CN202038387U - Walking mechanism for four-foot robot driven and controlled by cams - Google Patents
Walking mechanism for four-foot robot driven and controlled by cams Download PDFInfo
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- CN202038387U CN202038387U CN2010202812824U CN201020281282U CN202038387U CN 202038387 U CN202038387 U CN 202038387U CN 2010202812824 U CN2010202812824 U CN 2010202812824U CN 201020281282 U CN201020281282 U CN 201020281282U CN 202038387 U CN202038387 U CN 202038387U
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Abstract
The utility model discloses a walking mechanism for a four-foot robot driven and controlled by cams. The walking mechanism comprises front and rear leg assemblies with the same structure; front and rear leg fixing and supporting racks which are respectively arranged above the front and rear leg assemblies so as to fix and support the front and rear leg assemblies; front and rear leg three-cam driving and controlling assemblies which are respectively located above the front and rear leg fixing and supporting racks and are cooperatively installed with the front and rear leg assemblies; front and rear leg universal connecting assemblies which are located between the front and rear leg fixing and supporting racks for connection with the front and rear leg assemblies, wherein the front and rear leg fixing and supporting racks are symmetrically disposed at two ends of the front and rear leg universal connecting assemblies; and a direct-current servo driving motor which is fixedly installed above the rear leg fixing and supporting rack and is cooperatively arranged with the front and rear leg universal connecting assemblies. The walking mechanism of the utility model has the advantages of simple structure, high control precision, low cost and small weight.
Description
Technical field
The utility model relates to the walking technology of quadruped robot, particularly, relates to a kind of traveling gear of cam driving control type quadruped robot.
Background technology
At present, in the integral frame of quadruped robot, traveling gear is one of key mechanism of quadruped robot.About traveling gear, study at present and maximum be: at the joint of leg assembly, adopt servomotor to carry out the mode of drive controlling, control walking parameter, thus realize the walking function of quadruped robot.
In the traveling gear of quadruped robot, adopt the mode of above-mentioned driven by servomotor control, have the simple and high advantage of control accuracy of physical construction; But, when adopting the mode of this servo click drive controlling, need a plurality of servomotors to be used, not only increase the weight and the manufacturing cost of quadruped robot, and increased the control difficulty.
In realizing process of the present utility model, the contriver finds that there is complex structure at least in above-mentioned technology, control accuracy is low, cost is high and defectives such as weight is big.
Summary of the invention
The purpose of this utility model is, at the problems referred to above, proposes a kind of traveling gear of cam driving control type quadruped robot, and is simple with implementation structure, control accuracy is high, cost is low and lightweight advantage.
For achieving the above object, the technical solution adopted in the utility model is: a kind of traveling gear of cam driving control type quadruped robot, comprise: vertically parallel the setting and identical foreleg assembly and the rear leg assemblies of structure, described foreleg assembly comprises left front leg assembly and RAT assembly, and described rear leg assemblies comprises left back leg assembly and right rear leg assembly; Level cooperates the top that is installed in described foreleg assembly, the foreleg fixing support rack that is used for fixing and supports described foreleg assembly, and level cooperates the top that is installed in described rear leg assemblies, the back leg fixing support rack that is used for fixing and supports described rear leg assemblies; Be positioned at the top of described foreleg fixing support rack, cooperate the foreleg three cam drive control assemblys of installing with described foreleg assembly, described foreleg three cam drive control assemblys comprise the RAT three cam drive control assemblys that cooperate the left front leg three cam drive control assemblys of installation and cooperate installation with the RAT assembly with the left front leg assembly; Be positioned at the top of described back leg fixing support rack, cooperate the back leg three cam drive control assemblys of installing with described rear leg assemblies, described back leg three cam drive control assemblys comprise the right rear leg three cam drive control assemblys that cooperate the left back leg three cam drive control assemblys of installation and cooperate installation with the right rear leg assembly with left back leg assembly; Between described foreleg fixing support rack and back leg fixing support rack, be used to be connected the universal coupling assembling of front and back leg of described foreleg assembly and rear leg assemblies, the two ends of the universal coupling assembling of leg before and after described foreleg fixing support rack and back leg fixing support rack are arranged on symmetrically; And, be fixedly mounted on the top of described back leg fixing support rack, be equipped with the described front and back universal coupling assembling of leg, and be used to drive the DC servo drive motor of foreleg three cam drive control assemblys and the motion of back leg three cam drive control assemblys.
