CN103273984A - Quadruped-imitating stair-climbing robot - Google Patents
Quadruped-imitating stair-climbing robot Download PDFInfo
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- CN103273984A CN103273984A CN2013102439502A CN201310243950A CN103273984A CN 103273984 A CN103273984 A CN 103273984A CN 2013102439502 A CN2013102439502 A CN 2013102439502A CN 201310243950 A CN201310243950 A CN 201310243950A CN 103273984 A CN103273984 A CN 103273984A
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Abstract
The invention discloses a quadruped-imitating stair-climbing robot which comprises a loading plate and four parallel connection leg mechanisms connected with the loading plate and having the same structure. Two leg mechanisms parallel in a right-and-left mode are located below the front of the loading plate, and other two leg mechanisms parallel in a right-and-left mode are located below the back of the loading plate. Every leg mechanism comprises a machine frame and two coplanar branched chains. The machine frames are hinged to the loading plate, every branched chain comprises a driving rod and a driven rod, one end of every driving rod is connected with a rotating driving device, the other end of the driving rod is hinged to one end of the driven rod, and the rotating driving devices are installed on the machine frames. The other ends of two driven rods in the leg mechanisms are hinged to each other, and the machine frames and the branched chains form a planar five-rod mechanism. Legs of the quadruped-imitating stair-climbing robot are of a parallel connection structure, so that the leg mechanisms have greater rigidity in space, and higher movement speed and acceleration of the leg mechanisms can be achieved.
Description
Technical field
The invention belongs to polypody climbing robot technical field, be specifically related to a kind of imitative quadruped stair climbing robot.
Background technology
People often will bring up to stair to weight in daily life and production, and traditional method is to finish by the manpower transport substantially.But overweight or when being short of hands, carrying just can't be successful when weight, so people have invented the multiple building device of climbing and have overcome this difficult problem, guarantee personal safety, and improve work situation, raise labour productivity.Divide by principle, these devices mainly are divided into wheels formula, crawler type and legged.
Stationarity was not high when the wheels formula was climbed building device stair activity, the center of gravity big rise and fall, and device volume is bigger, is difficult on the ordinary residence stair to use.Crawler type climbs that the building installation weight is big, the motion underaction, cause huge pressure at the stair edge when climbing the building, and stair are had certain damage, and the level land uses suffered resistance bigger, and these problems have limited its promoting the use of in daily life.Compare the legged action that building device imitation animal creeps of climbing with preceding two kinds, can be considered the polypody climbing robot, adopts many pedipulators to replace the principle that the building is climbed in lifting, supporting chair, barycentre steadiness when climbing the building, motion flexibly, the stair of suitable different size.Therefore, the polypody climbing robot can replace the wheels formula, caterpillar type robot is finished multiple transportation, surveyed operation.
The existing general modular design of polypody climbing robot comprises the biped anthropomorphic robot, quadruped robot and six biped robots, and foot structure mostly is cascaded structure.Quadruped robot steady stability performance is better than two foots greatly, and the redundancy of mechanism is simpler than six foots and eight foots with the control complexity.And parallel-connection structure has no accumulated error than cascaded structure, precision is higher, advantage such as compact conformation, rigidity height, load-carrying capacity are big.
Summary of the invention
The present invention provides a kind of parallel institution that adopts as the imitative quadruped stair climbing robot of shank for solving the technical matters that exists in the known technology.
The technical scheme that the present invention takes for the technical matters that exists in the solution known technology is: a kind of imitative quadruped stair climbing robot, comprise the shank in parallel mechanism that support board is identical with connected four structures, the parallel described shank mechanism in two left and right sides is positioned at the front lower place of described support board, and the parallel described shank mechanism in two left and right sides is positioned at the back lower place of described support board;
Each described shank mechanism comprises a frame and two copline side chains, described frame and described support board are hinged, every described side chain comprises a drive spindle and a follower lever, one end of described drive spindle is connected with rotating driving device, one end of the other end of described drive spindle and described follower lever is hinged, and described rotating driving device is installed on the described frame; The other end of in-house two the described follower levers of this shank is hinged, and described frame and two described side chains formation planar five-bar mechanisms.
Described support board is horizontally disposed flat board.
