CN107554640B - Six-foot walker based on four-degree-of-freedom mechanism legs - Google Patents
Six-foot walker based on four-degree-of-freedom mechanism legs Download PDFInfo
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- CN107554640B CN107554640B CN201710804461.8A CN201710804461A CN107554640B CN 107554640 B CN107554640 B CN 107554640B CN 201710804461 A CN201710804461 A CN 201710804461A CN 107554640 B CN107554640 B CN 107554640B
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Abstract
A hexapod walker based on four-degree-of-freedom mechanism legs comprises a frame, an electric unit and six four-degree-of-freedom mechanical legs which are connected to two ends of the frame respectively and have the same structure, wherein the electric unit is arranged on the frame, and a triangular machine connecting plate is fixedly connected with the frame; the mechanical leg mainly comprises a triangular connecting plate, four linear driving branches with the same structure, a connecting piece, a V-shaped piece, a first cylindrical ear piece, a second cylindrical ear piece, a hemispherical ear piece and a four-bar mechanism, wherein all rotating shafts in the mechanical leg are parallel to each other. Under the coordination of the first linear driving branch and the second linear driving branch, each leg realizes front-back swing and leg stretching through the synchronous motion of the third linear driving branch and the fourth linear driving branch, and realizes side swing through the asynchronous motion of the third linear driving branch and the fourth linear driving branch; the swing of the third connecting rod is realized through the driving of the second linear driving branch. The invention has the advantages of large working space of the legs, strong obstacle-crossing capability, large bearing capability and good assembly manufacturability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a walker
Background
With the continuous development of robot technology, mobile robots have gradually participated in industrial and agricultural production and service industries. Compared with a wheel type and crawler type mobile robot, the multi-legged robot has the characteristics of discrete foot falling points, flexible movement, strong adaptability to the ground and the like, and is an ideal mobile carrying platform in non-structural grounds such as mountainous regions, hills, stairs and the like. The multi-legged robot is further classified into two feet, four feet, six feet, etc. according to the number of the feet. Because the hexapod robot adopts the triangular gait in the walking process, the stability and the bearing capacity of the hexapod robot are better, so that the execution capacity of the hexapod robot in the practical engineering application is stronger. Therefore, the research of the hexapod walking robot has important practical significance.
The mechanical legs are used as key parts for the movement and the bearing of the hexapod robot, and have important influence on the performance of the hexapod robot. The mechanical legs of the existing six-legged walking robot mainly have two forms of series connection and parallel connection, wherein the series connection mechanical legs are mainly characterized by large working space, flexible movement, simple control, larger leg swing inertia force, lower rigidity and large self weight/load ratio; the parallel mechanical legs are mainly characterized by compact structure, large rigidity, small self weight/load ratio, small working space and complex control. However, in some engineering applications requiring both the carrying capacity of the mechanical legs and a large working space, the hexapod robot with the leg mechanism is difficult to exert its own characteristics. In addition, it is rare that hexapod robots have both good load bearing capability and large leg working space. Therefore, the hexapod robot with larger leg working space and better bearing capacity is designed, and the hexapod robot has important value in widening the application range of the mobile robot.
Disclosure of Invention
The invention aims to provide a hexapod walker based on four-degree-of-freedom mechanism legs, which has large leg working space and strong bearing capacity. Each leg of the hexapod walker adopts a four-degree-of-freedom mechanism, so that two rotations and two movements can be realized, and the two movements can simultaneously move along the same direction to increase the working space of the leg mechanism.
