end upper connector two side set pin-and-hole be installed in rotation on by a bearing pin; Described left front connecting rod lower end one is inserted pin-and-hole set on the ear sidewall and is captiveed joint with the described steering wheel axle that is fixedly mounted on the steering wheel of left foot palm surface front end, and set pin-and-hole set pin-and-hole on the described steering wheel frame sidewall that is installed in the surperficial front end of left foot palm is installed in rotation on by a bearing pin on another slotting ear sidewall;
Described left back small end is inserted pin-and-hole set on the ear ear wall and is installed in described that set pin-and-hole is installed in rotation on by a bearing pin on the connecting plate lower surface left end upper connector two side, back; Described left back connecting rod lower end one is inserted pin-and-hole set on the ear sidewall and is captiveed joint with the described steering wheel axle that is fixedly mounted on the steering wheel of rear end, left foot palm surface, and set pin-and-hole set pin-and-hole on the described steering wheel frame sidewall that is installed in the surperficial rear end of left foot palm is installed in rotation on by a bearing pin on another slotting ear sidewall;
Described right front small end insert pin-and-hole set on the ear ear wall before described being installed on the connecting plate lower surface right-hand member upper connector two side set pin-and-hole be installed in rotation on by a bearing pin; Described right front connecting rod lower end one is inserted pin-and-hole set on the ear sidewall and is captiveed joint with the described steering wheel axle that is fixedly mounted on the steering wheel of right crus of diaphragm palm surface front end, and set pin-and-hole set pin-and-hole on the described steering wheel frame sidewall that is installed in the surperficial front end of right crus of diaphragm palm is installed in rotation on by a bearing pin on another slotting ear sidewall;
Described right back small end is inserted pin-and-hole set on the ear ear wall and is installed in described that set pin-and-hole is installed in rotation on by a bearing pin on the connecting plate lower surface right-hand member upper connector two side, back; Described right back connecting rod lower end one is inserted pin-and-hole set on the ear sidewall and is captiveed joint with the described steering wheel axle that is fixedly mounted on the steering wheel of rear end, right crus of diaphragm palm surface, and set pin-and-hole set pin-and-hole on the described steering wheel frame sidewall that is installed in the surperficial rear end of right crus of diaphragm palm is installed in rotation on by a bearing pin on another slotting ear sidewall.
4. according to claim 1,2 or 3 described a kind of deformable two-foot walking machines, it is characterized in that: described left front connecting rod, left back connecting rod, right front connecting rod and right back length of connecting rod equate; Described forward and backward connecting plate is parallel to each other, and the upper surface of described forward and backward connecting plate is in the same horizontal surface; Described left and right sole is parallel to each other, and the upper surface of described left and right sole is in the same horizontal surface.
5. a kind of deformable two-foot walking machine according to claim 4 is characterized in that: the front end face of the described right crus of diaphragm palm is bent to form U type stay bearing plate downwards, and aft end face is bent to form a cambered surface downwards; Described left foot palm front end face is bent to form U type stay bearing plate downwards, the left end limit of this bending place offers a breach, the aft end face right part of the described left foot palm is bent to form U type stay bearing plate downwards, and the aft end face left part is straight setting, and this left foot palm aft end face left part is straight place and is provided with a notch.
6. a kind of deformable two-foot walking machine according to claim 5 is characterized in that: the middle part of described left front connecting rod is installed with a cardan wheel.
7. a kind of deformable two-foot walking machine according to claim 6, it is characterized in that: described right crus of diaphragm palm lower surface rearward end is provided with fixedly wheel assembly, described fixedly wheel assembly comprises: motor, motor frame, coupler and trailing wheel, described motor is fixedly mounted on right crus of diaphragm palm lower surface rear end by the motor frame, and described trailing wheel is installed on the described motor by coupler;
Rear end, described left foot palm bottom is provided with the swing wheel assembly, described swing wheel assembly comprises: motor, steering wheel, rocking bar, coupler and trailing wheel, described steering wheel is installed in described left foot palm aft end face left part and is the notch place that straight place is provided with, and the steering wheel axle of this steering wheel is downward perpendicular to left foot palm facies palmaris; The front end of described rocking bar is equipped with motor, and described trailing wheel is installed on this motor by coupler, and the rear end of described rocking bar is fixed together with the steering wheel axle that is installed in described left foot palm aft end face left part steering wheel.
8. a kind of deformable two-foot walking machine according to claim 7 is characterized in that: the ground plane of the U type stay bearing plate of the earth point of described trailing wheel and left and right sole is on same horizontal surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101561433A CN101830252B (en) | 2010-04-21 | 2010-04-21 | Deformable two-foot walking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101561433A CN101830252B (en) | 2010-04-21 | 2010-04-21 | Deformable two-foot walking machine |
Publications (2)
| Publication Number | Publication Date |
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| CN101830252A true CN101830252A (en) | 2010-09-15 |
| CN101830252B CN101830252B (en) | 2011-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101561433A Expired - Fee Related CN101830252B (en) | 2010-04-21 | 2010-04-21 | Deformable two-foot walking machine |
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| CN (1) | CN101830252B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973027A (en) * | 2010-09-27 | 2011-02-16 | 韩方元 | Method for connecting parallel connection walking robots and parallel connection walking robot thereof |
| CN103204192A (en) * | 2013-03-19 | 2013-07-17 | 北京交通大学 | Two-foot walking mechanism |
| CN103204194A (en) * | 2013-04-09 | 2013-07-17 | 北京交通大学 | Four-foot crawling robot simulating infants |
| CN111580675A (en) * | 2020-05-20 | 2020-08-25 | 徐航 | Method for multi-azimuth footstep dynamic data in-situ acquisition |
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| JPS59179463A (en) * | 1983-03-30 | 1984-10-12 | Agency Of Ind Science & Technol | Four-leg walking machine |
| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| JPS6447686A (en) * | 1987-08-15 | 1989-02-22 | Agency Ind Science Techn | Walking machine |
| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| CN201343082Y (en) * | 2008-12-26 | 2009-11-11 | 上海师范大学 | Running mechanism of four-legged walking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| JPS59179463A (en) * | 1983-03-30 | 1984-10-12 | Agency Of Ind Science & Technol | Four-leg walking machine |
| JPS6447686A (en) * | 1987-08-15 | 1989-02-22 | Agency Ind Science Techn | Walking machine |
| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| CN201343082Y (en) * | 2008-12-26 | 2009-11-11 | 上海师范大学 | Running mechanism of four-legged walking robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973027A (en) * | 2010-09-27 | 2011-02-16 | 韩方元 | Method for connecting parallel connection walking robots and parallel connection walking robot thereof |
| CN101973027B (en) * | 2010-09-27 | 2012-08-29 | 韩方元 | Method for connecting parallel connection walking robots and parallel connection walking robot thereof |
| CN103204192A (en) * | 2013-03-19 | 2013-07-17 | 北京交通大学 | Two-foot walking mechanism |
| CN103204192B (en) * | 2013-03-19 | 2015-08-26 | 北京交通大学 | A kind of two-foot moving mechanism |
| CN103204194A (en) * | 2013-04-09 | 2013-07-17 | 北京交通大学 | Four-foot crawling robot simulating infants |
| CN103204194B (en) * | 2013-04-09 | 2015-09-23 | 北京交通大学 | Imitative baby's Four-feet creeping robot |
| CN111580675A (en) * | 2020-05-20 | 2020-08-25 | 徐航 | Method for multi-azimuth footstep dynamic data in-situ acquisition |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101830252B (en) | 2011-08-17 |
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