CN201291928Y - Six-foot walking robot device - Google Patents
Six-foot walking robot device Download PDFInfo
- Publication number
- CN201291928Y CN201291928Y CNU2008200416426U CN200820041642U CN201291928Y CN 201291928 Y CN201291928 Y CN 201291928Y CN U2008200416426 U CNU2008200416426 U CN U2008200416426U CN 200820041642 U CN200820041642 U CN 200820041642U CN 201291928 Y CN201291928 Y CN 201291928Y
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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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- Combustion & Propulsion (AREA)
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Abstract
The utility model relates to six-foot walking robot device which solves the gait programming and multi-foot coordination problems of six-foot walking robot. The robot device comprises a machine frame, three transmission shafts and a crank rocker mechanism; wherein, the three transmission shafts are arranged on the machine frame in parallel, the front machine frame on both sides of the transmission shafts is respectively provided with a short shaft in parallel, the three transmission shafts are respectively connected through two sets of chain transmission mechanism, both overhung ends of the three transmission shafts are respectively connected with ends of the cranks; the other end of each crank is respectively hinged with the lower end of the connecting rod, the upper end of the connecting rod is hinged with upper ends of the walking foot rods, the middle part of the connecting rod is hinged with the upper ends of the rockers, the lower ends of the rockers are fixedly connected with the short shafts on the side machine frame; the cranks, the connecting rod, the rockers and walking foot rods construct the crank rocker mechanism; one of the three transmission shafts is connected with the output shaft of a motor. The six-foot walking robot device has the advantages of stable gravity center, single-motor driving, reasonable gait, low design and manufacturing cost and high reliability.
Description
Technical field
The utility model relates to a kind of robot device.
Background technology
In order to improve means of delivery on bad road or there is not carrying capacity under the situation of road, and avoid the injury of bad working environment, often use the mobile robot to satisfy special functional requirement or be engaged in the work that some human bodies are difficult to finish itself human body.And sufficient formula walking move mode is because of having wheeled and the unexistent advantage of crawler type receives the researcher concern just day by day.Robot mechanics computation chart is bright, and the energy consumption of sufficient formula walking robot is usually less than wheeled and crawler type; Foot formula traveling gear can adapt to various surface conditions and have the higher ability of going beyond obstacle, and up/down steps reaches by unfairness, irregular or than the narrow lane face, its mobile " blind area " is very little easily.And present running machine philtrum adopts modes such as hydraulic pressure, micro controller system to realize the monopodia gait planning (foot is had and human similar gait) and the polypody coordinated movement of various economic factors having increased design, manufacturing even maintenance cost more.
The utility model content
For fear of because of adopting modes such as hydraulic pressure, micro controller system to realize the high design and manufacture cost that the monopodia gait planning and the polypody coordinated movement of various economic factors cause, the utility model provides a kind of six sufficient walking robot devices.
Concrete structural design scheme is as follows:
A kind of six sufficient walking robot devices comprise frame, three transmission shafts and quadric linkage, and described frame is a rectangular frame shape, and quadric linkage comprises crank, connecting rod, rocking bar and walking foot bar;
Be provided with chain drive between described front axle 3 and the tween drive shaft 5, be provided with chain drive between described tween drive shaft 5 and the rear axle 8;
Parallelly respectively on the frame of front axle 3, tween drive shaft 5 and 8 three transmission shaft two forequarters of rear axle be provided with a minor axis, minor axis equates with spacing between the adjacent transmission shaft;
The other end of described every crank hinge is respectively connecting the lower end of connecting rod, and the upper end hinge of connecting rod is connecting the upper end of the sufficient bar of walking, and the middle part hinge of connecting rod is connecting the upper end of rocking bar, and the lower end captive joint of rocking bar the minor axis on the respective side frame;
One of them is connecting motor output shaft in three transmission shafts.
Described rocking bar length is 1/2nd of length of connecting rod,
Described rocking bar length: the spacing between minor axis and the adjacent transmission shaft: crank length=1: 0.78: 0.35.
