CN110217314A - A kind of robot - Google Patents
A kind of robot Download PDFInfo
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- CN110217314A CN110217314A CN201910592622.0A CN201910592622A CN110217314A CN 110217314 A CN110217314 A CN 110217314A CN 201910592622 A CN201910592622 A CN 201910592622A CN 110217314 A CN110217314 A CN 110217314A
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- connecting rod
- interconnecting piece
- driving section
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The embodiment of the invention provides a kind of robots, including fuselage；Power mechanism, the power mechanism are arranged on the fuselage, provide power for the robot；Transmission mechanism, the transmission mechanism are connect with the power mechanism, the power that the power mechanism generates are received, wherein the transmission mechanism includes the first driving section and the second driving section of coaxial arrangement；Movement mechanism, the movement mechanism are connect with the transmission mechanism, receive the driving of the transmission mechanism, and the movement mechanism includes at least one set of double leval jib leg, and the double leval jib leg includes first connecting rod, second connecting rod, third connecting rod and fourth link.Robot provided in an embodiment of the present invention, driving force are strong.
Description
Technical field
The present invention relates to machinery field more particularly to a kind of robots.
Background technique
Instantly, the research of legged type robot is started intimately, hexapod robot as one kind in legged type robot,
It can walk in unstructured or noncontinuity landform, while can be realized four-footed or even biped gait, compared with Conventional robotic
With very strong robustness and obstacle climbing ability.But the too high (Boston in the U.S. of current legged type robot or cost
Dynamics, Japanese Honda Company, domestic space tree science and technology, excellent essential legged type robot is all expensive, several hundred easily
Ten thousand price) cause common lab and research institution that can not do in-depth study to legged type robot, limit leg foot formula machine
Device man-based development.It is exactly class RHex robot (a kind of bionic 6-leg robot), this kind of rotation by leg reaches capable
Into the purpose with obstacle detouring, but this robot list leg can only lean on a motor output, and spring, obstacle climbing ability are not strong enough, movement
It is in the form of a single, it can not achieve and run in extreme complicated landform.In recent years, robot is in job that requires special skills, disaster relief or even army
Thing field has higher and higher application value, but existing hexapod robot all have cost excessively high while obstacle climbing ability at present
Undesirable disadvantage.Therefore, a kind of low cost is designed, has the characteristics that six foots of high output torque, high load capability, high stability
Robot is the emphasis of current research.
Existing patent retrieval is found, patent application publication number: 102267509 A of CN, denomination of invention: symmetrical bionic
Six sufficient running gears, using two structures, identical, centrosymmetric upper and lower layer tube-in-tube structure realizes gusseted for the invention.Its
Disadvantage are as follows: structure is complicated, and the starting time is long, and volume and weight is big, and the sensitivity that this also results in the system is not high, load capacity
Difference.
Existing patent retrieval is found, patent application publication number: CN 107651039A, a kind of denomination of invention: mechanical step
State synchronizes hexapod robot, which drives two groups of legs by two groups of transmission mechanisms.Its disadvantage are as follows: match firstly, being limited to processing
Precision is closed, this three legs synchronization realized using mechanical structure is more accurate unlike the system that each leg individually controls.Secondly, this
The addition of kind rotating mechanism is divided into two groups so that six legs are fixed, and every group of three legs must move together, can not achieve multiple
Miscellaneous gait.
Existing patent retrieval is found, patent application publication number: 20150041227 A1 of US, denomination of invention: SIX-
LEGGED WALKING ROBOT HAVING ROBOTIC ARMS FOR LEGS AND PLURALITY OF JOINTS, should
Invention controls the activity of leg by multiple steering engines, has imitated the design of mechanical arm.Its disadvantage are as follows: firstly, servo driving power is much
Not as good as motor, and simple joint only one motor driven；Secondly, this fisher's formula structure adds the system shape of topology
So that the torque that steering engine is born is very big, this also causes robot obstacle climbing ability very poor.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of robots.