Advantage and good effect that the present invention has are: the robot shank adopts parallel-connection structure, makes it have bigger rigidity in the space, makes this mechanism can realize higher kinematic velocity and acceleration/accel.And the kinematic pair among the present invention all is that turning joint connects, and simple in structure, cost is low, and mode of motion is clear and definite.The biped anthropomorphic robot that compares has better compatible with environment and stability, and load-carrying capacity is higher, can replace the people to finish the work in the upper and lower building that transports goods, and improves work situation, raises labour productivity.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of shank mechanism among the present invention.
Among the figure: 1. support board, 2. frame, 3. drive spindle, 4. turning joint, 5. follower lever.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
See also Fig. 1～Fig. 2, a kind of imitative quadruped stair climbing robot, comprise the shank in parallel mechanism that support board 1 is identical with connected four structures, the parallel described shank mechanism in two left and right sides is positioned at the front lower place of described support board, and the parallel described shank mechanism in two left and right sides is positioned at the back lower place of described support board; Each described shank mechanism comprises a frame 2 and two copline side chains, described frame 2 and described support board 1 are connected by turning joint, every described side chain comprises a drive spindle 3 and a follower lever 5, one end of described drive spindle 3 is connected with rotating driving device, the other end of described drive spindle 3 is connected by turning joint 4 with an end of described follower lever 5, and described rotating driving device is installed on the described frame 2; The other end of in-house two the described follower levers 5 of each described shank is hinged, and described frame 2 and two described side chains formation planar five-bar mechanisms.
In the present embodiment, described support board 1 is horizontally disposed flat board.
In the present invention, frame 2 is connected the rotation that can realize shank mechanism with support board 1 by turning joint.In each shank mechanism, two rotating driving devices that are installed on the frame 2 drive 3 motions of two drive spindles, and then drive follower lever 5 motions, thereby realize the two-freedom translation of follower lever end.The rotation of frame 2 adds the two-freedom translation of shank end, just can realize creeping and handling maneuver of robot, finishes the work in the upper and lower building that transports goods.Support board 1 has only motion of translation in motion process, so the plate face can remain level.
Although by reference to the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.
Claims (2)
1. imitative quadruped stair climbing robot, it is characterized in that, comprise the shank in parallel mechanism that support board is identical with connected four structures, the parallel described shank mechanism in two left and right sides is positioned at the front lower place of described support board, and the parallel described shank mechanism in two left and right sides is positioned at the back lower place of described support board;
Each described shank mechanism comprises a frame and two copline side chains, described frame and described support board are hinged, every described side chain comprises a drive spindle and a follower lever, one end of described drive spindle is connected with rotating driving device, one end of the other end of described drive spindle and described follower lever is hinged, and described rotating driving device is installed on the described frame; The other end of in-house two the described follower levers of this shank is hinged, and described frame and two described side chains formation planar five-bar mechanisms.
2. imitative quadruped stair climbing robot according to claim 1 is characterized in that, described support board is horizontally disposed flat board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2013102439502A CN103273984A (en) | 2013-06-18 | 2013-06-18 | Quadruped-imitating stair-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013102439502A CN103273984A (en) | 2013-06-18 | 2013-06-18 | Quadruped-imitating stair-climbing robot |
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| CN103273984A true CN103273984A (en) | 2013-09-04 |
