CN106985927A - A kind of wire rope gearing four-footed or multi-foot robot - Google Patents
A kind of wire rope gearing four-footed or multi-foot robot Download PDFInfo
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- CN106985927A CN106985927A CN201611255155.5A CN201611255155A CN106985927A CN 106985927 A CN106985927 A CN 106985927A CN 201611255155 A CN201611255155 A CN 201611255155A CN 106985927 A CN106985927 A CN 106985927A
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- pulley
- joint
- wire rope
- axle
- motor
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Classifications
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of wire rope gearing four-footed or multi-foot robot, including fuselage and modular leg；Modular leg includes drive component, side-sway base joint, thigh, shank and sole；Drive component includes side-sway drive device and rotary joint drive device；Side-sway drive device driving side-sway base joint left-right rotation；Rotary joint drive device drives axle center rotation of the rotary joint axle along its own；Rotary joint drive device includes motor, pulley and steel wire rope；Pulley is fixedly mounted on the output shaft of motor；The pulley being also fixedly installed on pulley, motor output shaft on each rotary joint axle is connected by steel wire rope with the pulley on rotary joint axle；Drive the pulley rotation on rotary joint axle to drive rotary joint axle to rotate by steel wire rope after pulley rotation on motor output shaft.The structure of the present invention improves the load capacity and kinematic dexterity of robot.
Description
Technical field
The invention belongs to four-footed or multi-foot robot technical field, specially a kind of Steel rope drive articulated robot.
Background technology
Traditional industrial robot or joint of mechanical arm applied to particular surroundings generally use motor, The gear deceleration
The transmission mechanism that device, joint shaft three are directly connected to, this institution requests motor is arranged on joint of mechanical arm with gear reduction unit
Near, mechanism is simple but structure is not compact enough, and outward appearance is untidy.Especially prominent shortcoming is:For multi-joint mechanical arm, especially
It is the folding and expanding type mechanical arm that gravity direction has multi joint motion ability, the motor and gear reduction unit in next stage joint
Etc. the extra load that drive device turns into upper level joint.The negative effect that this extra load is brought connects often beyond mechanical arm
Necessity structural member such as bar, therefore improves the requirement to mechanical arm power and driving element, thereby result in overall weight, volume,
Cost and the increase of internal consumption, reduce ability and efficiency that mechanical arm externally does work.
According to " most light own wt maximum load capability " principle, the various linguistic terms made to mechanical arm mechanical structure
In, most protrude effect is wire cable transmission mechanism.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of Steel rope drive four-footed or polypody articulated robot, improve
The load capacity and kinematic dexterity of robot.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：A kind of wire rope gearing four-footed or polypody
Robot, including fuselage and modular leg；It is characterized in that：Described modular leg is four joint leg modules, including
Drive component, side-sway base joint, thigh, shank and sole；Side-sway base joint and thigh, thigh and shank, shank and sole are equal
Connected by rotary joint axle；Described drive component includes side-sway drive device and rotary joint drive device；Described side
Put drive device driving side-sway base joint left-right rotation；Rotary joint drive device drives axle center of the rotary joint axle along its own
Rotation；
Rotary joint drive device includes motor, pulley and steel wire rope；Pulley is fixedly mounted on the output shaft of motor；Each rotation
Turn also to be fixedly installed pulley on joint shaft, the pulley on motor output shaft is connected by the pulley on steel wire rope and rotary joint axle
Connect；Drive the pulley rotation on rotary joint axle to drive rotation to close by steel wire rope after pulley rotation on motor output shaft
Nodal axisn rotates.
Further, described side-sway drive device includes motor A, worm screw, turbine, commutator and rotating shaft；The motor A
Output end be fixedly connected with described worm screw；Worm screw engages with turbine；Described turbine is fixed in described rotating shaft, rotating shaft
It is fixedly connected with commutator, rotating shaft can be rotated on fuselage.
Further, described rotary joint drive device includes motor, pulley and steel wire rope；It is provided with motor housing
Motor B, motor C and motor D；Side-sway base joint and thigh, thigh and shank, shank and sole respectively by axle I, axle II and
Axle III is connected；Pulley A, pulley B and pulley C are installed with motor B, C, D output shaft respectively；Pulley is provided with axle I
D, pulley E and pulley F；Pulley G and pulley H are provided with axle II；Pulley I is provided with axle III；Pulley D, pulley F and pulley H
For sister block；Remaining is single-sheaved block；Pulley C is connected with pulley E by steel wire rope A；Pulley A crosses steel wire rope B with pulley D and is connected,
Pulley D is connected with pulley G by steel wire rope C；Pulley B is connected with pulley F by steel wire rope D；Pulley F and pulley H passes through steel wire
Rope E connections；Pulley H is connected with pulley I by steel wire rope F.
Further, described fuselage includes upper strata body and lower floor's body.