The embodiment of the invention provides a kind of robots, comprising:
Fuselage；
Power mechanism, the power mechanism are arranged on the fuselage, provide power for the robot；
Transmission mechanism, the transmission mechanism are connect with the power mechanism, receive the power that the power mechanism generates,
Described in transmission mechanism include coaxial arrangement the first driving section and the second driving section；
Movement mechanism, the movement mechanism are connect with the transmission mechanism, receive the driving of the transmission mechanism, the fortune
Motivation structure includes at least one set of double leval jib leg, and the double leval jib leg includes first connecting rod, second connecting rod, third connecting rod and the
Double leval jib, wherein
The first connecting rod includes interconnecting piece and interconnecting piece under first connecting rod on first connecting rod, is connected on the first connecting rod
Portion is connect with the first driving section of the transmission mechanism, with the first rotational speed；
The second connecting rod includes interconnecting piece and interconnecting piece under second connecting rod on second connecting rod, is connected on the second connecting rod
Portion is connect with the second driving section of the transmission mechanism, with the second rotational speed；
Third connecting rod includes interconnecting piece and interconnecting piece under third connecting rod on third connecting rod, interconnecting piece on the third connecting rod
It is rotatably connected with interconnecting piece under first connecting rod；
Fourth link includes interconnecting piece and interconnecting piece under fourth link in fourth link, interconnecting piece in the fourth link
It is rotatably connected with interconnecting piece under second connecting rod, interconnecting piece is rotatably connected with interconnecting piece under third connecting rod under fourth link.
The embodiment of the invention provides a kind of robots, are driven using double leval jib leg, are capable of increasing driving force.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for ability
For the those of ordinary skill of domain, without any creative labor, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the robot interior structural schematic diagram of one kind provided in an embodiment of the present invention；
Fig. 2 is a kind of bar installation diagram of the double leval jib leg of robot provided in an embodiment of the present invention even；
Fig. 3 is a kind of matching chart of the structural schematic diagram of double leval jib leg provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of internal structure of another robot provided in an embodiment of the present invention；
Fig. 5 is the partial structural diagram of another robot provided in an embodiment of the present invention；
Fig. 6 is the kinematic sketch of power mechanism and transmission mechanism provided in an embodiment of the present invention；
Fig. 7 is the axial mechanism sectional view in transmission mechanism provided in an embodiment of the present invention；
Fig. 8 is a kind of control system figure provided in an embodiment of the present invention；
Fig. 9 is a kind of gait schematic diagram of robot provided in an embodiment of the present invention；
Figure 10 is a kind of schematic perspective view of robot provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
The terms such as " first " of the embodiment of the present invention, " second ", only difference the relevant technologies feature, do not indicate successively suitable
Sequence.
In order to illustrate technical solution described in the embodiment of the present invention, the following is a description of specific embodiments.
As shown in Figure 1, being a kind of exemplary implementation scheme of robot 100 provided in an embodiment of the present invention, specifically, institute
It states robot 100 and is referred to as bionical legged type robot or climbing robot etc..
The robot 100 includes fuselage 110, and the fuselage 100 is the main body frame of the robot 100.
The robot 100 further includes dynamic mechanism 120, and the power mechanism 120 is arranged on the fuselage 110,
The power mechanism 120 is that the robot 100 provides the device or component of power, and a kind of specific embodiment is described
Power mechanism 120 can provide the device of power for motor, oil-burning machine etc..
The robot 100 further includes having transmission mechanism 130, and the transmission mechanism 130 connects with the power mechanism 120
It connecing, the transmission mechanism 130 is used to receive the driving force of the generation of power mechanism 120, and the power mechanism 120 is generated
Power is transmitted on movement mechanism 140, so that the robot 100 moves.Transmission mechanism 130 provided in an embodiment of the present invention, packet
It includes there are two the first driving section 131 and the second driving section 132 coaxially set, first driving section 131 and second is driven
Portion 132 can axially rotate, and first driving section and the second driving section are formed along the axial connection that can mutually rotate.One
Kind specific embodiment, first driving section 131 are set, and the second driving section 132 is to be set in inside the first driving section 131
Axis, first driving section 131 and the second driving section 132 form the connection that can mutually rotate by bearing.
The robot 100 further includes having movement mechanism 140, and the movement mechanism 140 connects with the transmission mechanism 130
Connect, by the transmission mechanism 130 driving to be moved.Transmission mechanism 140 provided in an embodiment of the present invention includes at least
One group of double leval jib stand leg.The double leval jib leg includes first connecting rod 141, second connecting rod 142, third connecting rod 143 and the 4th
Connecting rod 144 forms.The first connecting rod 141, second connecting rod 142, third connecting rod 143 and fourth link 144 form double leval jib
Driving mechanism.
