CN104029786A - Robot walking through four feet - Google Patents
Robot walking through four feet Download PDFInfo
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- CN104029786A CN104029786A CN201410214222.3A CN201410214222A CN104029786A CN 104029786 A CN104029786 A CN 104029786A CN 201410214222 A CN201410214222 A CN 201410214222A CN 104029786 A CN104029786 A CN 104029786A
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Abstract
A robot walking through four feet is driven by human power and comprises a robot frame, a transmission mechanism, a leg connecting rod mechanism and auxiliary accessories. The transmission mechanism comprises a drive module and a transmission module, the transmission module comprises a front chain transmission mechanism, a rear chain transmission mechanism and variable-transmission-ratio gears, long curved tooth profiles corresponding to a driving gear and a driven gear of the variable-transmission-ratio gears respectively are matched in shape, and the large-radius part of the driving gear and the small-radius part of the driven gear comprise rods, a first four-bar mechanism, a second four-bar mechanism, frame rods and a foot one-way rotation module. According to the robot, the four-foot moving mode simulating a horse is achieved, the variable-transmission-ratio gears enable the whole robot to be at a slow tread state with three feet landing when the robot walks, and moving stability and operator safety are greatly improved.
Description
Technical field
The invention belongs to Robotics field, relate to a kind of four-footed walking robot.
Background technology
Along with the development of Robotics, the application of walking robot is more and more wider.From actual viewpoint, walking movement truly has the incomparable distinctive feature of wheel machine.It utilizes isolated ground supports instead of the required continuous ground supports of wheel machine; Can be in uneven region with stationary mode walking or evade obstacle with cordless; Can omnibearing movable and harmless ground; The available mode of striding is crossed over rough earth etc.
But prior art and scheme are difficult to by simple, single propulsion source (as manpower or motor) driving four-footed walking robot, the pulsation-free athletic posture that has at least three legs to land while ensureing motion simultaneously.
In other field, do not occur that pair of engaged gears can realize the motion of two sections of fixed drive ratio in a gear motion cycle yet.
Summary of the invention
The object of the invention is to the deficiency existing for prior art, the four-footed walking robot that provides a kind of energy to drive by manpower or simple rotation propulsion source.In transmission device, designed a kind of special-shaped variable gear, kept long definite values thereby make transmitting ratio can realize two in an orbit period, while having realized in an orbit period less touch with the ground, motion is fast, while landing, motion slowly, is landed thereby be carved with three legs while realization.In addition, the present invention has invented a kind of specific structure and ratio in leg link mechanism, thereby has realized by the motion morphology of bar group motion biomimetics horse class walking.Adopt free-wheel clutch or ratchet by foot, while having solved robot ambulation owing to landing the inconsistent interference problem of each pin horizontal velocity.
In order to realize foregoing invention object, the present invention adopts following technical proposals:
A kind of manually driven four-footed walking robot, is characterized in that, physical construction comprises robot frame 1, transmission device 3, leg link mechanism 2 and accessory.
Described robot frame 1 is a plane frame structure as support, and its plane central authorities are linked to transmission device 3 by central vertical beam 19 again.
Described transmission device 3 comprises driver module 31 and transmission module, and described transmission module comprises: front chain drive 33, rear chain transmission device 34 and variable ratio gear 35,36,37,38,310,39,312 and 311; Described driver module 31 is connected in robot frame 1 below, driver module is fixed on the drive sprocket of front chain drive 33 and rear chain transmission device 34, and the drive sprocket of front chain drive 33 and rear chain transmission device 34 is connected respectively by chain two driven sprockets that lay respectively at its frame front and rear portion again; Chain drive 33 and coaxially two groups of variable ratio gears in front and back of rear chain transmission device 34 difference before these two groups.The each two groups of variable ratio gears in described front and back: with anterior driven sprocket coaxially at left and right directions be connected two variable ratio driving gears 35 and variable ratio driving gear 37; With rear portion driven sprocket coaxially at left and right directions be connected two variable ratio driving gears 310 and variable ratio driving gear 312; The anchor shaft of each variable ratio driven gear 36, variable ratio driven gear 38, variable ratio driven gear 39, variable ratio driven gear 311 is connected with the driving link in leg link module 2 respectively
.
