CN106741276A - Biped robot's foot retractor device deformation mechanism - Google Patents
Biped robot's foot retractor device deformation mechanism Download PDFInfo
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- CN106741276A CN106741276A CN201611267086.XA CN201611267086A CN106741276A CN 106741276 A CN106741276 A CN 106741276A CN 201611267086 A CN201611267086 A CN 201611267086A CN 106741276 A CN106741276 A CN 106741276A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 81
- 230000033001 locomotion Effects 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 230000000694 effects Effects 0.000 description 12
- 230000009194 climbing Effects 0.000 description 9
- 230000008901 benefit Effects 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 7
- 239000002360 explosive Substances 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 241000237858 Gastropoda Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The present invention relates to robotics, more particularly to a kind of biped robot's foot retractor device deformation mechanism.Including two groups of telescoping mechanisms and two groups of walking mechanisms on robot biped；Telescoping mechanism includes fixed mount, telescopic drive motor and telescopic transmission device, and fixed mount is connected with the foot of robot, and telescopic drive motor and telescopic transmission device are on fixed mount and the output shaft of telescopic drive motor is connected with telescopic transmission device；Walking mechanism includes support frame, travel driving motor and road wheel, and wherein support frame is connected with telescopic transmission device, travel driving motor and road wheel is installed on support frame and the output shaft of travel driving motor is connected with road wheel.The present invention drives retractor device to control road wheel stretching motion by motor, biped robot is downconverted into two-wheel balanced robot in certain environment, can make full use of the superiority of biped robot and each autokinesis of balanced robot.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of biped robot's foot retractor device deformation mechanism.
Background technology
In recent years, with the invention of information technology, Automated condtrol art, mechanics of communication etc., automation, the intelligence of robot are made
Degree more and more higher can be changed, robot more and more enters daily life, and the life style for changing people is possibly realized,
Cleverly robot not only replaces the mankind to complete various operations for design, it is possible in the ability of many aspect extension mankind, each
Played an important role in the field of kind.
At present, biped robot on the market can only realize walking movement, when it does not carry out stair climbing, across obstacle fortune
When dynamic, move very slow, it is impossible to require that speed is fast and the low environment of energy consumption in be rapidly completed task.
The content of the invention
Regarding to the issue above, it is an object of the invention to provide a kind of biped robot's foot retractor device deformation mechanism,
Walking movement can only be realized to solve biped robot, when it does not carry out stair climbing, across obstacle moves, is moved very slow
Slow problem.
To achieve these goals, the present invention uses following technical scheme：
A kind of biped robot's foot retractor device deformation mechanism, including two groups of telescopic machines on robot biped
Structure and two groups of walking mechanisms being connected with two groups of telescoping mechanisms respectively；
The telescoping mechanism includes fixed mount, telescopic drive motor and telescopic transmission device, the fixed mount and robot
Foot connection, the telescopic drive motor and telescopic transmission device are arranged on the fixed mount and telescopic drive electricity
The output shaft of machine is connected with the telescopic transmission device；
The walking mechanism includes support frame, travel driving motor and road wheel, wherein support frame and the flexible transmission
Device is connected, the travel driving motor and road wheel be installed on support frame and the travel driving motor output shaft
It is connected with road wheel, the travel driving motor can drive the road wheel to rotate；
The telescoping mechanism drives the connected walking mechanism to stretch, so as to the walking for realizing biped robot is transported
The dynamic and switching between two-wheel balance exercise.
Chute is vertically provided with the fixed mount, support frame as described above is connected by sliding block a with the slide.
The telescopic transmission device includes cam, roller and push rod, and its cam is arranged on the fixed mount by rotating shaft
It is upper and be connected with the output shaft of the telescopic drive motor, circumferentially arranged with groove on the cam, the push rod and the branch
Support is connected, and the push rod is provided with sliding block a and roller, and the sliding block a is connected with the slide on the fixed mount, described
Roller is placed in the groove on the cam.
The telescopic transmission device further includes single direction rotation brake apparatus, and the single direction rotation brake apparatus includes spine
Wheel and lock pawl, the ratchet are installed with the cam coaxial, and one end of the lock pawl is hinged on the fixed mount, another
End is engaged with the tooth of the ratchet, and the lock pawl limits the cam and reversely rotates.
The telescopic transmission device further includes worm and worm wheel, and wherein worm gear is installed with the cam coaxial, described
Worm screw is installed in rotation on the fixed mount and is engaged with the worm gear, the worm screw and the telescopic drive motor
Output shaft is connected.