Forward and backward and the frame opposite side of frame one side middle part crank is one group, and the forward and backward and frame one middle side part crank of frame opposite side be another group, and same set of bell cranks is parallel to each other, and the angle perseverance between the pairing space vector of different set of bell cranks is 180 to spend.
The utility model adopts 6 identical quadric linkages as the monopodia traveling gear, the long ratio of bar of given each monopodia traveling gear can guarantee the similar people's of its walking step state walking, and the driving crank of these 6 monopodia traveling geaies is contained in respectively on front axle, tween drive shaft and the rear axle and with chain-driving realizes its interlock, thereby can drive this walking robot device with an electrical motor.Again these 6 monopodia traveling geaies are divided into into 2 groups for per 3 one group, coordinate motion between each group foot with driving crank with respect to the appropriate installation site of front axle, tween drive shaft and rear axle, can guarantee this six sufficient walking robot the motion each instantaneous all have 1 group 3 the foot land, simultaneously, also all there is other to lift the leg walking with frame by 1 group of 3 foot.
Advantage that compared with prior art the utlity model has and good effect:
(1), only need monomotor to drive, promptly have and the similar gait of human walking after the long ratio of the bar of each monopodia traveling gear is chosen by given numerical value, do not need to add the planning that control setup is realized gait in addition, saved design and manufacture cost, improved reliability.
(2), when satisfying specified criteria, the installation site of driving crank and front axle, tween drive shaft and rear axle can realize the coordination walking movement of 6 foots also not needing to add in addition the coordinated movement of various economic factors that control setup is realized multi-foot walking.
(3), when frame moves, always there are 3 foots to land barycentre steadiness.
Description of drawings
Fig. 1 is the utility model structural representation (when the utility model stands on ground, the observable graphics from the left side),
Fig. 2 is each monopodia traveling gear scheme drawing,
Multiview drawing in the plane that Fig. 3 parallels for of the present utility model and forward and backward and middle axis of revolution,
When Fig. 4 stands on ground for the utility model, the observable graphics from the right side.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is further described by embodiment.
Embodiment:
Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a kind of six sufficient walking robot devices comprise frame 1, three transmission shafts and quadric linkages, and described frame is a rectangular frame shape, and quadric linkage comprises crank, connecting rod, rocking bar and walking foot bar;
By parallel front axle 3, tween drive shaft 5 and 8 three transmission shafts of rear axle of being equipped with of bearing, the two ends of three transmission shafts extend respectively outside the frame on the frame 1, and the difference captive joint an end of crank on two overhanging ends of three transmission shafts; Be left crank 13A and preceding right crank 13D before captive joint respectively on 3 liang of overhanging ends of front axle, left crank 13B and middle right crank 13E during captive joint respectively on 5 liang of overhanging ends of tween drive shaft, the difference captive joint back left crank 13C and the right crank 13F in back on 8 liang of overhanging ends of rear axle;
Between front axle 3 and the tween drive shaft 5, be connected with the chain drive that intermediate chain wheel 10A forms, between tween drive shaft 5 and the rear axle 8, be connected with the chain drive that rear axle sprocket wheel 6C forms by transition sprocket wheel 6A, messenger chain 6B by front axle sprocket wheel 10C, messenger chain 10B;
Parallel respectively on the frame of front axle 3, tween drive shaft 5 and 8 three transmission shaft two forequarters of rear axle a minor axis is installed, minor axis equates with spacing between the adjacent transmission shaft; Be left minor axis 12 and preceding right minor axis 2 before parallel respectively being equipped with on the frame of front axle 3 front portions, left minor axis 11 and middle right minor axis 4 in parallel respectively being equipped with on the frame of tween drive shaft 5 front portions, parallel respectively left minor axis 9 in back and the right minor axis 7 in back of being equipped with on the frame of rear axle 8 front portions;
The other end of every crank hinge is respectively connecting the lower end of connecting rod, and the upper end hinge of connecting rod is connecting the upper end of the sufficient bar of walking, and the middle part hinge of connecting rod is connecting the upper end of rocking bar, and the lower end captive joint of rocking bar the minor axis on the respective side frame;