Every group of variable ratio gear (being special-shaped variable gear) structural characterization is: driving gear is non-circular gear, its nodel line is made up of the small-radius arc 3101 of 3102 and 270 ° of 90 ° of large radius arcs, passes through long curvilinear tooth profile 3103 and 3104 transition between two kinds of sizes; Driven gear is the conjugate tooth of driving gear, and its nodel line is made up of the large radius arc 391 of 392 and 270 ° of 90 ° of small-radius arcs, passes through long curvilinear tooth profile 393 and 394 transition between two kinds of sizes.The shape of driving gear, the each self-corresponding long curvilinear tooth profile of driven gear cooperatively interacts, more than half path portion of driving gear engages with the minor radius part of driven gear, the minor radius part of driving gear engages with more than half path portion of driven gear, and running also can engage and transit to the other size part of gear to long curvilinear tooth profile separately.
Described leg link mechanism 2 comprises bar 21, the first four-bar mechanism, the second four-bar mechanism, frame bars 29 and foot unidirectional rotation module 4 from top to bottom; Power is inputted the first four-bar mechanism by rotation by bar 21; Frame bars 29 and the second four-bar mechanism are connected; Frame bars connects unidirectional rotation module 4 29 times; The movable end of bar 21 and axle thereof are fixing by bearing seat and robot frame 1, drive the first four-bar mechanism motion by the rotation of bar 21, then drive the second four-bar mechanism motion, therefore frame bars 29 is identical with the frame bars of the relative low level of level of the set with it in the second four-bar mechanism with unidirectional rotation module 4 mode of motion, finally forms frame bars 29 robot frame 1 relative to unidirectional rotation module 4 and planar does the motion of class elliptic curve.Stuck when unidirectional rotation module 4 is moved backward, while travelling forward, roll.
Described accessory comprises seat 51 and handrail 52, and seat 51 is installed on frame 1 top to the rear, and handrail 52 is installed on the forward top of frame 1.
In the time adopting manpower to drive, described driver module 31 also comprises pair of pedals and one group of external meshing tooth 32, external meshing tooth 32 is set and plays commutation effect, and when robot is advanced, the foot-operated similar working direction by bike of direction, is used hommization.Be connected in the driving wheel of one group of external meshing tooth 32 by pedal shaft, the flower wheel of described external meshing tooth 32 is coaxially fixed on respectively the drive sprocket of front chain drive 33 and rear chain transmission device 34.Based on technique scheme, the present invention has following beneficial effect with respect to prior art:
1, realized the four-footed mode of motion of bionical horse by simple physical construction and type of drive, the transmitting ratio during without computer control and without manual regulation horse leg motion midway.
2, by invention and the application of variable ratio gear, while making whole robot ambulation, present the gait of being careful that tripodia lands, greatly improve the stationarity of motion and operator's safety.
3, inconsistent and the dyskinesia that causes or stuck problem of tiptoe horizontal direction speed when one-way wheel module has solved four-footed walking, makes level and smooth, the laborsaving and noiselessness of robot motion.
4, the present invention is simple and light, and processing and fabricating is convenient, and cost is also lower.
Brief description of the drawings
Fig. 1 is provided by the invention with manually driven robot integral structure schematic diagram.
Fig. 2 is robot rack construction schematic diagram in Fig. 1.
Fig. 3 is robot transmission system architecture schematic diagram in Fig. 1.
Fig. 4 is special variable ratio gear modular construction schematic diagram in Fig. 3.
Fig. 5 is robot leg link module and foot unidirectional rotation modular construction schematic diagram in Fig. 1.
Fig. 6 is the left planar view of Fig. 5.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
as shown in Figure 1, be a kind of with manually driven four-footed walking robot (hereinafter to be referred as robot), physical construction comprises robot frame 1, transmission device 3, leg link mechanism 2 and accessory.Described accessory comprises seat 51 and handrail 52, and seat 51 is installed on frame 1 top to the rear, and handrail 52 is installed on the forward top of frame 1, and seat 51, handrail 52 all belong to prior art.
as shown in Figure 2,described robot frame 1 is a plane frame structure as support, and its plane central authorities are linked to transmission device 3 by central vertical beam 19 again.
The present embodiment is actual, and what adopt is aluminium alloy extrusions, and in T-shaped groove insertion groove bar, is then held out against and formed by screw.Specifically, described robot frame 1 comprises yoke 11, yoke 13, beam 12, beam 14, beam 15, beam 16, beam 17, beam 18, central authorities' longeron 19 and central vertical beam 110, their annexation is: yoke 11, arm 12, yoke 13, arm 15, arm 16, arm 18 is held out against and is connected into planar structure by outer corner fittings bolt, yoke 11 and arm 17 are by inserting T-shaped Kong Zhonghou groove bar, hold out against connection with screw, arm 17 and arm 18 are fixed by screw in long spiro nail on arm 18, arm 14 is identical with the relevant connection mode of arm 17 with the connection mode of yoke 13 and arm 18, rear structure and front structure full symmetric, connection mode is identical, in the middle of two parts framed structure of front and back, connect central longeron 19 by long spiro nail fixed form, central authorities' longeron is fixed central vertical beam 110 by long spiro nail fixed form 19 times.