The telescopic transmission device includes left-right turning screw rod, left-handed screw, right handed nuts, sleeve and Jian Cha mechanisms, wherein
Left-right turning screw rod is installed in rotation on the fixed mount and is connected with the output shaft of the telescopic drive motor, the left side
Rotation screw and right handed nuts are threadedly coupled with left-right turning screw rod respectively, and the outside of the left-handed screw and right handed nuts is arranged respectively
There is a sleeve, two sleeves are hinged with the upper end of the Jian Cha mechanisms, lower end and the support of the Jian Cha mechanisms
Frame is hinged.
The telescopic transmission device includes worm screw, worm gear, gear and tooth bar, and wherein worm and worm wheel are installed in rotation on
On the fixed mount and be intermeshed, the worm screw is connected with the output shaft of the telescopic drive motor, the gear with it is described
Worm gear is co-axially mounted, and the lower end of the tooth bar is fixedly connected with support frame as described above, and upper end is slidably connected with the fixed mount, described
Tooth bar is engaged with the gear.
The telescopic transmission device includes leading screw, screw and guide rail a, and wherein leading screw rotationally connects with the fixed mount
Connect and be connected with the output shaft of the telescopic drive motor, the screw is connected with threads of lead screw, the guide rail a and the silk
Mother is fixedly connected with support frame as described above, and the guide rail a is slidably connected with the fixed mount.
The fixed mount is hollow cylindrical structure, the guide rail a be placed in the fixed mount and with the fixed mount
Inwall be slidably connected.
The telescopic transmission device includes sliding block b, crank, connecting rod and guide rail b, and its middle guide b is vertically arranged on
On the fixed mount, one end of the crank is connected with the output shaft of the telescopic drive motor, the other end and the connecting rod
One end connects, and the other end of the connecting rod be connected with the sliding block b, the sliding block b on support frame as described above and with it is described
Guide rail b is slidably connected.
Advantages of the present invention and beneficial effect are：The present invention places retractor device on the position of biped robot's foot, should
Device is fixed on biped, drives retractor device to control road wheel stretching motion by motor, makes biped robot in certain ring
Border is downconverted into two-wheel balanced robot.Invention can make full use of the superior of biped robot and each autokinesis of balanced robot
Property.
Brief description of the drawings
Fig. 1 is the schematic diagram of biped robot's walking states in the present invention；
Fig. 2 is the schematic diagram of biped robot's two-wheel balance exercise state in the present invention；
Fig. 3 is the structural representation of the embodiment of the present invention one；
Fig. 4 is the top view of Fig. 3；
Fig. 5 is the left view of Fig. 3；
Fig. 6 is the explosive view of the embodiment of the present invention one；
Fig. 7 is the structural representation of ratchet and cam in the embodiment of the present invention one；
Fig. 8 is the scheme of installation of tire in the embodiment of the present invention one；
Fig. 9 is the structural representation of the embodiment of the present invention two；
Figure 10 is the structural representation after removal fixed mount in the embodiment of the present invention two；
Figure 11 is the top view of Fig. 9；
Figure 12 is the left view of Fig. 9；
Figure 13 is the explosive view of the embodiment of the present invention two；
Figure 14 is the structural representation of the embodiment of the present invention three；
Figure 15 is the partial sectional view of the embodiment of the present invention three；
Figure 16 is the explosive view of the embodiment of the present invention three；
Figure 17 is the structural representation of the embodiment of the present invention four；
Figure 18 is the partial sectional view of the embodiment of the present invention four；
Figure 19 is the top view of Figure 17；
Figure 20 is the left view of Figure 17；
Figure 21 is the explosive view of the embodiment of the present invention four；
Figure 22 is the structural representation of the embodiment of the present invention five；
Figure 23 is the top view of Figure 22；
Figure 24 is the left view of Figure 22；
Figure 25 is the explosive view of the embodiment of the present invention five；
Figure 26 is the structural representation of the embodiment of the present invention six；
Figure 27 is the sectional view of the embodiment of the present invention six；
Figure 28 is the top view of Figure 26；
Figure 29 is the left view of Figure 26；
Figure 30 is the explosive view of the embodiment of the present invention six.