The other end of left crank 13A lower end of left connecting rod 14A before hinge is connecting respectively promptly, left lateral was walked the upper end of sufficient bar 16A before the upper end hinge of preceding left connecting rod 14A was connecting, the upper end of left rocking bar 15A before the middle part hinge of preceding left connecting rod 14A is connecting, the lower end captive joint of preceding left rocking bar 15A the preceding left minor axis 12 on the respective side frame; Preceding left crank 13A, preceding left connecting rod 14A, preceding left rocking bar 15A and preceding left lateral are walked sufficient bar 16A and are formed preceding left sufficient monopodia traveling gear;
Before the other end of the right crank 13D lower end of right connecting rod 14D before hinge is connecting respectively, right lateral was walked the upper end of sufficient bar 16D before the upper end hinge of preceding right connecting rod 14D was connecting, the upper end of right rocking bar 15D before the middle part hinge of preceding right connecting rod 14D is connecting, the lower end captive joint of preceding right rocking bar 15D the preceding right minor axis 2 on the respective side frame; Preceding right crank 13D, preceding right connecting rod 14D, preceding right rocking bar 15D and preceding right lateral are walked sufficient bar 16D and are formed preceding right sufficient monopodia traveling gear;
In the lower end of the other end of left crank 13B left connecting rod 14B during hinge is connecting respectively, in the upper end hinge of left connecting rod 14B connecting in left lateral walk the upper end of sufficient bar 16B, in the middle part hinge of left connecting rod 14B connecting in the upper end of left rocking bar 15B, the lower end captive joint of middle left rocking bar 15B the middle left minor axis 11 on the respective side frame; In left crank 13B, middle left connecting rod 14B, middle left rocking bar 15B and middle left lateral walk sufficient bar 16B form in left sufficient monopodia traveling gear;
In the other end of the right crank 13E lower end of right connecting rod 14E during hinge is connecting respectively, right lateral was walked the upper end of sufficient bar 16E during the upper end hinge of middle right connecting rod 14E was connecting, the upper end of right rocking bar 15E during the middle part hinge of middle right connecting rod 14E is connecting, the lower end captive joint of middle right rocking bar 15E the middle right minor axis 4 on the respective side frame; In right crank 13E, middle right connecting rod 14E, middle right rocking bar 15E and middle right lateral walk sufficient bar 16E form in right sufficient monopodia traveling gear;
The other end of the left crank 13C in back hinge is respectively connecting the lower end of back left connecting rod 14C, the upper end hinge of the left connecting rod 14C in back is connecting the upper end that back left lateral is walked sufficient bar 16C, the middle part hinge of the left connecting rod 14C in back is connecting the upper end of back left rocking bar 15C, and the lower end captive joint of the left rocking bar 15C in back the back left minor axis 9 on the respective side frame; The left crank 13C in back, the left connecting rod 14C in back, the left rocking bar 15C in back and back left lateral are walked sufficient bar 16C and are formed the left sufficient monopodia traveling gear in back;
The other end of the right crank 13F in back hinge is respectively connecting the lower end of back right connecting rod 14F, the upper end hinge of back right connecting rod 14F is connecting the upper end that back right lateral is walked sufficient bar 16F, the middle part hinge of back right connecting rod 14F is connecting the upper end of back right rocking bar 15F, and the lower end captive joint of the right rocking bar 15F in back the back right minor axis 7 on the respective side frame; The right crank 13F in back, back right connecting rod 14F, the right rocking bar 15F in back and back right lateral are walked sufficient bar 16F and are formed the right sufficient monopodia traveling gear in back.
One of them is connecting motor output shaft in three transmission shafts.
Every rocking bar length is 1/2nd of length of connecting rod,
Rocking bar length: the spacing between minor axis and the adjacent transmission shaft: crank length=1: 0.78: 0.35.
Left front sufficient, left back sufficient and right mesopodium is one group of synchronous walking foot, and the preceding left crank 13A in this group, the left crank 13C in back and middle right crank 13E are parallel to each other; Right front sufficient, right back sufficient and left mesopodium is another group synchronous walking foot, and preceding right crank 13D, the right crank 13F in back and middle left crank 13B in this another group are parallel to each other; Described two set of bell cranks, i.e. left crank 13A, the left crank 13C in back before first group, middle right crank 13E with second group before angle perseverance between right crank 13D, the right crank 13F in back, the pairing space vector of middle left crank 13B be 180 to spend.
