CN109178135B - Dual-drive mode closed-chain leg mechanism - Google Patents
Dual-drive mode closed-chain leg mechanism Download PDFInfo
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- CN109178135B CN109178135B CN201810947080.XA CN201810947080A CN109178135B CN 109178135 B CN109178135 B CN 109178135B CN 201810947080 A CN201810947080 A CN 201810947080A CN 109178135 B CN109178135 B CN 109178135B
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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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Abstract
The invention discloses a dual-drive mode closed-chain leg mechanism which is characterized by comprising a leg connecting rod mechanism, a first motor, a second motor and a rack. The leg connecting rod mechanism comprises a crank, three auxiliary rods I, an adjusting rod, two auxiliary rods I, three auxiliary rods II, a foot and two auxiliary rods II. First motor and frame fixed connection, the motor shaft and the crank one end fixed connection of first motor, the crank other end is articulated with I upper end of three auxiliary rods, I middle part of three auxiliary rods is articulated with II one end of two auxiliary rods, II other ends of two auxiliary rods are articulated with the connecting rod hole of frame, I lower extreme of three auxiliary rods is articulated with II middle parts of three auxiliary rods, II lower extremes of three auxiliary rods are articulated with the foot, II upper ends of three auxiliary rods are articulated with I one end of two auxiliary rods, I other ends of two auxiliary rods are articulated with regulation pole one end, the motor shaft fixed connection of the regulation pole other end and second motor, second motor and frame fixed connection. The invention has two driving working modes and has the characteristics of high efficiency and high adaptability.
Description
Technical Field
The invention relates to a walking robot technology, in particular to a dual-drive mode closed-chain leg mechanism.
Background
In nature, ambulation is the most common mode of movement for land and amphibians, and by virtue of this in-and-out ability, various legged animals are distributed throughout the world. The earth has a large number of regions covered by the ground such as swamps, deserts, mountains and the like, which are difficult to reach by conventional wheeled or tracked vehicles, but many legged animals in nature can live on the ground for a long time and move freely. Theories and practices prove that leg type sports are more widely applicable sports. The mobile robot applying the leg system has strong terrain adaptability, and can be used in the fields of military transportation, jungle battle, disaster rescue, seabed exploration, planet exploration, education and entertainment and the like.
Chinese patent CN104925163A discloses a "four-legged leg structure of a legged robot", which adopts a five-bar mechanism, and has better carrying capacity compared with the closed-chain leg structure of the traditional tandem leg structure, but the leg structure must require two motors to work in coordination all the time, and has high control difficulty, high energy consumption and single working mode.
Disclosure of Invention
The invention provides a dual-drive mode closed-chain leg mechanism, aiming at the problems that the existing leg mechanism of a walking robot has a single working mode and cannot give consideration to both efficiency and pavement adaptability.
The technical scheme of the invention is as follows: a dual-drive mode closed-chain leg mechanism is designed, and comprises a leg connecting rod mechanism, a first motor, a second motor and a rack; the leg connecting rod mechanism is characterized by comprising a crank, three auxiliary rods I, an adjusting rod, two auxiliary rods I, three auxiliary rods II, a foot and two auxiliary rods II; the first motor is fixedly connected with a fixing hole I, a fixing hole II, a fixing hole III and a fixing hole IV on the rack through bolts, a motor shaft of the first motor is fixedly connected with one end of a crank through a jackscrew, the other end of the crank is hinged with the upper end of a three-auxiliary rod I, the middle of the three-auxiliary rod I is hinged with one end of a two-auxiliary rod II, the other end of the two-auxiliary rod II is hinged with a connecting rod hole of the rack, the lower end of the three-auxiliary rod I is hinged with the middle of the three-auxiliary rod II, the lower end of the three-auxiliary rod II is hinged with a foot, the upper end of the three-auxiliary rod II is hinged with one end of the two-auxiliary rod I, the other end of the two-auxiliary rod I is hinged with one end of an adjusting rod, the other end of the adjusting rod is fixedly connected with a motor shaft of; the first motor and the second motor are both connected with a control system.
The control system can control the leg mechanism to realize the movement of two working modes, the first mode is that the second motor (7) is not electrified, the adjusting rod (5) fixedly connected with the second motor (7) is fixed, the leg connecting rod mechanism becomes a six-rod mechanism with single degree of freedom, and the first motor (2) drives the crank to rotate in the whole circle to realize the walking movement of the leg mechanism; the second one is to control the first motor (2) and the second motor (7) to move coordinately at the same time, to drive the seven-bar mechanism with two degrees of freedom to move, to realize the flexible output of the foot end track.