In figure：1 is telescopic drive motor, and 2 is ratchet, and 3 is rotating shaft, and 4 is bearing a, and 5 is cam, and 6 is roller, and 7 is bearing
B, 8 is road wheel, and 9 is travel driving motor, and 10 is support frame, and 11 is fixed mount, and 12 is lock pawl, and 13 is worm screw, and 14 is snail
Wheel, 15 is bearing c, and 16 is gear, and 17 is tooth bar, and 18 is bearing d, and 19 is leading screw, and 20 is screw, and 21 is guide rail a, and 22 is sliding block
B, 23 is crank, and 24 is connecting rod, and 25 is guide rail b, and 26 is left-right turning screw rod, and 27 is left-handed screw, and 28 is left sleeve, and 29 is to cut difference
Mechanism, 30 is right sleeve, and 31 is right handed nuts, and M is foot, and A is chute for sliding block a, B, and C is groove, and D is push rod, and E is hinge
Axle, F is spigot surface, and N is the tooth bar back side.
Specific embodiment
Existing biped robot can only realize walking movement, when it does not carry out stair climbing, across obstacle moves, fortune
It is dynamic very slow, it is impossible to require that speed is fast and the low environment of energy consumption in be rapidly completed task.
Design concept of the invention is：Walking movement can only be realized for existing biped robot, when it is not climbed
When stair, across obstacle are moved, move very slow, it is impossible to requiring speed soon and be rapidly completed in the low environment of energy consumption to appoint
The problem of business, the present invention sets telescoping mechanism and the walking mechanism being connected with telescoping mechanism on the position of biped robot's foot,
Telescoping mechanism is driven by motor, so as to control the walking mechanism to carry out stretching motion, biped robot is become under certain environment
Change two-wheel balanced robot into, the design can make full use of the superior of biped robot and each autokinesis of two-wheel balanced robot
Property.
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
As shown in Figure 1-2, a kind of biped robot's foot retractor device deformation mechanism that the present invention is provided, including be arranged on
Two groups of telescoping mechanisms on robot biped and two groups of walking mechanisms being connected with two groups of telescoping mechanisms respectively；
The telescoping mechanism includes fixed mount, telescopic drive motor and telescopic transmission device, the fixed mount and robot
Foot M be fixedly connected, the telescopic drive motor and telescopic transmission device are arranged on the fixed mount and the flexible drive
The output shaft of dynamic motor is connected with the telescopic transmission device；
As shown in Fig. 2 the walking mechanism includes support frame 10, travel driving motor 9 and road wheel 8, wherein support frame
10 are connected with the telescopic transmission device, and travel driving motor 9 and road wheel 8 are installed on support frame 10 and the walking
The output shaft of motor is connected with walking 8, and travel driving motor 9 can drive road wheel 8 to rotate；
The telescoping mechanism drives the connected walking mechanism to stretch, so as to the walking for realizing biped robot is transported
The dynamic and switching between two-wheel balance exercise.
Embodiment one
As shown in figures 3-8, a kind of biped robot's foot retractor device deformation mechanism that the present invention is provided, including be arranged on
Two groups of telescoping mechanisms on robot biped and two groups of walking mechanisms being connected with two groups of telescoping mechanisms respectively；The telescoping mechanism
Including fixed mount 11, telescopic drive motor 1 and telescopic transmission device, fixed mount 11 is fixedly connected with the foot M of robot, stretches
Motor 1 and telescopic transmission device are arranged on fixed mount 11 and the output shaft of telescopic drive motor 1 and the flexible transmission
Device is connected.
The walking mechanism includes support frame 10, travel driving motor 9 and road wheel 8, and wherein support frame 10 is stretched with described
Contracting transmission device is connected, and road wheel 8 is installed in rotation on support frame 10 by bearing b7, and travel driving motor 9 is arranged on
On support frame 10 and output shaft is connected with road wheel 8, travel driving motor 9 can drive road wheel 8 to rotate.
The telescopic transmission device includes rotating shaft 3, cam 5, roller 6 and push rod D, and wherein rotating shaft 3 is installed by bearing a4
On fixed mount 11, cam 5 is sleeved in rotating shaft 3 and is connected with the output shaft of telescopic drive motor 1, is circumferentially set on cam 5
Fluted C, push rod D is connected with support frame 10, and push rod D is provided with sliding block aA and roller 6, the chute on sliding block aA and fixed mount 11
B is slidably connected, and roller 6 is placed in the groove C on cam 5, and the push rod D on support frame 10 is by recessed on roller 6 and cam 5
Groove C is engaged.
In the present embodiment, the chute B on fixed mount 11 is dovetail groove.On sliding block aA and fixed mount 11 on support frame 10
Dovetail groove is relatively moved.