Further, described left front leg assembly comprises hip joint, thigh, knee joint and the shank of order setting from up to down, described hip joint is away from an end of thigh, be connected with the foreleg fixing support rack by pin, near an end of thigh, be connected away from a kneed end with thigh by pin; Described thigh near a kneed end, be connected with the end of knee joint by pin away from shank; Described knee joint is near an end of shank, be connected with shank by adapter shaft; At the axle head of described adapter shaft, be equipped with knee joint and be with the connection belt wheel synchronously near medial leg.
Further, described foreleg assembly and rear leg assemblies are the three-freedom planar assembly; Described three-freedom planar assembly comprises a redundant degree of freedom.
Further, described left front leg three cam drive control assemblys comprise: be used for the hip joint cam of drive controlling left front leg hip joint, the hip joint cam follower, hip joint push boat and the hip joint cam returning spring that are equipped with described hip joint cam; Described hip joint cam, hip joint cam follower, hip joint push boat and hip joint cam returning spring are fixedly mounted on respectively on the described foreleg fixing support rack; The master cam that is used for drive controlling left front leg thigh, the master cam push rod, head pulley and the master cam retracing spring that are equipped with described master cam; Described master cam, master cam push rod, head pulley and master cam retracing spring are fixedly mounted on respectively on the described foreleg fixing support rack; And, be used for the kneed knee joint cam of drive controlling left front leg, the knee joint rack-and-pinion, knee joint gear wheel shaft, the knee joint tooth bar retracing spring that are equipped with described knee joint cam; Described knee joint cam, knee joint rack-and-pinion, knee joint gear wheel shaft and knee joint tooth bar retracing spring are fixedly mounted on respectively on the described foreleg fixing support rack; Described hip joint cam, master cam and knee joint cam are installed in the left front leg end of foreleg camshaft in turn, and described knee joint cam is near the universal coupling assembling setting of front and back leg; Be complementary with described hip joint cam.
Further, described knee joint rack-and-pinion comprises tooth bar, the gear that is equipped with described tooth bar; One end of described tooth bar is the circular push boat that is subjected to the knee joint cam-controlled; Described gear and knee joint gear wheel shaft are connected; In two ends of described knee joint gear wheel shaft, be respectively equipped with the gear wheel shaft bearing that is used for installing described gear wheel shaft by bearing fixing, described gear wheel shaft bearing is fixed on the top of foreleg fixing support rack; One end of described knee joint gear wheel shaft is that band connects belt wheel synchronously, and described synchronous band connection belt wheel is with synchronously with knee joint and is connected between the belt wheel, connects by synchronous band; Be connected belt wheel with described synchronous band and be complementary, also be provided with the belt tension assembly.
Further, the described front and back universal coupling assembling of leg comprises: the foreleg camshaft that is used for installing symmetrically described left front leg three cam drive control assemblys and RAT three cam drive control assemblys, be used for installing symmetrically the back leg camshaft of described left back leg three cam drive control assemblys and right rear leg three cam drive control assemblys, and the main shaft that is used to connect described foreleg camshaft and back leg camshaft.
Further, described main shaft comprises adapter shaft, described adapter shaft near an end of foreleg camshaft, be provided with first finishing bevel gear cuter that is used to connect the foreleg camshaft, described adapter shaft near an end of back leg camshaft, be provided with the middle tap gear that is used to connect the back leg camshaft; Between described first finishing bevel gear cuter and middle tap gear, be interval with first universal-joint and second universal-joint; Between described second universal-joint and middle tap gear, be provided with and be used for and DC servo drive motor bonded assembly helical wheel; On described foreleg fixing support rack and back leg fixing support rack, be respectively equipped with the bearing brackett that is used to support described adapter shaft.
Further, described RAT three cam drive control assemblys have identical structure with left front leg three cam drive control assemblys, are installed in the two ends of described foreleg camshaft symmetrically.
Further, described left back leg three cam drive control assemblys and right rear leg three cam drive control assemblys all have identical structure with described left front leg three cam drive control assemblys; Described left back leg three cam drive control assemblys and right rear leg three cam drive control assemblys are installed in the two ends of described back leg camshaft symmetrically.