The invention has the beneficial effects that: the double-drive-mode closed-chain leg mechanism has the advantages of single-degree-of-freedom working mode and two-degree-of-freedom working mode, wherein the single-degree-of-freedom working mode has the advantages of high working efficiency, low energy consumption and simplicity in control and can be used for walking on a flat road surface, the two-degree-of-freedom working mode can realize flexible output of various foot end tracks, the double-degree-of-freedom working mode can adapt to complex road surface environments and cross obstacles, the two working modes can be flexibly switched according to different road surface environments, the double-degree-of-freedom working mode has the advantages of high efficiency and high adaptability, meanwhile, the two working modes form a fault-tolerant mechanism, even if the second motor fails, the basic walking capability of the walking robot can be guaranteed by the first.
Drawings
FIG. 1 is a three-dimensional front view of a leg mechanism of a walking robot;
FIG. 2 is a three-dimensional view of the overall structure of the rear side of a leg mechanism of the walking robot;
FIG. 3 is a three-dimensional view of the gantry;
FIG. 4 is a top view of a leg mechanism of the walking robot;
FIG. 5 is a schematic view of a quadruped robot constructed with leg mechanisms of the walking robot;
fig. 6 is a schematic diagram of a hexapod robot including a leg mechanism of the walking robot.
Detailed Description
The invention will be further explained with reference to the drawings. The scope of the claims of the present application is not limited to the description of the embodiments.
As shown in fig. 1, 2 and 4, the dual-drive mode closed-chain leg mechanism designed by the present invention is characterized in that the leg mechanism comprises a leg link mechanism, a first motor 2, a second motor 7 and a frame 1.
As shown in fig. 1 to 4, the leg link mechanism includes a crank 3, three secondary rods i 4, an adjusting rod 5, two secondary rods i 6, three secondary rods ii 8, a foot 9, and two secondary rods ii 10; the first motor 2 is fixedly connected with a fixing hole I1 f, a fixing hole II 1g, a fixing hole III 1h and a fixing hole IV 1i on the frame 1 through bolts, a motor shaft of the first motor 2 is fixedly connected with one end of a crank 3 through a jackscrew, the other end of the crank 3 is hinged with the upper end of a three secondary rod I4, the middle part of the three secondary rod I4 is hinged with one end of a two secondary rod II 10, the other end of the two secondary rod II 10 is hinged with a connecting rod hole 1e of the frame 1, the lower end of the three secondary rod I4 is hinged with the middle part of a three secondary rod II 8, the lower end of the three secondary rod II 8 is hinged with a foot part 9, the upper end of the three secondary rod II 8 is hinged with one end of a secondary rod I6, the other end of the secondary rod I6 is hinged with one end of an adjusting rod 5, the other end of the adjusting rod 5 is fixedly, the fixing hole VI 1b, the fixing hole VII 1c and the fixing hole VIII 1d are fixedly connected through bolts; the first motor 2 and the second motor 7 are both connected with a control system.
The dual-drive mode closed-chain leg mechanism is characterized in that the leg mechanism can be used as a modular unit mechanical leg for forming a multi-foot walking robot, a schematic diagram of a quadruped robot formed by the leg mechanism is shown in fig. 5, and a schematic diagram of a hexapod robot formed by the leg mechanism is shown in fig. 6.
The dual-drive-mode closed-chain leg mechanism is characterized in that the first motor 2 and the second motor 7 are servo motors provided with self-locking reducers.
The working principle and the process of the invention are as follows: the dual-drive mode closed-chain leg mechanism has two working modes, the first mode is that the second motor 7 is not electrified, the adjusting rod 5 fixedly connected with the second motor 7 is fixed, the leg connecting rod mechanism becomes a six-rod mechanism with single degree of freedom, and the crank is driven by the first motor 2 to rotate in the whole circle to realize the walking motion of the leg mechanism; the second is to control the first motor 2 and the second motor 7 to move coordinately at the same time, to drive the seven-bar mechanism with two degrees of freedom to move, so as to realize the flexible output of the foot end track.
Claims (4)
1. A dual-drive mode closed-chain leg mechanism comprises a leg connecting rod mechanism, a first motor (2), a second motor (7) and a rack (1); the leg connecting rod mechanism is characterized by comprising a crank (3), three auxiliary rods I (4), an adjusting rod (5), an auxiliary rod I (6), three auxiliary rods II (8), a foot (9) and an auxiliary rod II (10); the first motor (2) is fixedly connected with a fixing hole I (1f), a fixing hole II (1g), a fixing hole III (1h) and a fixing hole IV (1i) on the frame (1), a motor shaft of the first motor (2) is fixedly connected with one end of a crank (3) through a jackscrew, the other end of the crank (3) is hinged with the upper end of a three secondary rod I (4), the middle part of the three secondary rod I (4) is hinged with one end of a secondary rod II (10), the other end of the secondary rod II (10) is hinged with a connecting rod hole (1e) of the frame (1), the lower end of the three secondary rod I (4) is hinged with the middle part of the three secondary rod II (8), the lower end of the three secondary rod II (8) is hinged with a foot part (9), the upper end of the three secondary rod II (8) is hinged with one end of a secondary rod I (6), the other end of the secondary rod I (6) is hinged with one end of an adjusting rod (5), the other end of the adjusting rod (5) is, the second motor (7) is fixedly connected with a fixing hole V (1a), a fixing hole VI (1b), a fixing hole VII (1c) and a fixing hole VIII (1d) on the rack (1) through bolts; the first motor (2) and the second motor (7) are both connected with a control system.