The telescopic transmission device further includes single direction rotation brake apparatus, and the single direction rotation brake apparatus includes spine
Wheel 2 and lock pawl 12, ratchet 2 is co-axially mounted with cam 5, that is, is sleeved in rotating shaft 3, lock pawl 12 by hinge E and fixation
Frame 11 is rotatably connected, and the other end is engaged with the tooth of ratchet 2, and the limitation cam 5 of lock pawl 12 is reversely rotated.
Dovetail groove movement on sliding block aA and fixed mount 11 on support frame 10 coordinates, and lock pawl 12 is along fixed mount 11
Hinge E rotates, and lock pawl 12 and ratchet 2 keep contact.Force-closed cam mechanism and spine that cam 5 and ratchet 2 are constituted
Wheel mechanism, drive road wheel linear telescopic about 8, ratchet mechanism has single direction rotation function, plays safeguard protection effect.
Operation principle of the invention is：
The drive shaft 3 of telescopic drive motor 1 rotates ratchet 2 and cam 5, sliding block aA and fixed mount 11 on support frame 10
On dovetail groove relative movement, push rod D, cam 5 and roller 6 on support frame 10 constitute force-closed cam mechanism, drive walking
Wheel about 8 moves along a straight line, and biped robot's foot bottom leaves ground, is supported by two road wheels 8, realizes that biped robot walks
Motion and two-wheel balance exercise switching, wherein road wheel 8 and ground contact points are on biped robot's center of gravity plummet face.Ratchet machine
Structure has single direction rotation characteristic, and lock pawl 12 can prevent ratchet 2 from rotating backward, and plays safeguard protection effect, i.e., when biped machine
When device people's two-wheel lands, the reactive torque that road wheel 8 is passed in rotating shaft 3 is not transferred on telescopic drive motor 1, is now stretched
Contracting motor 1 does not need output torque, saves energy.
The embodiment of the present invention one is relative to the beneficial effect and advantage of existing product：
Now product on the market is concentrated mainly on biped robot and each self-structure of wheeled robot, corresponding without design
Structure realize that biped robot switches in walking movement and two-wheel balance exercise.
The embodiment of the present invention one realizes that retractor device moves along a straight line up and down using force-closed cam and ratchet mechanism, this mechanism
By retractor designs in the position of biped robot's foot, biped robot is set to realize walking movement and two-wheel balance exercise
Switching, the design can make full use of biped robot's walking movement stair climbing, across obstacle and balanced robot movement fast
Speed, the superiority that can be moved in narrow space.The design utilizes ratchet one-way revolving property, safeguard protection effect is played.
When biped robot is in walking movement or two-wheel balance exercise, telescopic drive motor 1 does not need output torque, saves energy
Amount.
Embodiment two
As described and depicted in figs. 9-13, the telescopic transmission device includes rotating shaft 3, cam 5, worm screw 13, worm gear 14, roller 6 and pushes away
Bar D, wherein rotating shaft 3 by bearing a4 be arranged on fixed mount 11 on, cam 5 be sleeved in rotating shaft 3 and with telescopic drive motor 1
Output shaft connection, circumferentially arranged with groove C on cam 5, push rod D is connected with support frame 10, and push rod D is provided with sliding block aA and rolling
Son 6, sliding block aA is slidably connected with the chute B on fixed mount 11, and roller 6 is placed in the groove C on cam 5, on support frame 10
Push rod D be engaged by the groove C on roller 6 and cam 5.Worm gear 14 is co-axially mounted with cam 5, and worm screw 13 passes through bearing
C15 is installed in rotation on fixed mount 11 and is engaged with worm gear 14, and worm screw 13 is connected with the output shaft of telescopic drive motor 1.
Telescopic drive motor 1 drives the worm-and-wheel gear and force-closed cam machine respectively constituted by worm screw 13 and cam 5
Structure, drive road wheel linear telescopic about 8, worm-and-wheel gear has reverse self-locking, plays safeguard protection effect.
Operation principle of the invention is：
Worm screw 13 and worm gear 14 are engaged, and telescopic drive motor 1 drives worm screw 13 to rotate, and make the worm gear 14 engaged with worm screw 13
Rotate, the cam 5 that drive is fixed in same rotating shaft 3 is rotated, push rod D, cam 5 and roller 6 the composition power envelope on support frame 10
Cam mechanism is closed, drives road wheel to be moved along a straight line about 8, biped robot's foot bottom leaves ground, by two road wheels 8
Support, realizes biped robot's walking movement and two-wheel balance exercise switching, and wherein road wheel 8 and ground contact points is in biped machine
On people's center of gravity plummet face.Worm-and-wheel gear has reverse self-locking characteristic, plays safeguard protection effect, i.e., when biped robot's two-wheel
When landing, the reactive torque that road wheel 8 is passed on worm screw 13 is not transferred on telescopic drive motor 1, now telescopic drive
Motor 1 does not need output torque, saves energy.