The four-freedom-degree mechanical leg comprises a rack, an electrical unit and six four-freedom-degree mechanical legs which are connected to two ends of the rack respectively and have the same structure, wherein the electrical unit is arranged on the rack, and the mechanical legs are fixedly connected with the rack through a triangular connecting plate; the rack is provided with bolt holes, lightening holes and positioning holes so as to be convenient for connecting the mechanical legs and the electrical appliance unit and lightening the dead weight;
the mechanical leg comprises a triangular connecting plate, four linear driving branches with the same structure, a connecting piece, a first cylindrical lug-bearing piece, a V-shaped piece, a first connecting rod, a second cylindrical lug-bearing piece, a second connecting rod, a hemispherical foot, a third connecting rod and a fourth connecting rod, wherein one end of the first linear driving branch is connected with one corner of the triangular connecting plate through a first hook hinge, the other end of the first linear driving branch is fixedly connected with the middle part of the V-shaped piece, two ends of the V-shaped piece are respectively connected with one ends of the third linear driving branch and the fourth linear driving branch through a first ball pair and a second ball pair, the other ends of the third linear driving branch and the fourth linear driving branch are respectively connected with the other two corners of the triangular connecting plate through a second hook hinge and a third hook hinge, and the third linear driving branch and the fourth linear driving branch are positioned on one side of the first linear driving branch, the second linear driving branch is positioned at the other side of the first linear driving branch, one end of the second linear driving branch is fixedly connected with the first cylindrical lug piece, the ear part of the first cylindrical lug piece is rotatably connected with one end of the connecting piece through the first rotating shaft, the other end of the connecting piece is fixedly connected with one side surface of the motor end cover in the first linear driving branch, the other end of the second linear driving branch is fixedly connected with the second cylindrical lug piece, the ear part of the second cylindrical lug piece is rotatably connected with one end of the second connecting rod through the second rotating shaft, the middle part and the other end of the second connecting rod are respectively rotatably connected with one end of the first connecting rod and the middle upper part of the third connecting rod through the third rotating shaft and the fourth rotating shaft, one end of the third connecting rod is rotatably connected with one end of the fourth connecting rod through the fifth rotating shaft, and the other end of the fourth connecting rod is rotatably connected with the middle upper part of the first connecting rod through, the other end of the first connecting rod is fixedly connected with the bottom of the V-shaped part, the other end of the third connecting rod is fixedly connected with the hemispherical foot, and the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft and the sixth rotating shaft are arranged in parallel; the first ball pair and the second ball pair can be respectively replaced by three sequentially connected rotating hinges with rotating centers intersected at one point;
the linear driving branch comprises a motor end cover, a belt driving component, a motor connecting plate, a motor, a guide rod group, a transmission rod, a lower supporting seat, a sleeve, a sliding block component, a lead screw and an upper bearing seat, wherein, the motor end cover is fixedly connected with the motor connecting plate, the body of the motor is fixedly connected with one end of the motor connecting plate, the motor shaft of the motor is connected with the input shaft of the lead screw through the belt transmission component, the other end of the motor connecting plate is fixedly connected with the upper bearing seat, the upper bearing seat is rotatably connected with the lead screw through a bearing, the two sides of the lead screw are provided with guide rod sets, the sliding block component is spirally connected with the lead screw, the sliding block component can move along the guide rod group, one side of the sliding block component is fixedly connected with the transmission piece, the transmission piece is movably connected with the lower supporting seat through a sliding bearing, the lower supporting seat is fixedly connected with the guide rod group and one end of the sleeve, and the other ends of the guide rod group and the sleeve are fixedly connected with the upper bearing seat. Under the coordination of the first linear driving branch and the second linear driving branch, each mechanical leg realizes front-back swing and leg stretching through synchronous motion of the third linear driving branch and the fourth linear driving branch, and realizes lateral swing through asynchronous motion of the third linear driving branch and the fourth linear driving branch; the swing of the third connecting rod is realized through the driving of the second linear driving branch. In addition, the actions of advancing and retreating, sidesway and squatting of the six-foot walker are realized through the coordinated movement of the six legs.
Compared with the prior art, the invention has the following advantages: the leg working space is large, the obstacle crossing capability is strong, the bearing capacity is large, and the assembly manufacturability is good.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a diagrammatic illustration of a robot leg of the present invention;
fig. 4 is a schematic diagram of a first linear drive branch of the present invention.
In the figure: 1. the robot comprises a machine frame, 2. an electric appliance unit, 3, 4, 5, 6, 7 and 8. a mechanical leg, 9. a triangular connecting plate, 10. a first Hooke joint, 11. a first linear driving branch, 12. a connecting piece, 13. a first rotating shaft, 14. a first cylindrical lug piece, 15. a second linear driving branch, 16. a V-shaped piece, 17. a first connecting rod, 18. a second cylindrical lug piece, 19. a second rotating shaft, 20. a third rotating shaft, 21. a second connecting rod, 22. a hemispherical foot, 23. a third connecting rod, 24. a fourth rotating shaft, 25. a fifth rotating shaft, 26. a fourth connecting rod, 27. a sixth rotating shaft, 28. a first spherical pair, 29. a second spherical pair, 30. a third linear driving branch, 31. a fourth linear driving branch, 32. a second Hooke joint, 33. a third Hooke joint, 34. a motor end cover, 35. a belt transmission assembly, 36. a motor connecting plate, 37. a motor, 38. 38', a guide rod set, 39, a transmission rod, 40, a lower supporting seat, 41, a sleeve, 42, a sliding block assembly, 43, a lead screw and 44, and an upper bearing seat.
