CN106625580A - Single-motor-driven robot walking mechanism - Google Patents
Single-motor-driven robot walking mechanism Download PDFInfo
- Publication number
- CN106625580A CN106625580A CN201611037695.6A CN201611037695A CN106625580A CN 106625580 A CN106625580 A CN 106625580A CN 201611037695 A CN201611037695 A CN 201611037695A CN 106625580 A CN106625580 A CN 106625580A
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- China
- Prior art keywords
- connecting rod
- motor
- worm
- output shaft
- gear
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
Abstract
The invention discloses a single-motor-driven robot walking mechanism. The single-motor-driven robot walking mechanism comprises a shell, a worm-gear driving mechanism arranged in the shell, a crank and connecting rod mechanism connected with the output end of the worm-gear driving mechanism and an elastic sole arranged at the tail end of the crank and connecting rod mechanism. The worm-gear driving mechanism comprises a motor, an output shaft, a worm and a worm gear, wherein the worm is engaged with the worm gear; the motor is in driving connection with the worm through a coupler, and the output shaft is in coaxial connection with the worm gear; the crank and connecting rod mechanism comprises a crank, a connecting rod, a frame connecting rod and a machine-body connecting rod, one end of the crank is connected with the output shaft, the other end of the crank is rotationally hinged to the upper end of the connecting rod, one end of the frame connecting rod is rotationally hinged to the machine-body connecting rod, the other end of the frame connecting rod is rotationally hinged to the middle of the connecting rod, and the other end of the machine-body connecting rod is used for being connected with a machine body. The single-motor-driven robot walking mechanism is simple in structure and easy to control, has both the stability and the robustness, is similar to the sole of a person in track, can achieve straight-line walking, and has the advantages of damping and adapting to complex terrains.
Description
Technical field
The invention belongs to robotics, the motor-driven robot running gear of specifically related to a kind of list.
Background technology
Now, it is the focus of countries in the world research to the research of robot, the sufficient formula walking robot of main flow is broadly divided into
Two classes, a class be with Japanese firm manufacture as representative, be referred to as active walking robot, it can simulate the mankind walking
Various actions, but they are directed to use the drive system of high-torque and the feedback control of high-gain, and another kind of is in recent years
To study more passive walking machine, compared with conventional machines people, passive walking robot has simpler structure and more
High energy efficiency, and the walking step state of passive walking robot is more natural, it is even more like with the walking step state of people.Mesh
Before, have been achieved for good achievement in the research of passive walking robot both at home and abroad, also develop very representational
Physical prototyping prototype.Such as year, a passive walking robot " shock worker " that certain university develops, the maximum deficiency of the structure
It is that drive mechanism is complicated, unsuitable actual large-scale popularization.Dutch university have developed Duo Kuan passive walkings robot, wherein half quilt
The both legs knee joint of dynamic walking robot has the self-locking mechanism of complexity, and the maximum problem of the structure is that leg knee design is answered
It is miscellaneous.Therefore, the legged type robot for designing a kind of simple structure, control easily and having stability and robustness concurrently is highly desirable to,
And this needs is started with from single leg structure.
The content of the invention
It is an object of the invention to design a kind of motor-driven simple structure of list, control easily and have stability and Shandong concurrently
Single leg structure of the legged type robot of rod
To achieve these goals the present invention is adopted the following technical scheme that：
A kind of motor-driven robot running gear of list, including shell, it is arranged on the worm and gear driving machine of the inside the shell
Toggle that structure is connected with the output end of the worm and gear drive mechanism, it is arranged on the toggle
The elastic vola of end, the worm and worm wheel that described worm and gear drive mechanism includes motor, output shaft, is meshed are described
Motor be connected with worm drive by shaft coupling, described output shaft is coaxially connected with worm gear；The toggle bag
Crank, connecting rod, side link, fuselage connecting rod are included, one end of described crank connects output shaft, and the other end is rotated with small end
It is hinged, described side link one end rotates with fuselage connecting rod and is hinged, the other end is rotated with connecting rod middle part and is hinged, and the fuselage connects
The other end of extension bar is used to connect fuselage.
Further, described worm screw passes through bearing supporting and fixing on shell.
Further, described output shaft passes through flange bearing supporting and fixing on shell.
Further, scrobicular ring is provided with described output shaft, restriction output shaft axial direction is arranged with during described scrobicular ring is interior
The jump ring of position.
Further, described shaft coupling and worm screw are connected by jackscrew locking.
Further, described worm gear and output shaft are connected by jackscrew locking.
Further, described elastic vola is strengthened with connecting rod joggle and with rivet.
Further, described output shaft is fixedly connected by two rivets with crank.
Further, described elastic vola upper end is circular flat, and lower end is sphere.
Compared to existing technology, the motor-driven robot running gear simple structure of list, the control that the present invention is provided is easily
And have stability and robustness concurrently, and it is similar with mankind vola track, it is capable of achieving straight line moving.Elastic vola is circle, with ground
Contact is to be transitioned into partial face contact by a contact, has the advantages that damping and adapts to complicated landform.
Description of the drawings
Fig. 1 is the overall structure diagram of the embodiment of the present invention.
Fig. 2 is the internal structure schematic diagram of the embodiment of the present invention.
The label declaration of parts in schematic diagram：
1- shells, 2- cranks, 3- connecting rods, 4- elasticity vola, 5- side links, 6- fuselage connecting rods, 7- shaft couplings, 8- worm screws, 9-
Jump ring, 10- flange bearings, 11- output shafts；12- worm gears.
Specific embodiment
Below in conjunction with the accompanying drawings, technical scheme is described further.