Further, described thigh and described shank are constituted by two blocks of side plates.
Further, it is provided with steel-cable channel on described commutator.
Further, described sole connecting shaft, ball-joint and pagoda spring；Sole connecting shaft is connected with shank；It is described
Ball-joint be connected with described connecting shaft；Described pagoda spring is sheathed on outside ball-joint, the top of pagoda spring and connection
Axle is connected, and the bottom of bottom and ball-joint is connected.
Further, described ball-joint includes upper joints, middle part joint, lower joint, screw bolt and nut；Described
Adapter sleeve is provided with the top of upper joints to be threadedly coupled with described connecting shaft；Described middle part joint includes base and rotation is closed
Body is saved, rotary joint body can be rotated in base；It is provided with the middle part of the upper joints, middle part joint and lower joint logical
Through hole in hole, screw bolt passes lower joint, middle part joint and upper joints, matches somebody with somebody with the nut that is arranged in upper joints
Close.
Beneficial effects of the present invention：
1）The driving of motor, four joints of leg can both realize linkage, can also realize the independently moving in each joint, this
The motor that motor is all arranged in fuselage interior by kind arranges mode, alleviates the weight of mechanical arm, reduces rotary inertia, so that
Improve the load capacity and kinematic dexterity of robot；
2）The motor of robot is provided entirely in robot body interior, side-sway is moved and elevating movement by commutator
It is mutually unaffected；
3）Sole globe joint structure has ground adaptivity, and replys former by counter spring force when sole leaves ground
Shape.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is fuselage upper strata body.
Fig. 3 is fuselage lower floor body.
Fig. 4 is leg structure schematic diagram.
Fig. 5 is leg structure schematic diagram
Fig. 6 is the structural representation of commutator.
Fig. 7 is the structural representation of sole.
Fig. 8 is the decomposing schematic representation of ball-joint.
Embodiment
Technical scheme is elaborated below in conjunction with the accompanying drawings.
As shown in figures 1-8, it is a kind of wire rope gearing four-footed or multi-foot robot of the invention, including fuselage 10 and mould
The leg of block, modular leg is four joint leg modules, including drive component 20, side-sway base joint 30, thigh 40, shank 50
With sole 60.Fuselage body 10 is made up of upper strata body 11 and lower floor's body 12.Drive component 20 passes through motor fixing shell 21
It is connected with fuselage lower floor body, including side-sway drive device and rotary joint drive device；Side-sway drive device drives side-sway
The left-right rotation of base joint 30；Side-sway base joint 30 passes through rotation with thigh 40, thigh 40 and shank 50, shank 50 and sole 60
Joint shaft is connected；Rotary joint drive device drives axle center rotation of the rotary joint axle along its own.Rotary joint axle includes axle I
71st, axle II 72 and axle III 73.
Rotary joint drive device includes motor, pulley and steel wire rope；Pulley is fixedly mounted on the output shaft of motor；It is each
Also the pulley on pulley, motor output shaft is fixedly installed on individual rotary joint axle and passes through the cunning on steel wire rope and rotary joint axle
Wheel connection；The pulley rotation on rotary joint axle is driven to drive rotation by steel wire rope after pulley rotation on motor output shaft
Turn joint shaft rotation.Pulley is connected with steel wire rope, and steel wire rope sequentially enters commutator, commutator from the input of commutator
On be provided with steel-cable channel, the steel wire rope being connected with motor C from the middle of commutator steel-cable channel output, with B, D motor
Connected steel wire rope is exported from the steel-cable channel at other two ends respectively.
Side-sway drive device includes motor A227, worm screw 221, turbine 222, commutator 223 and rotating shaft 224；Motor A's is defeated
Go out end to be connected by key with worm screw 221；Worm screw 221 engages with turbine 222, drives worm gear 222 to rotate；Turbine 222 and rotating shaft 224
Connected by key, the one end of rotating shaft 224 is linked with commutator by steady pin, the other end is connected and used by axle with support 225
Steady pin is fixed, so as to drive the side-sway in base joint to move, the side plate 226 that support 225 stretches out is connected provided with circular hole with axle I 71
Connect.
Rotary joint drive device includes motor, pulley and steel wire rope；Motor B231, motor are provided with motor housing 21
C251 and motor D241；Side-sway base joint 30 passes through axle I respectively with thigh 40, thigh 40 and shank 50, shank 50 and sole 60
71st, axle II 72 and axle III 73 are connected；Pulley A232, pulley B242 and cunning are installed with motor B, C, D output shaft respectively
Take turns C252；Pulley D233, pulley E253 and pulley F243 are provided with axle I 75；Pulley G234 and pulley are provided with axle II 72
H244；Pulley I245 is provided with axle III 73；Pulley D233, pulley F243 and pulley H244 are sister block；Remaining is single-sheaved block；
Pulley C252 is connected with pulley E253 by steel wire rope A254；Pulley A232 crosses steel wire rope B235 with pulley D233 and is connected, pulley
D233 is connected with pulley G234 by steel wire rope C236；Pulley B242 is connected with pulley F243 by steel wire rope D246；Pulley
F243 is connected with pulley H244 by steel wire rope E247；Pulley H244 is connected with pulley I245 by steel wire rope F248.