2. A dual-drive mode closed-chain leg mechanism according to claim 1, wherein the control system can control the leg mechanism to realize the motion of two working modes, the first mode is that the second motor (7) is not powered, the adjusting rod (5) fixedly connected with the second motor (7) is fixed, the leg link mechanism becomes a six-rod mechanism with single degree of freedom, the crank is driven by the first motor (2) to rotate in a whole circle to realize the walking motion of the leg mechanism; the second one is to control the first motor (2) and the second motor (7) to move coordinately at the same time, to drive the seven-bar mechanism with two degrees of freedom to move, to realize the flexible output of the foot end track.
3. A dual drive mode closed chain leg mechanism according to claim 1, wherein said leg mechanism is used as a modular unit mechanical leg to form a multi-legged walking robot.
4. A dual drive mode closed chain leg mechanism according to claim 2, characterized in that the first motor (2) and the second motor (7) are servo motors equipped with self-locking reducers.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810947080.XA CN109178135B (en) | 2018-08-20 | 2018-08-20 | Dual-drive mode closed-chain leg mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810947080.XA CN109178135B (en) | 2018-08-20 | 2018-08-20 | Dual-drive mode closed-chain leg mechanism |
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| CN109178135A CN109178135A (en) | 2019-01-11 |
| CN109178135B true CN109178135B (en) | 2020-02-07 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450880A (en) * | 2019-07-23 | 2019-11-15 | 北京交通大学 | A kind of adjustable eight biped robot of sufficient end track |
| CN110641573B (en) * | 2019-10-29 | 2021-02-05 | 北京航空航天大学 | Closed-chain single-degree-of-freedom five-rod leg mechanism |
| CN112319648B (en) * | 2020-11-09 | 2021-06-04 | 武汉理工大学 | Leg mechanism of foot type robot with switchable degrees of freedom |
| CN112265593B (en) * | 2020-11-15 | 2024-04-30 | 浙江工业大学 | Series-parallel anthropomorphic mechanical leg |
| CN112590964B (en) * | 2020-12-15 | 2022-10-21 | 武汉理工大学 | Wheel-leg combined robot and control method thereof |
| CN114633822B (en) * | 2022-02-24 | 2024-01-16 | 天津理工大学 | Three-drive adjustable closed-chain leg mechanism |
Citations (7)
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| JP2001062761A (en) * | 1999-08-30 | 2001-03-13 | Honda Motor Co Ltd | Bipedal walking leg type mobile robot |
| CN103407507A (en) * | 2013-07-05 | 2013-11-27 | 北京交通大学 | Single-power crawling six-rod mechanism |
| CN104477270A (en) * | 2014-08-08 | 2015-04-01 | 北京交通大学 | Single-power-moved six-rod robot |
| CN105835090A (en) * | 2016-06-16 | 2016-08-10 | 湖北工业大学 | Recognition method for branches of plane two-freedom-degree seven-connecting-rod mechanism |
| CN106607930A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation |
| CN107380295A (en) * | 2017-07-17 | 2017-11-24 | 安徽工业大学 | A kind of closed chain formula walking leg mechanism |
| CN108001553A (en) * | 2017-11-20 | 2018-05-08 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
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2018
- 2018-08-20 CN CN201810947080.XA patent/CN109178135B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001062761A (en) * | 1999-08-30 | 2001-03-13 | Honda Motor Co Ltd | Bipedal walking leg type mobile robot |
| CN103407507A (en) * | 2013-07-05 | 2013-11-27 | 北京交通大学 | Single-power crawling six-rod mechanism |
| CN104477270A (en) * | 2014-08-08 | 2015-04-01 | 北京交通大学 | Single-power-moved six-rod robot |
| CN105835090A (en) * | 2016-06-16 | 2016-08-10 | 湖北工业大学 | Recognition method for branches of plane two-freedom-degree seven-connecting-rod mechanism |
| CN106607930A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-motion closed chain connection rod mechanism mechanical arm for carrying operation |
| CN107380295A (en) * | 2017-07-17 | 2017-11-24 | 安徽工业大学 | A kind of closed chain formula walking leg mechanism |
| CN108001553A (en) * | 2017-11-20 | 2018-05-08 | 北京交通大学 | Single-power double step gait is creeped six-bar mechanism |
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