The embodiment of the present invention two is compared with existing product with advantages below and beneficial effect：
Now product on the market is concentrated mainly on biped robot and each self-structure of wheeled robot, corresponding without design
Structure realize that biped robot switches in walking movement and two-wheel balance exercise.
The embodiment of the present invention two realizes that retractor device moves along a straight line up and down using force-closed cam and worm-and-wheel gear, this
Retractor designs in the position of biped robot's foot, are allow biped robot to realize that walking movement and two-wheel are balanced by mechanism
Motion switching, the design can make full use of biped robot's walking movement stair climbing, across obstacle and balanced robot to move
Move superiority that is rapid, being moved in narrow space.The design utilizes worm and gear reverse self-locking characteristic, safe guarantor is played
Shield is acted on.When biped robot is in walking movement or two-wheel balance exercise, telescopic drive motor 1 does not need output torque,
Save energy.
Embodiment three
As illustrated in figures 14-16, the telescopic transmission device includes worm screw 13, worm gear 14, gear 16 and tooth bar 17, wherein snail
Bar 13 is installed in rotation on fixed mount 11 by bearing c15 and the output shaft of telescopic drive motor 1 is connected, the He of worm gear 14
Gear 16 is installed in rotation on fixed mount 11 by rotating shaft 3, and worm gear 14 is engaged with worm screw 13.The lower end of tooth bar 17 and support
Frame 10 is fixedly connected, and upper end is slidably connected with fixed mount 11, and gear 16 is engaged with tooth bar 17.
Further, fixed mount is provided with spigot surface F, and the tooth bar back side N and the spigot surface F on fixed mount of tooth bar 16 connect
Touch, relative can slide.
Operation principle of the invention is：
Telescopic drive motor 1 drives worm screw 13 to drive worm gear 14 to move, and worm gear 14 and gear 16 are fixed in rotating shaft 3, tooth
Wheel 16 and the gear motion of tooth bar 17.Support frame 10 is fixed on tooth bar 17, drive road wheel 8 follow tooth bar about 17 straight line transport
Dynamic, biped robot's foot bottom leaves ground, is supported by two road wheels 8, realizes that biped robot's walking movement and two-wheel are flat
Weighing apparatus motion switching, wherein road wheel 8 and ground contact points are on biped robot's center of gravity plummet face.Worm gear 14 and worm screw 13 have instead
To latching characteristics, worm gear 14 can not drive worm screw 13 to rotate, and play safeguard protection effect.
The embodiment of the present invention three is relative to the advantage and beneficial effect of existing product：
Now product on the market is concentrated mainly on biped robot and each self-structure of wheeled robot, corresponding without design
Structure realize that biped robot switches in walking movement and two-wheel balance exercise.
The embodiment of the present invention three realizes that the upper and lower linear telescopic of retractor device is moved using pinion and rack, and this mechanism will stretch
Compression apparatus design allows biped robot to realize that walking movement and two-wheel balance exercise are cut in the position of biped robot's foot
Change, the design can make full use of biped robot's walking movement stair climbing, across obstacle and balance robot motion it is rapid,
The superiority such as can run in narrow space.Worm and gear has reverse self-locking characteristic in the design, plays safeguard protection effect.
Example IV
As shown in Figure 17-21, the telescopic transmission device includes leading screw 19, screw 20 and guide rail a21, and wherein leading screw 19 leads to
Cross bearing d18 to be rotatably coupled with fixed mount 11 and be connected with the output shaft of telescopic drive motor 1, screw 20 and leading screw 19
Threaded connection, forms screw thread pair.Guide rail a21 is fixedly connected with screw 20 and support frame 10, and guide rail a21 is slided with fixed mount 11 and connected
Connect.
Further, fixed mount 11 is hollow cylindrical structure, guide rail a21 is placed in the hollow cavity of fixed mount 11,
And be slidably connected with the inwall of fixed mount 11.Realize moving linearly up and down between guide rail a21 and the inner side of fixed mount 11.Leading screw 19 is
Trapezoidal screw.