Described transmission device 3 comprises driver module 31 and transmission module, and described transmission module comprises: front chain drive 33, rear chain transmission device 34 and variable ratio gear 35,36,37,38,310,39,312 and 311; Described driver module 31 is connected in robot frame 1 below, driver module is fixed on the drive sprocket of front chain drive 33 and rear chain transmission device 34, and the drive sprocket of front chain drive 33 and rear chain transmission device 34 is connected respectively by chain two driven sprockets that lay respectively at its frame front and rear portion again; Chain drive 33 and coaxially two groups of variable ratio gears in front and back of rear chain transmission device 34 difference before these two groups.
The each two groups of variable ratio gears in described front and back:
With anterior driven sprocket coaxially at left and right directions be connected two variable ratio driving gears 35 and variable ratio driving gear 37;
With rear portion driven sprocket coaxially at left and right directions be connected two variable ratio driving gears 310 and variable ratio driving gear 312;
The anchor shaft of each variable ratio driven gear 36, variable ratio driven gear 38, variable ratio driven gear 39, variable ratio driven gear 311 is connected with driving link (being to be bar 21 in Fig. 5, Fig. 6) axis hole in leg link module 2 respectively,
realize thus being connected between transmission device 3 and leg link mechanism 2.
Every group of variable ratio gear is considered as variable ratio gear module, taking the variable ratio gear module of variable ratio driving gear and variable ratio driven gear composition as example:
as shown in Figure 4,driving gear is non-circular gear, and its nodel line is made up of the small-radius arc 3101 of approximately 90 ° of large radius arcs 3102 and approximately 270 °, between two kinds of sizes by long curvilinear tooth profile 3103 and 3104 transition; Driven gear is the conjugate tooth of driving gear, and its nodel line is made up of the large radius arc 391 of approximately 90 ° of small-radius arcs 392 and approximately 270 °, between two kinds of sizes by long curvilinear tooth profile 393 and 394 transition; The shape of driving gear, the each self-corresponding long curvilinear tooth profile of driven gear cooperatively interacts.
More than half path portion of driving gear engages with the minor radius part of driven gear, and the minor radius part of driving gear engages with more than half path portion of driven gear, and running also can engage and transit to the other size part of gear to long curvilinear tooth profile separately.In the time of the engagement of this section of junction curve, can be because gear reversion suddenly cause engagement to throw off, thus make one group of variable ratio gear module can all perfect engagements in rotating situation, and de-tooth does not occur or kill phenomenon.
as shown in Figure 3,described driver module adopts pedal drive pattern in the present embodiment, in the time adopting manpower to drive, described driver module 31 also comprises pair of pedals and one group of external meshing tooth 32, external meshing tooth 32 is set and plays commutation effect, when robot is advanced, the foot-operated similar working direction by bike of direction, is used hommization.Be connected in the driving wheel of one group of external meshing tooth 32 by pedal shaft, the flower wheel of described external meshing tooth 32 is coaxially fixed on respectively the drive sprocket of front chain drive 33 and rear chain transmission device 34.
as shown in Figure 5, Figure 6,described leg link mechanism 2 comprises bar 21, the first four-bar mechanism, the second four-bar mechanism, frame bars 29 and foot unidirectional rotation module 4 from top to bottom; Power is inputted the first four-bar mechanism by rotation by bar 21; Frame bars 29 and the second four-bar mechanism are connected; Frame bars connects unidirectional rotation module 4 29 times; .Its mode of motion is: the movable end (as Fig. 5, Fig. 6) of bar 21 and axle thereof are fixing by bearing seat and robot frame 1, drive the first four-bar mechanism motion by the rotation of bar 21, then drive the second four-bar mechanism motion, frame bars 29 for example, is connected with the horizontal pane hack lever (frame bars 24) of the relative low level in the second four-bar mechanism, therefore frame bars 29 is identical with frame bars 24 with unidirectional rotation module 4 mode of motion, finally forms frame bars 29 robot frame 1 relative to unidirectional rotation module 4 and in the perpendicular of left view shown in Fig. 6, does the motion of class elliptic curve.Stuck when unidirectional rotation module 4 is moved backward, while travelling forward, roll.When four-footed tiptoe horizontal velocity is inconsistent, pass through unidirectional rotating wheel auto-compensation.Unidirectional rotation module 4 comprises the functional module of utilizing the structure such as free-wheel clutch, single direction ratchet to realize, for realizing the inconsistent auto-compensation of foot horizontal motion speed.