The first connecting rod 141 includes (the non-table in figure of interconnecting piece under interconnecting piece 1411 and first connecting rod on first connecting rod
Show), wherein interconnecting piece is connect with first driving section 131 on the first connecting rod.A kind of specific embodiment, described
Interconnecting piece is fixedly connected with the first driving section 131 on one connecting rod, such as is fixedly connected by screw.First driving section 131 drives
The first connecting rod 141 rotates, specifically, the first driving section 131 can drive the first connecting rod 141 along the first driving section
131 axial rotation.
The second connecting rod 142 includes (the non-table in figure of interconnecting piece under interconnecting piece 1421 and second connecting rod on second connecting rod
Show), wherein interconnecting piece is connect with the second driving section 132 on the second connecting rod.A kind of specific embodiment, described second connects
Interconnecting piece is connect with second driving section 132 on bar.A kind of specific embodiment, interconnecting piece and on the second connecting rod
Two driving sections 132 are fixedly connected, such as are fixedly connected by screw.Second driving section 132 drives 142 turns of the second connecting rod
It is dynamic, specifically, the second driving section 132 can drive axial direction rotation of the second connecting rod 142 along the second driving section 132.
The third connecting rod 143 includes interconnecting piece (not shown) and interconnecting piece under third connecting rod on third connecting rod
(not shown), interconnecting piece is rotatably connected with interconnecting piece under first connecting rod on the third connecting rod.A kind of specific implementation
Scheme, interconnecting piece is rotatably connected with interconnecting piece under first connecting rod and can be connect by bearing on the third connecting rod, and formation can
The connection of rotation.
Fourth link 144 includes interconnecting piece (in figure under interconnecting piece (not shown) and fourth link in fourth link
Do not indicate), interconnecting piece is rotatably connected with interconnecting piece under second connecting rod in the fourth link, interconnecting piece and under fourth link
Interconnecting piece is rotatably connected under three-link.Specifically, interconnecting piece can lead to interconnecting piece under second connecting rod in the fourth link
Bearing formation is crossed to be rotatably connected；Interconnecting piece can be formed by bearing with interconnecting piece under third connecting rod and be can be rotated under fourth link
Connection.
A kind of specific embodiment, the first connecting rod 141 is under the drive of first driving section 131 according to first
Direction rotation.The second connecting rod 142 rotates under the drive of second driving section 132 according to second direction, wherein first
Direction is opposite with second direction.It is driven in the reverse direction by this, can be realized the stretching, extension and contraction of leg, and then realized and advance, jump
The movement such as jump.
Further, the first connecting rod 141 is equal with the angular speed that second connecting rod 142 rotates.By synchronous rotation,
It can guarantee the consistency of leg exercise, enhance driving force.
A kind of specific embodiment connects on first connecting rod under interconnecting piece and first connecting rod on the first connecting rod 141
The distance in portion is first distance, and interconnecting piece is the with interconnecting piece under second connecting rod at a distance from second connecting rod on second connecting rod 142
Two distances, wherein the first distance is equal with second distance；And/or interconnecting piece on third connecting rod on the third connecting rod 143
It is third distance at a distance from third connecting rod 144 down interconnecting piece, in fourth link in fourth link under interconnecting piece and fourth link
The distance of interconnecting piece is the 4th distance, wherein the third distance is equidistant with the 4th.It, can be with by this symmetrical setting
The consistency of the guarantee double leval jib leg of maximum possible, enhances driving force.
A kind of specific embodiment is as Figure 2-3, and the first driving section 131 is axis, and the second driving section 132 is to be set in
Sleeve outside first driving section 131；Similar, being also possible to the first driving section 132 is axis, the second driving section 131
The sleeve being set in outside second driving section 132.First driving section 131 or the second driving section 132 pass through on side plate 134
Pedestal 133 it is fixed.First driving section 131 is fixedly connected with first connecting rod 141, and the first connecting rod 141 and pedestal
Connection sleeve 135 is additionally provided between bearing in 133, the sleeve 135 is to prevent the axial float of double leval jib leg.First passes
Dynamic portion 131 and the second driving section 132 can be cooperated by bearing 139a (such as deep groove ball bearing), and formation is rotatably connected.
It is connected between first connecting rod 141 and third connecting rod 143 as shown in Figure 3 by bearing 148.A kind of specific implementation
A gasket 146 can be arranged in scheme between first connecting rod 141 and third connecting rod 143, to guarantee first connecting rod 141 and
There are certain distances between three-link 143, so that first connecting rod 141 and third connecting rod 143 can relatively rotate.Described first connects
Interference fit, first connecting rod 141 and third connecting rod 143 is formed between bar 141 and bearing 148 to connect by shoulder screw 147.