Operation principle of the invention is：
Telescopic drive motor 1 drives leading screw 19 to rotate, and leading screw 19 drives screw 20 to move up and down, and makes road wheel 8
Move up and down, biped robot's foot bottom leaves ground, supported by two road wheels 8, realize biped robot's walking movement and
Two-wheel balance exercise switches, and wherein road wheel and ground contact points are on the plummet face of biped robot's center of gravity.Trapezoidal screw has
Certain self-lock ability, plays safeguard protection effect, i.e., when biped robot's two-wheel lands, road wheel 8 passes to screw 20
Opposition trapezoidal screw will not be driven to rotate, now telescopic drive motor 1 does not need output torque, saves energy.
The embodiment of the present invention four is relative to the advantage and beneficial effect of existing product：
Now product on the market is concentrated mainly on biped robot and each self-structure of wheeled robot, corresponding without design
Structure realize that biped robot switches in walking movement and two-wheel balance exercise.
The embodiment of the present invention four realizes that the upper and lower linear telescopic of retractor device is moved using trapezoidal screw mechanism, and this mechanism will stretch
Compression apparatus design allows biped robot to realize that walking movement and two-wheel balance exercise are cut in the position of biped robot's foot
Change, the design can make full use of biped robot's walking movement stair climbing, across obstacle and balanced robot movement it is rapid,
Can be in the superiority of narrow space movement.The design utilizes the latching characteristics of trapezoidal screw, safeguard protection effect is played.When
In walking movement or two-wheel balance exercise, telescopic drive motor 1 does not need output torque to biped robot, saves energy.
Embodiment five
As illustrated in figs. 22-25, the telescopic transmission device includes sliding block b22, crank 23, connecting rod 24 and guide rail b25, wherein
Guide rail b25 is vertically arranged on fixed mount 11, and one end of crank 23 is connected with the output shaft of telescopic drive motor 1, separately
One end is connected with one end of connecting rod 24, and the other end of connecting rod 24 is connected with sliding block b22, sliding block b22 be arranged on support frame 10 on and
It is slidably connected with guide rail b25.
Operation principle of the invention is：
Telescopic drive motor 1 drives the drivening rod 24 of crank 23 to rotate, and connecting rod 24 is moved with movable slider 22 along guide rail 25, structure
Into slider-crank mechanism, road wheel 8 is moved up and down, biped robot's foot bottom leaves ground, supported by two road wheels 8,
Biped robot's walking movement and two-wheel balance exercise switching are realized, wherein road wheel 8 and ground contact points are in biped robot
On center of gravity plummet face.There is dead point in slider-crank mechanism, play safeguard protection effect, i.e., when crank 23 and conllinear connecting rod 24,
The opposition that road wheel 8 passes to sliding block 22 will not drive crank 23 to rotate, and now telescopic drive motor 1 need not be exported
Torque, saves energy.
The embodiment of the present invention five is relative to the advantage and beneficial effect of existing product：
Now product on the market is concentrated mainly on biped robot and each self-structure of wheeled robot, corresponding without design
Structure realize that biped robot switches in walking movement and two-wheel balance exercise.
The embodiment of the present invention five realizes that the upper and lower linear telescopic of retractor device is moved using slider-crank mechanism, and this mechanism will stretch
Compression apparatus design allows biped robot to realize that walking movement and two-wheel balance exercise are cut in the position of biped robot's foot
Change, the design can make full use of biped robot's walking movement stair climbing, across obstacle and balanced robot movement it is rapid,
Can be in the superiority of narrow space movement.The design utilizes slider-crank mechanism dead point, safeguard protection effect is played.When double
In walking movement or two-wheel balance exercise, telescopic drive motor 1 does not need output torque to biped robot, saves energy.This
Inventive structure is compact, save space.
Embodiment six
As shown in Figure 26-30, the telescopic transmission device include left-right turning screw rod 26, left-handed screw 27, right handed nuts 31,
Left sleeve 28, right sleeve 30 and Jian Cha mechanisms 29, wherein left-right turning screw rod 26 are installed in rotation on fixed mount by bearing c15
Be connected on 11 and with the output shaft of telescopic drive motor 1, left-handed screw 27 and right handed nuts 31 respectively with the spiral shell of left-right turning screw rod 26
Line is connected, and the outside of left-handed screw 27 and right handed nuts 31 is arranged with left sleeve 28 and right sleeve 30, left sleeve 28 and the right side respectively
Sleeve 30 is hinged with the upper end of Jian Cha mechanisms 29, and lower end and the support frame 10 of Jian Cha mechanisms 29 are hinged.