When concrete enforcement, in order to consider to improve the stability of structure, the thickness of the first four-bar mechanism, the second four-bar mechanism is carried out widening, has strengthened processing, specifically implemented:
Described the first four-bar mechanism comprises bar 22, bar 27, bar 25, frame bars 26, and they are in turn connected into four-bar mechanism; Bar 21 is hinged by a minor axis with bar 22 and bar 25, by the rotation of bar 21, power is inputted to the first four-bar mechanism.Described the second four-bar mechanism comprises bar 28, frame bars 23, frame bars 24 and frame bars 26, and they are in turn connected into four-bar mechanism.Described frame bars 23 is two identical bars, and centre adds the framed structure that stirrup is welded, and its object is to improve the width of leg, improves the stability of structure, its for movement relation between mode of motion and bar without impact; Described frame bars 26 is two identical bars, centre adds the framed structure that stirrup is welded, and on the stirrup of correspondence position, add an anchor bearing bearing, for being connected with bar 25, its object is to improve the width of leg, improve the stability of structure, its for movement relation between mode of motion and bar without impact; Described frame bars 24 is two identical bars, and central authorities add the framed structure that a stirrup is welded, and its object is to improve the width of leg, improves the stability of structure, its for movement relation between mode of motion and bar without impact.
Described frame bars 29 upper ends and frame bars 24 welding are connected.
Described bar 27, bar 215, bar 216 weld and be connected is a triangle part, and bar 215 is parallel with bar 210 with bar 28.
Axle 212 is successively through bar 28, frame bars 23, bar 215, frame bars 23, bar 210.
Axle 211 is successively through bar 28, frame bars 26, bar 215, frame bars 26, bar 210.
Axle 213 is successively through frame bars 24, frame bars 23, frame bars 23, frame bars 24.Axle 214 is successively through frame bars 24, frame bars 23, frame bars 23, frame bars 24.(axle 214 is corresponding with axle 213; Axle 212 is corresponding with axle 211)
Between frame 1 and leg link mechanism 2, be connected specific implementation: at the yoke 11 of frame 1 with fix respectively two bearing seats separated by a distance above yoke 13, for fixed leg connecting rod mechanism 2 king-rods 28, bar 15 and the shared axle 211 of bar 10.The movable end (as Fig. 5, Fig. 6) of bar 21 and axle 211 are fixing by bearing seat and robot frame 1.
between frame 1 and transmission device 3, be connected specific implementation:
Below the beam 14 of frame 1 and beam 17, fix respectively a connecting shaft bearing, below beam 15 and beam 16, fix respectively two bearing seats, for fixing variable ratio gear width between centers, and anchor shaft 313 and the axle of its variable ratio gear 36 below and the axle of variable ratio gear 38;
Fix on the lower two bearing seats above at central vertical beam 110, the pedal shaft in driver module 31 is installed, this axle connects the driving wheel of one group of external meshing tooth 32;
Fix two bearing seats central vertical beam 110 is top above, external meshing tooth 32 second stage gears be installed, and with the axle of coaxial two minor sprockets that are connected of this axle;
With coaxial two minor sprockets that are connected of one group of external meshing tooth, 32 second stage external meshing tooths, connect former and later two hinge wheels by two chains respectively, form former and later two chain transmission modules 33 and chain transmission module 34.
being connected between transmission device 3 and leg link mechanism 2, specific implementation:the anchor shaft of variable ratio driven gear 36, variable ratio driven gear 38, variable ratio driven gear 39, variable ratio driven gear 311 is connected with bar 21 axis holes in leg link module 2 respectively, and described bar 21 and leg link module 2 bars 22, bar 25 are coaxial.
Robot is only to drive pedal or simple rotation propulsion source just can realize the robot of four-footed walking by manpower.
Robot, in when motion, needs people to sit on the seat, hand steered handrail, pin slams pedal, according to left foot from forward upper, right crus of diaphragm under foot-operated direction backward ride.