144 bottom end of fourth link as shown in Figure 3 is additionally provided with gum cover, in 100 motion process of robot, institute
State gum cover and ground face contact.Specifically, the gum cover can be silica gel sheath.
As shown in figure 4, being a kind of specific embodiment of the embodiment of the present invention.The robot 100 can also include
There is battery 150, the battery 150 is arranged on the fuselage 110.The robot 100 further include have device 160 in sealing contact with
And panel 170, the panel 170 are connect with control module 180, in the specific panel 170 and control module 180
Microcontroller 181 connection (to microcontroller 181 power).Meanwhile stating the driver in panel 170 and control module 180
182 connections.The microcontroller 181 is connect with the driver 182, and Xiang Suoshu driver 182 sends control signal.The machine
Device people 100 further includes having communication module (not shown), and a kind of specific communication module can be XBee module.
A kind of specific embodiment, the power mechanism of the robot 100 include corresponding with double leval jib leg quantity
Power unit, wherein each power unit includes at least two motor or oil-burning machine equal power device.As Fig. 5-8 institute
Show, the power mechanism 120 of robot 100 provided in an embodiment of the present invention includes first motor 121 and the second motor 122.
The transmission mechanism 130 is the fixed shaft gear train using axial mechanism.The output shaft of first motor 121 is connect with gear 137b, tooth
It takes turns 137b and synchronous belt band moving gear 137a to rotate, and then drives the first biography being fixedly connected with gear 137a by screw 1310
Dynamic portion 131 rotates.Similar, the output shaft of the second motor 122 is connect with gear 137d, gear 137d and synchronous belt band moving gear
137c rotation, and then drive and pass through the second driving section 132 that screw 1311 is connect with gear 137c.
The transmission ratio of a kind of specific embodiment, the gear 137a and gear 137b are 1:3, gear 137d and gear
The transmission ratio of 137c is 1:3.
As shown in figure 8, being a kind of motion state schematic diagram of robot 100 provided in an embodiment of the present invention.The present invention is real
The robot for applying example offer includes 6 double leval jib legs, is separately positioned on the two sides of the fuselage 110, is symmetric.
The robot may be implemented in the case where six sufficient gaits:
1) trot: first group of double leval jib leg (solid line expression) and second group of double leval jib leg leg (dotted line expression) are alternately to extension
Contracting is swung, and is moved forward or back with triped gait.
2) walking: first group of double leval jib leg and second group of double leval jib leg are respectively distributed in side, and two groups of legs are alternately to extension
Contracting is swung, and is moved forward or back with realizing.
3) capriole: 6 double leval jib legs are fully synchronized, and leg is converted to extended state from contraction state to realize jump.
4) pivot turn: first group of double leval jib leg is distributed in the two sides of robot, under the action of contacting to earth frictional force, first
The thrust direction that the left side leg and right side leg of group generate fuselage makes on the contrary, to generation one torque to robot mass center
Robot turning, first group of double leval jib leg and second group of double leval jib leg according to said method alternating action, so that robot is continuously left
Turn or turns right.
(2), (heavy line represents first group of double leval jib leg to four-footed gait, and fine line represents second group of double leval jib leg, dotted line
Indicate that two intermediate legs are constantly in contraction stationary state, be not involved in contact to earth and swing process)
1) trot: first group of double leval jib leg and second group of double leval jib leg replace telescopic oscillating forward, before realizing robot
Into or retreat.
2) walking: first group of double leval jib leg and second group of double leval jib leg are respectively distributed in side, and two groups of legs are alternately to extension
Contracting is swung, and is moved forward or back with realizing.
3) capriole: 4 double leval jib legs are fully synchronized, and leg is converted to extended state from contraction state to realize jump.