Motor C251 output end is connected with pulley C252 by key, pulley C252 and steel wire rope A254 by pin connection,
The steel wire rope A254 other end is with pulley E253 by pin connection, and pulley E253 is connected with axle I 71 by key, two of thigh 40
The one end of side plate 41 is provided with square hole, and the other end is provided with circular hole, and square opening end is connected with axle I 71, and round mouth end is connected with axle II 72.
Motor B231 output end is connected with pulley A232 by key, pulley A232 and steel wire rope B235 by pin connection,
The steel wire rope B235 other end is with a pulley D233 groove by pin connection, and pulley D233 is provided with circular hole, connects with axle I 71
Connect, pulley D233 another groove is with steel wire rope C236 by pin connection, and the steel wire rope C236 other end is connected with pulley G234
Connect, pulley G234 is connected with axle II 72 by key, one end of side plate 51 of shank 50 is provided with square hole, and the other end is provided with circular hole, square hole
End is connected with axle II 72, and circular hole end is connected with axle III 73.
Motor D242 output end is connected with pulley B242 by key, pulley B242 and steel wire rope D246 by pin connection,
The steel wire rope D246 other end is with a pulley F243 groove by pin connection, and pulley F243 is provided with circular hole, connects with axle I 71
Connect, pulley F243 another groove is with steel wire rope E247 by pin connection, and the steel wire rope E247 other end is connected with pulley H244
Connect, pulley H244 is connected with axle II 72 by empty axle, pulley H244 another groove and steel wire rope F248 pass through pin connection, steel wire
The rope F248 other ends are connected with pulley I245, and pulley I245 is connected with axle III 73 by key.
Described sole 60 includes sole connecting shaft 61, ball-joint 62 and pagoda spring 63；Sole connecting shaft 61 is fixed and set
It is placed in the lower section of connecting bracket 64, connecting bracket to be provided with two connecting plates 65, connecting plate 65 and is provided with square hole and axle III
73 connections；Ball-joint 62 is connected with connecting shaft 61；Pagoda spring 63 is sheathed on outside ball-joint 62, the top of pagoda spring 63 and company
Spindle 61 is connected, and bottom is connected with the bottom of ball-joint 62.Ball-joint 62 includes upper joints 621, middle part joint 622, bottom
Joint 623, bolt 624 and nut 625；The top of upper joints 621 is provided with adapter sleeve 626 and is threadedly coupled with connecting shaft 61；In
Portion joint 622 includes base 627 and rotary joint body 628, and rotary joint body 628 can be rotated in base 627；Upper joints
621st, middle part joint 622, the middle part of lower joint 623 are provided with through hole, and bolt 624 sequentially passes through lower joint 623, middle part and closed
Through hole in section 622 and upper joints 621, coordinates, bolts and nuts pass through with the nut 625 that is arranged in upper joints 621
Threaded connection, so as to adjust the tightness of ball-joint.The narrow end at the top of pagoda spring 63 is connected with connecting shaft 61, bottom
Wide end is connected with ball-joint bottom.
The present invention is by the driving of motor, and four joints of leg can both realize linkage, can also realize each joint
Independently moving, this motor that motor is all arranged in fuselage interior arranges mode, alleviates the weight of mechanical arm, reduces
Rotary inertia, so as to improve the load capacity and kinematic dexterity of robot.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the design of the present invention
It is defined with scope, on the premise of design concept of the present invention is not departed from, ordinary skill technical staff is to this hair in this area
The all variations and modifications that bright technical scheme is made all should fall into protection scope of the present invention, claimed skill of the invention
Art content, is all documented in technical requirements book.
Claims (8)
1. a kind of wire rope gearing four-footed or multi-foot robot, including fuselage and modular leg；It is characterized in that：Described
Modular leg is four joint leg modules, including drive component, side-sway base joint, thigh, shank and sole；Side-sway base joint
It is connected with thigh, thigh and shank, shank and sole by rotary joint axle；Described drive component includes side-sway and drives dress
Put and rotary joint drive device；Described side-sway drive device driving side-sway base joint left-right rotation；Rotary joint driving dress
Put axle center rotation of the driving rotary joint axle along its own；
Rotary joint drive device includes motor, pulley and steel wire rope；Pulley is fixedly mounted on the output shaft of motor；Each rotation
Turn also to be fixedly installed pulley on joint shaft, the pulley on motor output shaft is connected by the pulley on steel wire rope and rotary joint axle
Connect；Drive the pulley rotation on rotary joint axle to drive rotation to close by steel wire rope after pulley rotation on motor output shaft
Nodal axisn rotates.