Detailed Description
In the schematic diagrams of the hexapod walker based on the four-degree-of-freedom mechanism legs shown in fig. 1 and 2, an electric unit 2 is arranged on a frame 1, and six four-degree-of-freedom mechanical legs 3, 4, 5, 6, 7 and 8 with the same structure are fixedly connected with the frame through triangular connecting plates; the rack is provided with bolt holes, lightening holes and positioning holes so as to be convenient for connecting the mechanical legs and the electrical appliance unit and lightening the dead weight;
as shown in fig. 3, one end of a first linear driving branch 11 in each mechanical leg is connected to one corner of a triangular connecting plate 9 through a first hooke joint 10, the other end of the first linear driving branch is fixedly connected to the middle of a V-shaped member 16, the two ends of the V-shaped member are respectively connected to one ends of a third linear driving branch 30 and a fourth linear driving branch 31 through a first ball pair 28 and a second ball pair 29, the other ends of the third linear driving branch and the fourth linear driving branch are respectively connected to the other two corners of the triangular connecting plate through a second hooke joint 32 and a third hooke joint 33, wherein the third linear driving branch and the fourth linear driving branch are located at one side of the first linear driving branch, the second linear driving branch 15 is located at the other side of the first linear driving branch, one end of the second linear driving branch is fixedly connected to a first cylindrical ear-carrying member 14, the ear carrying member is rotatably connected to one end of a connecting member 12 through a first rotating shaft 13, the other end of the connecting piece is fixedly connected with one side face of a motor end cover 34 in the first linear driving branch, the other end of the second linear driving branch is fixedly connected with a second cylindrical lug piece 18, an ear part of the second cylindrical lug piece is rotatably connected with one end of a second connecting rod 21 through a second rotating shaft 19, the middle part and the other end of the second connecting rod are respectively rotatably connected with one end of a first connecting rod 17 and the middle upper part of a third connecting rod 23 through a third rotating shaft 20 and a fourth rotating shaft 24, one end of the third connecting rod is rotatably connected with one end of a fourth connecting rod 26 through a fifth rotating shaft 25, the other end of the fourth connecting rod is rotatably connected with the middle upper part of the first connecting rod through a sixth rotating shaft 27, the other end of the first connecting rod is fixedly connected with the bottom of the V-shaped piece, the other end of the third connecting rod is fixedly connected with a hemispherical foot 22, the fourth, fifth and sixth rotating shafts are arranged in parallel;
as shown in fig. 4, a motor end cover 34 in the linear driving branch is fixedly connected with a motor connecting plate 36, a body of a motor 37 is fixedly connected with one end of the motor connecting plate, a motor shaft of the motor is connected with an input shaft of a lead screw 43 through a belt driving component 35, the other end of the motor connecting plate is fixedly connected with an upper bearing seat 44, the upper bearing seat is rotatably connected with the lead screw through a bearing, guide rod groups 38 and 38' are arranged on two sides of the lead screw, a slider component 42 is spirally connected with the lead screw and is connected with the guide rod groups through a moving pair, the slider component can move along the guide rod groups, one side of the slider component is fixedly connected with a driving component 39, the driving component is movably connected with a lower supporting seat 40 through a sliding bearing, the lower supporting seat is fixedly connected with the guide rod groups and. Under the coordination of the first linear driving branch and the second linear driving branch, each mechanical leg realizes front-back swing and leg stretching through synchronous motion of the third linear driving branch and the fourth linear driving branch, and realizes lateral swing through asynchronous motion of the third linear driving branch and the fourth linear driving branch; the swing of the third connecting rod is realized through the driving of the second linear driving branch. In addition, the actions of advancing and retreating, sidesway and squatting of the six-foot walker are realized through the coordinated movement of the six legs.
Claims (3)
1. A hexapod walker based on four-degree-of-freedom mechanism legs comprises a frame, an electric unit and six four-degree-of-freedom mechanical legs which are connected with two ends of the frame respectively and have the same structure, wherein the electric unit is arranged on the frame, the mechanical legs are fixedly connected with the frame through a triangular connecting plate, each mechanical leg comprises a triangular connecting plate, four linear driving branches with the same structure, a connecting piece, a first cylindrical ear piece, a V-shaped piece, a first connecting rod, a second cylindrical ear piece, a second connecting rod, a hemispherical foot, a third connecting rod and a fourth connecting rod, each linear driving branch comprises a motor end cover, a belt transmission assembly, a motor connecting plate, a motor, a guide rod set, a transmission rod, a lower supporting seat, a sleeve, a sliding block assembly, a lead screw and an upper bearing seat, the motor end cover is fixedly connected with the motor connecting plate, a body of the motor is fixedly connected with one end of the motor connecting plate, and a motor, the other end of the motor connecting plate is fixedly connected with