As illustrated in fig. 1 and 2, the motor-driven robot running gear of a kind of list, including shell 1, it is arranged on the shell 1
Toggle, setting that interior worm and gear drive mechanism is connected with the output end of the worm and gear drive mechanism
In the elastic vola 4 of the toggle end, described worm and gear drive mechanism includes motor, output shaft 11, phase
The worm screw 8 of engagement and worm gear 12, described motor by shaft coupling 7 and the drive connection of worm screw 8, described output shaft 11 and worm gear
12 is coaxially connected；The toggle includes crank 2, connecting rod 3, side link 5, fuselage connecting rod 6, described crank 2
One end is fixedly connected by two rivets with crank 2., the other end and the upper end of connecting rod 3 rotate and be hinged, described one end of side link 5
Rotate with fuselage connecting rod 6 and be hinged, the other end is rotated with the middle part of connecting rod 3 and is hinged, the other end of the fuselage connecting rod 6 is used to connect
Pick body.
As shown in Fig. 2 described worm screw 8 by bearing supporting and fixing on shell 1.Described output shaft 11 passes through flange
The supporting and fixing of bearing 10 is on shell 1.Scrobicular ring is provided with described output shaft 11, restriction is arranged with during described scrobicular ring is interior defeated
The jump ring 9 of the axial location of shaft 11.
Described shaft coupling 7 and worm screw 8 is connected by jackscrew locking.Described worm gear and output shaft 11 is locked by jackscrew
Connection.
The described upper end of elastic vola 4 is circular flat, and lower end is sphere.The circular flat face in described elastic vola 4
Divide and strengthen with the joggle of connecting rod 3 and with rivet.
During operation, motor transmits torque to worm screw 8 by shaft coupling 7, and worm screw 8 drives worm gear 12, revesal self-locking, snail
Moment of torsion is transferred to output shaft 11, input shaft and 90 degree of 11 one-tenth spaces of output shaft angle by wheel by jackscrew.To prevent output shaft 11
Axial movement, ensures that output shaft 11 does not fall out using jump ring 9.Shell 1 is fixed on fuselage, output shaft 11 by two rivets with
Crank 2 is connected, and moment of torsion is transferred to crank 2, and in the toggle, crank 2 is used as driving link, drivening rod 3, connecting rod
The track of 3 ends is semiellipse type, and this is similar with mankind vola track, is capable of achieving straight line moving.The elastic vola 4 and connecting rod
3 joggles are simultaneously strengthened with rivet, can improve bonding strength, and the requirement in elastic vola 4 is spherical, elastically deformable, is contacted with ground
It is that partial face contact is transitioned into by a contact, with damping effect and adapts to complicated landform.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
The change or variation of other multi-forms.There is no need to be exhaustive to all of embodiment.It is all the present invention
Any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (9)
1. the motor-driven robot running gear of a kind of list, it is characterised in that including shell (1), be arranged on the shell (1)
Toggle, setting that interior worm and gear drive mechanism is connected with the output end of the worm and gear drive mechanism
In the elastic vola (4) of the toggle end, described worm and gear drive mechanism includes motor, output shaft
(11) worm screw (8), being meshed and worm gear (12), described motor is described by shaft coupling (7) and worm screw (8) drive connection
Output shaft (11) it is coaxially connected with worm gear (12)；The toggle include crank (2), connecting rod (3), side link (5),
Fuselage connecting rod (6), one end of described crank (2) connects output shaft (11), and the other end is rotated with connecting rod (3) upper end and is hinged,
Described side link (5) one end rotates with fuselage connecting rod (6) and is hinged, and the other end is rotated with connecting rod (3) middle part and is hinged, the machine
The other end of body connecting rod (6) is used to connect fuselage.
2. the motor-driven robot running gear of list according to claim 1, it is characterised in that：Described worm screw (8)
By bearing supporting and fixing on shell (1).
3. the motor-driven robot running gear of list according to claim 1, it is characterised in that：Described output shaft
(11) by flange bearing (10) supporting and fixing on shell (1).
4. the motor-driven robot running gear of list according to claim 3, it is characterised in that：Described output shaft
(11) scrobicular ring is provided with, during described scrobicular ring is interior the jump ring (9) for limiting output shaft (11) axial location is arranged with.
5. the motor-driven robot running gear of list according to claim 1, it is characterised in that：Described shaft coupling
(7) connected by jackscrew locking with worm screw (8).
6. the motor-driven robot running gear of list according to claim 1, it is characterised in that：Described worm gear and defeated
Shaft (11) is connected by jackscrew locking.
7. the motor-driven robot running gear of list according to claim 1, it is characterised in that：Described elastic vola
(4) strengthen with connecting rod (3) joggle and with rivet.
8. the motor-driven robot running gear of list according to claim 1, it is characterised in that：Described output shaft
(11) it is fixedly connected with crank (2) by two rivets.
9. the motor-driven robot running gear of list according to claim 1, it is characterised in that：Described elastic vola
(4) upper end is circular flat, and lower end is sphere.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611037695.6A CN106625580A (en) | 2016-11-23 | 2016-11-23 | Single-motor-driven robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611037695.6A CN106625580A (en) | 2016-11-23 | 2016-11-23 | Single-motor-driven robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625580A true CN106625580A (en) | 2017-05-10 |
Family
ID=58811561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611037695.6A Pending CN106625580A (en) | 2016-11-23 | 2016-11-23 | Single-motor-driven robot walking mechanism |
Country Status (1)
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| CN (1) | CN106625580A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110924683A (en) * | 2019-12-16 | 2020-03-27 | 湛江市汉成科技有限公司 | Self-walking labor-saving flat plate vibrator for building construction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110924683A (en) * | 2019-12-16 | 2020-03-27 | 湛江市汉成科技有限公司 | Self-walking labor-saving flat plate vibrator for building construction |
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