2. a kind of wire rope gearing four-footed according to claim 1 or multi-foot robot, it is characterised in that：Described side
Putting drive device includes motor A, worm screw, turbine, commutator and rotating shaft；The output end of the motor A is fixed with described worm screw
Connection；Worm screw engages with turbine；Described turbine is fixed in described rotating shaft, and rotating shaft is fixedly connected with commutator, and rotating shaft can
Rotated on fuselage.
3. a kind of wire rope gearing four-footed according to claim 1 or multi-foot robot, it is characterised in that：Described rotation
Turning articulated driving equipment includes motor, pulley and steel wire rope；Motor B, motor C and motor D are provided with motor housing；Side-sway base
Joint is connected by axle I, axle II and axle III respectively with thigh, thigh and shank, shank and sole；Motor B, C, D output shaft
It is upper to be installed with pulley A, pulley B and pulley C respectively；Pulley D, pulley E and pulley F are provided with axle I；It is provided with axle II
Pulley G and pulley H；Pulley I is provided with axle III；Pulley D, pulley F and pulley H are sister block；Remaining is single-sheaved block；Pulley C
It is connected with pulley E by steel wire rope A；Pulley A crosses steel wire rope B with pulley D and is connected, and pulley D is connected with pulley G by steel wire rope C；
Pulley B is connected with pulley F by steel wire rope D；Pulley F is connected with pulley H by steel wire rope E；Pulley H and pulley I passes through steel wire
Rope F connections.
4. a kind of wire rope gearing four-footed according to claim 1 or multi-foot robot, it is characterised in that：Described machine
Body includes upper strata body and lower floor's body.
5. a kind of wire rope gearing four-footed according to claim 1 or multi-foot robot, it is characterised in that：Described is big
Leg and described shank are constituted by two blocks of side plates.
6. a kind of wire rope gearing four-footed according to claim 1 or multi-foot robot, it is characterised in that：Described changes
Steel-cable channel is provided with to device.
7. a kind of wire rope gearing four-footed according to claim 1 or multi-foot robot, it is characterised in that：Described pin
Slap connecting shaft, ball-joint and pagoda spring；Sole connecting shaft is connected with shank；Described ball-joint connects with described connecting shaft
Connect；Described pagoda spring is sheathed on outside ball-joint, and the top of pagoda spring is connected with connecting shaft, the bottom of bottom and ball-joint
Connection.
8. a kind of wire rope gearing four-footed according to claim 7 or multi-foot robot, it is characterised in that：Described ball
Joint includes upper joints, middle part joint, lower joint, screw bolt and nut；Adapter sleeve is provided with the top of described upper joints
It is threadedly coupled with described connecting shaft；Described middle part joint includes base and rotary joint body, and rotary joint body can be in base
It is interior to rotate；It is provided with through hole in the middle part of the upper joints, middle part joint and lower joint, screw bolt passes lower joint,
Through hole in middle part joint and upper joints, with the nut cooperation being arranged in upper joints.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611255155.5A CN106985927A (en) | 2016-12-30 | 2016-12-30 | A kind of wire rope gearing four-footed or multi-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611255155.5A CN106985927A (en) | 2016-12-30 | 2016-12-30 | A kind of wire rope gearing four-footed or multi-foot robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106985927A true CN106985927A (en) | 2017-07-28 |
Family
ID=59414328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611255155.5A Pending CN106985927A (en) | 2016-12-30 | 2016-12-30 | A kind of wire rope gearing four-footed or multi-foot robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106985927A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108001557A (en) * | 2017-11-10 | 2018-05-08 | 清华大学 | Bionic wall climbing robot based on insect triped gait |
| CN108068907A (en) * | 2017-12-29 | 2018-05-25 | 河南工程学院 | A kind of new rescue robot |
| CN108407910A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of bionic type barrier-crossing wall-climbing robot |
| CN109383659A (en) * | 2017-08-13 | 2019-02-26 | 屈娟娟 | A kind of polypody modularized robot that can freely assemble |
| CN112849298A (en) * | 2021-04-07 | 2021-05-28 | 常州大学 | Walking quadruped robot in body sliding mode |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108068907A (en) * | 2017-12-29 | 2018-05-25 | 河南工程学院 | A kind of new rescue robot |
| CN108407910A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of bionic type barrier-crossing wall-climbing robot |
| CN112849298A (en) * | 2021-04-07 | 2021-05-28 | 常州大学 | Walking quadruped robot in body sliding mode |
| CN112849298B (en) * | 2021-04-07 | 2022-01-28 | 常州大学 | Walking quadruped robot in body sliding mode |
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Application publication date: 20170728 |
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