Claims (2)
1. a four-footed walking robot, is characterized in that, physical construction comprises robot frame (1), transmission device (3), leg link mechanism (2) and accessory;
Described robot frame (1) is a plane frame structure as support, and its plane central authorities are linked to transmission device (3) by central vertical beam (19) again;
Described transmission device (3) comprises driver module (31) and transmission module, and described transmission module comprises front chain drive (33), rear chain transmission device (34) and variable ratio gear (35,36,37,38,310,39,312 and 311); Described driver module (31) is connected in robot frame (1) below, the drive sprocket of two groups of chain drives (33) and chain drive (34) before and after driver module (31) is fixed on, the drive sprocket of these two groups of chain drives (33) and chain drive (34) is connected respectively by chain two driven sprockets that are positioned at frame front and rear portion again; These two groups of chain drives (33) and coaxially two groups of variable ratio gears in front and back of chain drive (34) difference;
The each two groups of variable ratio gears in described front and back: with anterior driven sprocket coaxially at left and right directions be connected two variable ratio driving gears (35) and variable ratio driving gear (37); With rear portion driven sprocket coaxially at left and right directions be connected two variable ratio driving gears (310) and variable ratio driving gear (312); The anchor shaft of each variable ratio driven gear (36), variable ratio driven gear (38), variable ratio driven gear (39), variable ratio driven gear (311) is connected with the driving link in leg link module (2) respectively
;
Every group of variable ratio gear structural characterization is: driving gear is non-circular gear, and its nodel line is made up of the small-radius arc (3101) of 90 ° of large radius arcs (3102) and 270 °, between two kinds of sizes by long curvilinear tooth profile (3103) and (3104) transition; Driven gear is the conjugate tooth of driving gear, and its nodel line is made up of the large radius arc (391) of 90 ° of small-radius arcs (392) and 270 °, between two kinds of sizes by long curvilinear tooth profile (393) and (394) transition; The shape of driving gear, the each self-corresponding long curvilinear tooth profile of driven gear cooperatively interacts, more than half path portion of driving gear engages with the minor radius part of driven gear, the minor radius part of driving gear engages with more than half path portion of driven gear, and running also can engage and transit to the other size part of gear to long curvilinear tooth profile separately;
Described leg link mechanism (2) comprises bar (21), the first four-bar mechanism, the second four-bar mechanism, frame bars (29) and foot unidirectional rotation module (4) from top to bottom; Power is inputted the first four-bar mechanism by rotation by bar (21); Frame bars (29) is connected with the second four-bar mechanism; The lower unidirectional rotation module (4) that connects of frame bars (29); The movable end of bar (21) and axle thereof are fixing by bearing seat and robot frame (1), drive the first four-bar mechanism motion by the rotation of bar (21), then drive the second four-bar mechanism motion, frame bars (29) is identical with the frame bars of the relative low level of level of the set with it in the second four-bar mechanism with unidirectional rotation module (4) mode of motion, finally forms frame bars (29) robot frame relative to unidirectional rotation module (4) (1) and in perpendicular, does the motion of class elliptic curve; Stuck when unidirectional rotation module (4) is moved backward, while travelling forward, roll;
Described accessory comprises seat (51) and handrail (52), and seat (51) is installed on frame (1) top to the rear, and handrail (52) is installed on the forward top of frame (1).
2. four-footed walking robot as claimed in claim 1, it is characterized in that, while adopting manpower to drive, described driver module (31) also comprises pair of pedals and one group of external meshing tooth (32), be connected in the driving wheel of one group of external meshing tooth (32) by pedal shaft, the flower wheel of described external meshing tooth (32) is coaxially fixed on respectively the drive sprocket of front chain drive (33) and rear chain transmission device (34).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410214222.3A CN104029786B (en) | 2014-05-21 | 2014-05-21 | Four-footed running machine people |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410214222.3A CN104029786B (en) | 2014-05-21 | 2014-05-21 | Four-footed running machine people |
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| CN104029786A true CN104029786A (en) | 2014-09-10 |
| CN104029786B CN104029786B (en) | 2016-06-15 |
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| CN201410214222.3A Expired - Fee Related CN104029786B (en) | 2014-05-21 | 2014-05-21 | Four-footed running machine people |
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Cited By (5)
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| CN106901916A (en) * | 2017-03-13 | 2017-06-30 | 上海大学 | The walked seat unit and its control system of a kind of use EEG signals control |
| CN109154372A (en) * | 2016-05-30 | 2019-01-04 | 索尼公司 | Support device |
| CN109606520A (en) * | 2019-01-21 | 2019-04-12 | 伊春市美江木艺有限责任公司 | A kind of running gear |
| CN111467811A (en) * | 2019-01-23 | 2020-07-31 | 智高实业股份有限公司 | Deformation gear and deformation gear transmission set using same |
| CN114524030A (en) * | 2022-02-25 | 2022-05-24 | 昆明理工大学 | Wheel-foot type robot leg structure based on incomplete gear and wheel-foot type robot |
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| CN114524030B (en) * | 2022-02-25 | 2022-11-25 | 昆明理工大学 | Wheel-foot type robot leg structure based on incomplete gear and wheel-foot type robot |
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