4) jump: first group of double leval jib leg and second group of double leval jib leg alternately telescopic oscillating forward, realize robot to
Preceding rebounding.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of robot characterized by comprising
Fuselage；
Power mechanism, the power mechanism are arranged on the fuselage, provide power for the robot；
Transmission mechanism, the transmission mechanism are connect with the power mechanism, receive the power that the power mechanism generates, wherein institute
State the first driving section and the second driving section that transmission mechanism includes coaxial arrangement；
Movement mechanism, the movement mechanism are connect with the transmission mechanism, receive the driving of the transmission mechanism, the fitness machine
Structure includes at least one set of double leval jib leg, and the double leval jib leg includes first connecting rod, second connecting rod, third connecting rod and the 4th company
Bar, wherein
The first connecting rod includes interconnecting piece under interconnecting piece and first connecting rod on first connecting rod, on the first connecting rod interconnecting piece with
First driving section of the transmission mechanism connects, and the first connecting rod rotates under the drive of first driving section；
The second connecting rod includes interconnecting piece under interconnecting piece and second connecting rod on second connecting rod, on the second connecting rod interconnecting piece with
Second driving section of the transmission mechanism connects, and the second connecting rod rotates under the drive of second driving section；
Third connecting rod includes interconnecting piece under interconnecting piece and third connecting rod on third connecting rod, interconnecting piece and the on the third connecting rod
Interconnecting piece is rotatably connected under one connecting rod；
Fourth link includes interconnecting piece under interconnecting piece and fourth link in fourth link, interconnecting piece and the in the fourth link
Interconnecting piece is rotatably connected under two connecting rods, and interconnecting piece is rotatably connected with interconnecting piece under third connecting rod under fourth link.
2. robot as described in claim 1, which is characterized in that the first connecting rod is under the drive of first driving section
It is rotated according to first direction；
The second connecting rod rotates under the drive of second driving section according to second direction, wherein first direction and second party
To opposite.
3. robot as claimed in claim 2, which is characterized in that the angular speed phase that the first connecting rod is rotated with second connecting rod
Deng.
4. robot as described in claim 1, which is characterized in that the power mechanism includes and double leval jib leg corresponding number
Power unit, wherein each power unit includes first motor and the second motor；
The first motor drives first driving section；
Second driving section described in second motor driven.
5. robot as described in claim 1, which is characterized in that first driving section is outer shaft, and the second driving section is
Axis, wherein second driving section is set in first driving section, and the first driving section and the second driving section pass through bearing
Connection.
6. robot as described in claim 1, which is characterized in that first driving section is fixed with interconnecting piece on first connecting rod
Connection；
And/or second driving section be fixedly connected with interconnecting piece on second connecting rod.
7. robot as described in claim 1, which is characterized in that the movement mechanism includes 6 double leval jib legs, wherein described
6 double leval jib legs are symmetrical along fuselage two sides.
8. robot as described in claim 1, which is characterized in that interconnecting piece and first on first connecting rod on the first connecting rod
The distance of interconnecting piece is first distance under connecting rod, on second connecting rod on second connecting rod under interconnecting piece and second connecting rod interconnecting piece away from
From for second distance, wherein the first distance is equal with second distance；
And/or interconnecting piece is third distance at a distance from interconnecting piece under third connecting rod on third connecting rod on the third connecting rod, the
On double leval jib in fourth link interconnecting piece at a distance from interconnecting piece under fourth link be the 4th distance, wherein the third distance with
4th is equidistant.
9. robot as described in claim 1, which is characterized in that the fourth link bottom end is additionally provided with gum cover, described
In robot kinematics, the gum cover and ground face contact.
10. robot as described in claim 1, which is characterized in that be provided with pad between the first connecting rod and third connecting rod
Piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592622.0A CN110217314A (en) | 2019-07-03 | 2019-07-03 | A kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592622.0A CN110217314A (en) | 2019-07-03 | 2019-07-03 | A kind of robot |
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| Publication Number | Publication Date |
|---|---|
| CN110217314A true CN110217314A (en) | 2019-09-10 |
Family
ID=67815697
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910592622.0A Pending CN110217314A (en) | 2019-07-03 | 2019-07-03 | A kind of robot |
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| CN113001517A (en) * | 2021-03-11 | 2021-06-22 | 南方科技大学 | Over-constrained movement device and robot |
| CN113001516A (en) * | 2021-03-11 | 2021-06-22 | 南方科技大学 | Over-constrained amphibious robot |
| WO2024109297A1 (en) * | 2022-11-22 | 2024-05-30 | Oppo广东移动通信有限公司 | Robot |
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| CN113001516A (en) * | 2021-03-11 | 2021-06-22 | 南方科技大学 | Over-constrained amphibious robot |
| WO2024109297A1 (en) * | 2022-11-22 | 2024-05-30 | Oppo广东移动通信有限公司 | Robot |
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Application publication date: 20190910 |