This six sufficient walking robot device walking principle is as follows:
If be all one group left front foot, left back foot and right mesopodium (are 16A, 16C, 16E) land and park, then by low secondary motion reciprocity principle, frame 1 translation forward, again because " with left crank 13A before each driving crank; middle right crank 13E; the left crank 13C in back is one group; former right crank 13D; middle left crank 13B; the right crank 13F in back is another group, these two groups of driving cranks satisfy during assembling: driving crank is parallel to each other on the same group, the angle perseverance between the pairing space vector of driving crank is not two conditions of 180 degree on the same group ", be all one group right front foots of other 3 foots; right back foot and left mesopodium (are 16D; 16F; 16B) must be in " it is liftoff to lift leg---soaring motion walking---falls leg and land " state of kinematic motion.That is: left front sufficient, left back sufficient and right mesopodium (being 16A, 16C, 16E) is when landing, and frame 1 translation and right front sufficient, right back sufficient and left mesopodium (being 16D, 16F, 16B) is forward also lifted the leg walking simultaneously.Otherwise if right front sufficient, right back sufficient and left mesopodium (16D, 16F, 16B) is when landing, then translation and left front sufficient, left back sufficient and right mesopodium (being 16A, 16C, 16E) are also lifted the leg walking to frame 1 simultaneously forward.So as can be seen, in this six sufficient walking robot device walking process, 3 foots that always have same group land (3 foots of another group with frame forward translation lift leg walking), same again group 3 sufficient touchdown points are conllinear but triangular in shape not, guaranteed its center of gravity steadily.
Claims (3)
1, a kind of six sufficient walking robot devices is characterized in that: comprise frame, three transmission shafts and quadric linkage, described frame is a rectangular frame shape, and quadric linkage comprises crank, connecting rod, rocking bar and walking foot bar;
Parallel front axle (3), tween drive shaft (5) and (8) three transmission shafts of rear axle of being provided with on the frame, the two ends of three transmission shafts extend respectively outside the frame, and the difference captive joint an end of crank on two overhanging ends of three transmission shafts;
Be provided with chain drive between described front axle (3) and the tween drive shaft (5), be provided with chain drive between described tween drive shaft (5) and the rear axle (8);
Parallelly respectively on the frame of front axle (3), tween drive shaft (5) and (8) three transmission shaft two forequarters of rear axle be provided with a minor axis, minor axis equates with spacing between the adjacent transmission shaft;
The other end of described every crank hinge is respectively connecting the lower end of connecting rod, and the upper end hinge of connecting rod is connecting the upper end of the sufficient bar of walking, and the middle part hinge of connecting rod is connecting the upper end of rocking bar, and the lower end captive joint of rocking bar the minor axis on the respective side frame;
One of them is connecting motor output shaft in three transmission shafts.
2, according to claim 1 a kind of six sufficient walking robot devices is characterized in that:
Described rocking bar length is 1/2nd of length of connecting rod,
Described rocking bar length: the spacing between minor axis and the adjacent transmission shaft: crank length=1: 0.78: 0.35.