Further, chute B is vertically provided with fixed mount 11, support frame 10 is slided by sliding block aA and chute B
Connection, in the present embodiment, chute B is dovetail groove.Left-right turning screw rod 26 is trapezoidal screw.
The operation principle of the embodiment of the present invention six is：
Telescopic drive motor 1 drives left-right turning screw rod 26, makes to be fixed on the left set on left-handed screw 27 and right handed nuts 31
Cylinder 28 and right sleeve 30 is relative or move toward one another, drives the stretching motion of Jian Cha mechanisms 29, and Jian Cha mechanisms 29 are driven on road wheel 8
Lower linear motion, biped robot's foot bottom leaves ground, is supported by two road wheels 8, realizes biped robot's walking movement
With two-wheel balance exercise switching, wherein road wheel and ground contact points are on biped robot's center of gravity plummet face.Trapezoidal screw has
Certain self-lock ability, plays safeguard protection effect, i.e., when biped robot's two-wheel lands, road wheel 8 passes to left and right rotation
The opposition of screw will not drive left-right rotary shape leading screw 26 to rotate, and now telescopic drive motor 1 does not need output torque, section
About energy.
The present invention is relative to the advantage and beneficial effect of existing product：
Now product on the market is concentrated mainly on biped robot and each self-structure of wheeled robot, corresponding without design
Structure realize that biped robot switches in walking movement and two-wheel balance exercise.
The embodiment of the present invention six realizes that the upper and lower linear telescopic of retractor device is moved using left-right rotary trapezoidal screw mechanism, this machine
Retractor designs in the position of biped robot's foot, are allow biped robot to realize walking movement and two-wheel balance fortune by structure
Dynamic switching, the design can make full use of biped robot's walking movement stair climbing, across obstacle and balanced robot to move
Rapidly, can be in the superiority of narrow space movement.The design utilizes the latching characteristics of trapezoidal screw, safeguard protection work is played
With.When biped robot is in walking movement or two-wheel balance exercise, telescopic drive motor 1 does not need output torque, saves
Energy.
Embodiments of the present invention are the foregoing is only, is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent substitution and improvements, the extension made etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of biped robot's foot retractor device deformation mechanism, it is characterised in that including on robot biped
Two groups of telescoping mechanisms and two groups of walking mechanisms being connected with two groups of telescoping mechanisms respectively；
The telescoping mechanism includes the foot of fixed mount, telescopic drive motor and telescopic transmission device, the fixed mount and robot
Portion connects, and the telescopic drive motor and telescopic transmission device are arranged on the fixed mount and the telescopic drive motor
Output shaft is connected with the telescopic transmission device；
The walking mechanism includes support frame, travel driving motor and road wheel, wherein support frame and the telescopic transmission device
Connection, the travel driving motor and road wheel be installed on support frame and the travel driving motor output shaft and row
Wheel connection is walked, the travel driving motor can drive the road wheel to rotate；
The telescoping mechanism drives the connected walking mechanism to stretch, so as to realize biped robot walking movement and
Switching between two-wheel balance exercise.
2. biped robot's foot retractor device deformation mechanism according to claim 1, it is characterised in that the fixed mount
On be vertically provided with chute, support frame as described above is connected by sliding block a with the slide.
3. biped robot's foot retractor device deformation mechanism according to claim 2, it is characterised in that the flexible biography
Dynamic device includes cam, roller and push rod, its cam be arranged on the fixed mount by rotating shaft and with the telescopic drive
The output shaft connection of motor, circumferentially arranged with groove on the cam, the push rod is connected with support frame as described above, on the push rod
The sliding block a and roller are provided with, the roller is placed in the groove on the cam.
4. biped robot's foot retractor device deformation mechanism according to claim 3, it is characterised in that the flexible biography
Dynamic device further includes single direction rotation brake apparatus, and the single direction rotation brake apparatus includes ratchet and lock pawl, the spine
Wheel is installed with the cam coaxial, and one end of the lock pawl is hinged on the fixed mount, the tooth of the other end and the ratchet
Engagement, the lock pawl limits the cam and reversely rotates.
5. biped robot's foot retractor device deformation mechanism according to claim 3, it is characterised in that the flexible biography
Dynamic device further includes worm and worm wheel, and wherein worm gear is installed with the cam coaxial, and the worm screw is installed in rotation on
Engaged on the fixed mount and with the worm gear, the worm screw is connected with the output shaft of the telescopic drive motor.