an upper bearing seat, the upper bearing seat is rotatably connected with a lead screw through a bearing, guide rod groups are arranged on two sides of the lead screw, a slide block component is spirally connected with the lead screw and is connected with the guide rod groups through a sliding pair, the slide block component can move along the guide rod groups, one side of the slide block component is fixedly connected with a transmission piece, the transmission piece is movably connected with a lower support seat through a sliding bearing, the lower support seat is fixedly connected with the guide rod groups and one end of a sleeve, the other ends of the guide rod groups and the sleeve are fixedly connected with the upper bearing seat, two ends of a V-shaped piece are respectively connected with one ends of a third linear driving branch and a fourth linear driving branch through a first ball pair and a second ball pair, the other ends of the third linear driving branch and the fourth linear driving branch are respectively connected with the other two corners of the triangular connecting plate through a second Hooke hinge and a third Hooke hinge, wherein the third linear driving, the middle part and the other end of second connecting rod rotate through the one end of third axis of rotation and fourth axis of rotation and first connecting rod and the well upper portion of third connecting rod respectively and are connected, and the one end of third connecting rod rotates through the one end of fifth axis of rotation and fourth connecting rod to be connected, and the other end of fourth connecting rod rotates through the well upper portion of sixth axis of rotation and first connecting rod to be connected, and the other end and the hemisphere of third connecting rod are sufficient to link firmly its characterized in that: the mechanical leg of the hexapod walker is a four-degree-of-freedom mechanism leg with four straight line driving branches, one end of the first linear driving branch is connected with one corner of the triangular connecting plate through a first hook hinge, the other end of the first linear driving branch is fixedly connected with the middle part of the V-shaped part, the second linear driving branch is located on the other side of the first linear driving branch, one end of the second linear driving branch is fixedly connected with the first cylindrical lug, the ear part of the first cylindrical lug is rotatably connected with one end of the connecting piece through a first rotating shaft, the other end of the connecting piece is fixedly connected with one side surface of the motor end cover in the first linear driving branch, the other end of the second linear driving branch is fixedly connected with the second cylindrical lug, the ear part of the second cylindrical lug is rotatably connected with one end of the second connecting rod through a second rotating shaft, and the other end of the first connecting rod is fixedly connected with the bottom of the V-shaped part.
2. The hexapod walker in accordance with the four degree-of-freedom mechanism leg of claim 1 wherein: the first, second, third, fourth, fifth and sixth rotating shafts are arranged in parallel.
3. The hexapod walker in accordance with the four degree-of-freedom mechanism leg of claim 1 wherein: the first ball pair and the second ball pair can be respectively replaced by three sequentially connected rotating hinges with rotating centers intersected at one point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710804461.8A CN107554640B (en) | 2017-09-08 | 2017-09-08 | Six-foot walker based on four-degree-of-freedom mechanism legs |
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| CN201710804461.8A CN107554640B (en) | 2017-09-08 | 2017-09-08 | Six-foot walker based on four-degree-of-freedom mechanism legs |
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| CN107554640A CN107554640A (en) | 2018-01-09 |
| CN107554640B true CN107554640B (en) | 2020-02-25 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823437B (en) * | 2019-01-21 | 2020-07-21 | 山东大学 | Hybrid robot leg mechanism based on UPR-R structure and walking robot |
| CN109967642B (en) * | 2019-03-06 | 2022-03-11 | 燕山大学 | Quick feeding and discharging mechanical arm |
| CN114228860A (en) * | 2021-12-22 | 2022-03-25 | 燕山大学 | Novel parallel leg biped robot |
| CN114454982B (en) * | 2021-12-31 | 2022-12-27 | 德清县浙工大莫干山研究院 | Controllable multi-mode hexapod mobile platform |
| CN114475849B (en) * | 2022-01-07 | 2022-11-15 | 燕山大学 | Multi-foot walker based on three-degree-of-freedom plane parallel mechanical legs |
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| CN102381380A (en) * | 2011-10-17 | 2012-03-21 | 上海交通大学 | Novel four-footed walker having parallel leg structure |
| CN104444418A (en) * | 2014-11-07 | 2015-03-25 | 上海交通大学 | Novel eighteen-degree-of-freedom robot with bucket |
| CN104875814A (en) * | 2015-05-29 | 2015-09-02 | 上海交通大学 | Walking robot |
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| CN105109575A (en) * | 2015-09-17 | 2015-12-02 | 山东大学 | Dog-like quadruped robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH04250988A (en) * | 1991-01-09 | 1992-09-07 | Tokimec Inc | Leg mechanism for walking robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381380A (en) * | 2011-10-17 | 2012-03-21 | 上海交通大学 | Novel four-footed walker having parallel leg structure |
| CN104444418A (en) * | 2014-11-07 | 2015-03-25 | 上海交通大学 | Novel eighteen-degree-of-freedom robot with bucket |
| CN104875814A (en) * | 2015-05-29 | 2015-09-02 | 上海交通大学 | Walking robot |
| CN104986240A (en) * | 2015-06-15 | 2015-10-21 | 上海交通大学 | Linear driving walking robot leg structure and parallel four-footed walking robot |
| CN105109575A (en) * | 2015-09-17 | 2015-12-02 | 山东大学 | Dog-like quadruped robot |
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