3, according to claim 1 a kind of six sufficient walking robot devices is characterized in that:
Forward and backward and the frame opposite side of frame one side middle part crank is one group, and the forward and backward and frame one middle side part crank of frame opposite side be another group, and same set of bell cranks is parallel to each other, and the angle perseverance between the pairing space vector of different set of bell cranks is 180 to spend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200416426U CN201291928Y (en) | 2008-08-28 | 2008-08-28 | Six-foot walking robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200416426U CN201291928Y (en) | 2008-08-28 | 2008-08-28 | Six-foot walking robot device |
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| Publication Number | Publication Date |
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| CN201291928Y true CN201291928Y (en) | 2009-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2008200416426U Expired - Fee Related CN201291928Y (en) | 2008-08-28 | 2008-08-28 | Six-foot walking robot device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012046037A1 (en) | 2010-10-04 | 2012-04-12 | China Industries Limited | Steerable walking machine and method for controlling the operation of such a machine |
| CN102689659A (en) * | 2011-03-21 | 2012-09-26 | 洪浛檩 | Gait of precise positioning of three-steering engine hexapod robot |
| CN103481963A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Two-stage buffer foot device applicable to obstacle crossing robot |
| CN103481964A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Six-leg walking robot capable of crossing obstacles |
| CN105564524A (en) * | 2016-02-16 | 2016-05-11 | 秦广泉 | Walking device |
| CN106080830A (en) * | 2016-07-08 | 2016-11-09 | 苏州米众三维科技有限公司 | The Hexapod Robot printed based on 3D |
| CN107042501A (en) * | 2016-10-29 | 2017-08-15 | 李宁 | A kind of many leg robot motion structures |
| CN108045452A (en) * | 2017-12-08 | 2018-05-18 | 丁秀珍 | A kind of energy conservation and environmental protection road robot |
| CN108082321A (en) * | 2017-12-14 | 2018-05-29 | 朱银娥 | A kind of gardens robot of the single motor driving with dust-extraction unit |
| CN108082324A (en) * | 2017-12-14 | 2018-05-29 | 丁秀珍 | A kind of road drives robot with energy saving and environment friendly single motor |
| CN108100072A (en) * | 2017-12-08 | 2018-06-01 | 陈德梅 | A kind of environment friendly road robot |
| CN112046638A (en) * | 2020-09-15 | 2020-12-08 | 华中农业大学 | Be applied to delivery platform of paddy field environment |
| CN113018884A (en) * | 2021-01-29 | 2021-06-25 | 广州理工学院 | Multi-foot arrow throwing robot |
-
2008
- 2008-08-28 CN CNU2008200416426U patent/CN201291928Y/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012046037A1 (en) | 2010-10-04 | 2012-04-12 | China Industries Limited | Steerable walking machine and method for controlling the operation of such a machine |
| US8657042B2 (en) | 2010-10-04 | 2014-02-25 | China Industries Limited | Walking machine |
| CN102689659A (en) * | 2011-03-21 | 2012-09-26 | 洪浛檩 | Gait of precise positioning of three-steering engine hexapod robot |
| CN103481963A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Two-stage buffer foot device applicable to obstacle crossing robot |
| CN103481964A (en) * | 2013-09-13 | 2014-01-01 | 北京航空航天大学 | Six-leg walking robot capable of crossing obstacles |
| CN103481964B (en) * | 2013-09-13 | 2015-08-05 | 北京航空航天大学 | A kind of Six-foot walking robot with obstacle climbing ability |
| CN103481963B (en) * | 2013-09-13 | 2016-06-01 | 北京航空航天大学 | A kind of foot device with two-stage buffering being applicable to barrier-surpassing robot |
| CN105564524A (en) * | 2016-02-16 | 2016-05-11 | 秦广泉 | Walking device |
| CN106080830A (en) * | 2016-07-08 | 2016-11-09 | 苏州米众三维科技有限公司 | The Hexapod Robot printed based on 3D |
| CN107042501A (en) * | 2016-10-29 | 2017-08-15 | 李宁 | A kind of many leg robot motion structures |
| CN108045452A (en) * | 2017-12-08 | 2018-05-18 | 丁秀珍 | A kind of energy conservation and environmental protection road robot |
| CN108100072A (en) * | 2017-12-08 | 2018-06-01 | 陈德梅 | A kind of environment friendly road robot |
| CN108082321A (en) * | 2017-12-14 | 2018-05-29 | 朱银娥 | A kind of gardens robot of the single motor driving with dust-extraction unit |
| CN108082324A (en) * | 2017-12-14 | 2018-05-29 | 丁秀珍 | A kind of road drives robot with energy saving and environment friendly single motor |
| CN112046638A (en) * | 2020-09-15 | 2020-12-08 | 华中农业大学 | Be applied to delivery platform of paddy field environment |
| CN113018884A (en) * | 2021-01-29 | 2021-06-25 | 广州理工学院 | Multi-foot arrow throwing robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090819 Termination date: 20110828 |