6. biped robot's foot retractor device deformation mechanism according to claim 2, it is characterised in that the flexible biography
Dynamic device includes left-right turning screw rod, left-handed screw, right handed nuts, sleeve and Jian Cha mechanisms, wherein left-right turning screw rod rotationally
It is connected on the fixed mount and with the output shaft of the telescopic drive motor, the left-handed screw and right handed nuts are divided
It is not threadedly coupled with left-right turning screw rod, the outside of the left-handed screw and right handed nuts is arranged with a sleeve, two institutes respectively
State sleeve to be hinged with the upper end of the Jian Cha mechanisms, the lower end of the Jian Cha mechanisms is hinged with support frame as described above.
7. biped robot's foot retractor device deformation mechanism according to claim 1, it is characterised in that the flexible biography
Dynamic device includes worm screw, worm gear, gear and tooth bar, and wherein worm and worm wheel are installed in rotation on the fixed mount and phase
Mutually engagement, the worm screw is connected with the output shaft of the telescopic drive motor, and the gear is co-axially mounted with the worm gear, described
The lower end of tooth bar is fixedly connected with support frame as described above, and upper end is slidably connected with the fixed mount, and the tooth bar is nibbled with the gear
Close.
8. biped robot's foot retractor device deformation mechanism according to claim 1, it is characterised in that the flexible biography
Dynamic device includes leading screw, screw and guide rail a, wherein leading screw be rotatably coupled with the fixed mount and with the telescopic drive
The output shaft connection of motor, the screw is connected with threads of lead screw, and the guide rail a is fixed with the screw and support frame as described above and connected
Connect, the guide rail a is slidably connected with the fixed mount.
9. biped robot's foot retractor device deformation mechanism according to claim 8, it is characterised in that the fixed mount
It is hollow cylindrical structure, the guide rail a is placed in the fixed mount and is slidably connected with the inwall of the fixed mount.
10. biped robot's foot retractor device deformation mechanism according to claim 1, it is characterised in that described flexible
Transmission device includes sliding block b, crank, connecting rod and guide rail b, and its middle guide b is vertically arranged on the fixed mount, described
One end of crank is connected with the output shaft of the telescopic drive motor, and the other end is connected with one end of the connecting rod, the connecting rod
The other end be connected with the sliding block b, the sliding block b is arranged on support frame as described above and is slidably connected with the guide rail b.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611267086.XA CN106741276A (en) | 2016-12-31 | 2016-12-31 | Biped robot's foot retractor device deformation mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611267086.XA CN106741276A (en) | 2016-12-31 | 2016-12-31 | Biped robot's foot retractor device deformation mechanism |
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| CN106741276A true CN106741276A (en) | 2017-05-31 |
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| CN201611267086.XA Pending CN106741276A (en) | 2016-12-31 | 2016-12-31 | Biped robot's foot retractor device deformation mechanism |
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| CN108186172A (en) * | 2018-02-20 | 2018-06-22 | 郭双伟 | A kind of quick walking artificial thigh of folding wheel type intelligence |
| CN108216412A (en) * | 2017-12-26 | 2018-06-29 | 杭州欢乐飞机器人科技股份有限公司 | A kind of leg-wheel robot |
| CN109249374A (en) * | 2018-11-21 | 2019-01-22 | 铜川铜人电子科技有限公司 | In-wheel driving robot |
| CN109703648A (en) * | 2019-02-22 | 2019-05-03 | 牛猛 | A kind of foot's mobile device |
| CN111068216A (en) * | 2020-01-16 | 2020-04-28 | 聊城大学 | Wheel-foot hybrid fire-fighting robot |
| CN112537191A (en) * | 2020-12-14 | 2021-03-23 | 魔豆机器人科技(徐州)有限公司 | Education robot chassis with switchable traveling wheels |
| CN114179928A (en) * | 2021-12-02 | 2022-03-15 | 金华职业技术学院 | Polymorphic many walking mode's industrial robot |
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| CN112537191A (en) * | 2020-12-14 | 2021-03-23 | 魔豆机器人科技(徐州)有限公司 | Education robot chassis with switchable traveling wheels |
| CN112537191B (en) * | 2020-12-14 | 2021-11-30 | 魔豆机器人科技(徐州)有限公司 | Education robot chassis with switchable traveling wheels |
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| CN114179928B (en) * | 2021-12-02 | 2022-11-11 | 金华职业技术学院 | Polymorphic many walking mode's industrial robot |
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