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| CN2013102439502A Pending CN103273984A (en) | 2013-06-18 | 2013-06-18 | Quadruped-imitating stair-climbing robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760630A (en) * | 2015-04-29 | 2015-07-08 | 佛山轻子精密测控技术有限公司 | People gait simulation stair-climbing robot |
| CN106181959A (en) * | 2016-08-24 | 2016-12-07 | 黄仕 | A kind of carrier robot |
| CN107010133A (en) * | 2017-04-19 | 2017-08-04 | 应夏英 | A kind of robot of town road with buffer unit |
| CN107054495A (en) * | 2017-04-19 | 2017-08-18 | 林建民 | A kind of town road robot |
| CN107097204A (en) * | 2017-06-26 | 2017-08-29 | 王传银 | Solar-energy machine people is used in a kind of architectural engineering |
| CN107244362A (en) * | 2017-06-26 | 2017-10-13 | 柳良红 | One kind building municipal administration multi-function robot |
| CN107298138A (en) * | 2017-07-25 | 2017-10-27 | 仲松梅 | One kind building town road robot |
| CN108725625A (en) * | 2018-06-14 | 2018-11-02 | 武汉智伴科技有限公司 | Climb building obstacle detouring transport power carrier, control method, mobile terminal and storage medium |
| CN109747729A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
| CN110091936A (en) * | 2019-05-21 | 2019-08-06 | 南华大学 | Quadruped robot and gait control method based on five-bar mechanism |
| US11123869B2 (en) | 2019-04-12 | 2021-09-21 | Boston Dynamics, Inc. | Robotically negotiating stairs |
| US11599128B2 (en) | 2020-04-22 | 2023-03-07 | Boston Dynamics, Inc. | Perception and fitting for a stair tracker |
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| CN101746431A (en) * | 2010-02-03 | 2010-06-23 | 常爱军 | Four-foot walking robot through rigidly transmitting driving power by internal-combustion engine |
| CN102390460A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Twelve-degree-of-freedom four-footed walker with hybrid leg structure |
| CN102390458A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Hydraulic driving four-footed robot with space hybrid leg structure |
| CN102514648A (en) * | 2011-12-09 | 2012-06-27 | 上海交通大学 | Four-leg walking robot with isotropic series-parallel legs |
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| CN101746431A (en) * | 2010-02-03 | 2010-06-23 | 常爱军 | Four-foot walking robot through rigidly transmitting driving power by internal-combustion engine |
| CN102390460A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Twelve-degree-of-freedom four-footed walker with hybrid leg structure |
| CN102390458A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Hydraulic driving four-footed robot with space hybrid leg structure |
| CN102514648A (en) * | 2011-12-09 | 2012-06-27 | 上海交通大学 | Four-leg walking robot with isotropic series-parallel legs |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760630A (en) * | 2015-04-29 | 2015-07-08 | 佛山轻子精密测控技术有限公司 | People gait simulation stair-climbing robot |
| CN106181959B (en) * | 2016-08-24 | 2018-06-29 | 黄仕 | A kind of carrier robot |
| CN106181959A (en) * | 2016-08-24 | 2016-12-07 | 黄仕 | A kind of carrier robot |
| CN107010133A (en) * | 2017-04-19 | 2017-08-04 | 应夏英 | A kind of robot of town road with buffer unit |
| CN107054495A (en) * | 2017-04-19 | 2017-08-18 | 林建民 | A kind of town road robot |
| CN107054495B (en) * | 2017-04-19 | 2019-01-22 | 林总良 | A kind of town road robot |
| CN107097204B (en) * | 2017-06-26 | 2021-07-30 | 济南临港建设集团有限公司 | Solar robot for building engineering |
| CN107244362A (en) * | 2017-06-26 | 2017-10-13 | 柳良红 | One kind building municipal administration multi-function robot |
| CN107097204A (en) * | 2017-06-26 | 2017-08-29 | 王传银 | Solar-energy machine people is used in a kind of architectural engineering |
| CN107298138A (en) * | 2017-07-25 | 2017-10-27 | 仲松梅 | One kind building town road robot |
| CN109747729A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
| CN108725625A (en) * | 2018-06-14 | 2018-11-02 | 武汉智伴科技有限公司 | Climb building obstacle detouring transport power carrier, control method, mobile terminal and storage medium |
| US11123869B2 (en) | 2019-04-12 | 2021-09-21 | Boston Dynamics, Inc. | Robotically negotiating stairs |
| US11548151B2 (en) | 2019-04-12 | 2023-01-10 | Boston Dynamics, Inc. | Robotically negotiating stairs |
| US11660752B2 (en) | 2019-04-12 | 2023-05-30 | Boston Dynamics, Inc. | Perception and fitting for a stair tracker |
| CN110091936A (en) * | 2019-05-21 | 2019-08-06 | 南华大学 | Quadruped robot and gait control method based on five-bar mechanism |
| CN110091936B (en) * | 2019-05-21 | 2023-05-05 | 南华大学 | Four-foot robot based on five-bar mechanism and gait control method |
| US11599128B2 (en) | 2020-04-22 | 2023-03-07 | Boston Dynamics, Inc. | Perception and fitting for a stair tracker |
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Application publication date: 20130904 |