The beneficial effects of the utility model are as follows: owing to comprise vertically parallel the setting and identical foreleg assembly and the rear leg assemblies of structure; Level cooperates the top that is installed in the foreleg assembly, the foreleg fixing support rack that is used for fixing and supports the foreleg assembly, and level cooperates the top that is installed in rear leg assemblies, the back leg fixing support rack that is used for fixing and supports rear leg assemblies; Be positioned at the top of foreleg fixing support rack, cooperate the foreleg three cam drive control assemblys of installing with the foreleg assembly; Be positioned at the top of back leg fixing support rack, cooperate the back leg three cam drive control assemblys of installing with rear leg assemblies; Between foreleg fixing support rack and back leg fixing support rack, be used to be connected the universal coupling assembling of front and back leg of foreleg assembly and rear leg assemblies, the two ends of the universal coupling assembling of leg before and after foreleg fixing support rack and back leg fixing support rack are arranged on symmetrically; And, be fixedly mounted on the top of back leg fixing support rack, be equipped with the universal coupling assembling of front and back leg, and be used to drive the DC servo drive motor of foreleg three cam drive control assemblys and the motion of back leg three cam drive control assemblys; Like this, utilize cam to replace driven by servomotor control walking parameter; Thereby can overcome complex structure in the prior art, control accuracy is low, cost is high and the big defective of weight, simple with implementation structure, control accuracy is high, cost is low and lightweight advantage.
Description of drawings
Accompanying drawing is used to provide further understanding of the present utility model, and constitutes the part of specification sheets, is used from explanation the utility model with embodiment one of the present utility model, does not constitute restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structural representation according to the traveling gear of the utility model cam driving control type quadruped robot;
Fig. 1 a is the birds-eye view of Fig. 1;
Fig. 1 b is the local enlarged diagram of A portion among Fig. 1;
Fig. 1 c is the local enlarged diagram of B portion among Fig. 1;
Fig. 2 a is the structural representation according to foreleg fixing support rack in the traveling gear of the utility model cam driving control type quadruped robot;
Fig. 2 b is the structural representation according to back leg fixing support rack in the traveling gear of the utility model cam driving control type quadruped robot;
Fig. 3 is the structural representation of front/rear leg drive controlling assembly in the traveling gear according to the utility model cam driving control type quadruped robot;
Fig. 3 a is the local enlarged diagram of C portion among Fig. 3;
Fig. 4 is the structural representation according to front/rear leg in the traveling gear of the utility model cam driving control type quadruped robot;
Fig. 5 is the structural representation according to front and back leg coupling assembling in the traveling gear of the utility model cam driving control type quadruped robot.
In conjunction with the accompanying drawings, Reference numeral is as follows among the utility model embodiment:
1-DC servo drive motor; The 2-driving gear; The 3-driven gear; Adapter shaft behind the 4-; The universal-joint of 5-back leg fixing support rack; The universal-joint of 6-foreleg fixing support rack; Adapter shaft before the 7-; Bevel-gear pair before the 8-; 9-foreleg camshaft; 10-hip joint cam; The 11-master cam; 12-knee joint cam; 131-hip joint cam follower; 132-hip joint cam returning spring; The 14-hip joint; 151-master cam push rod; 152-master cam retracing spring; The 16-thigh; 171-knee joint tooth bar retracing spring; 172-knee joint rack-and-pinion; The 18-driving pulley; 19-wedge shape belt; The 20-driven pulley; The 21-shank; 22-belt tension assembly; 23-foreleg fixing support rack; 24-back leg fixing support rack.
The specific embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described, should be appreciated that preferred embodiment described herein only is used for description and interpretation the utility model, and be not used in qualification the utility model.
According to the utility model embodiment, provide a kind of traveling gear of cam driving control type quadruped robot.As Fig. 1-shown in Figure 5, present embodiment comprises: vertically parallel the setting and identical foreleg assembly and the rear leg assemblies of structure, and the foreleg assembly comprises left front leg assembly and RAT assembly, rear leg assemblies comprises left back leg assembly and right rear leg assembly; Level cooperates the top that is installed in the foreleg assembly, the foreleg fixing support rack 23 that is used for fixing and supports the foreleg assembly, and level cooperates the top that is installed in rear leg assemblies, the back leg fixing support rack 24 that is used for fixing and supports rear leg assemblies; Be positioned at the top of foreleg fixing support rack 23, cooperate the foreleg three cam drive control assemblys of installing with the foreleg assembly, foreleg three cam drive control assemblys comprise the RAT three cam drive control assemblys that cooperate the left front leg three cam drive control assemblys of installation and cooperate installation with the RAT assembly with the left front leg assembly; Be positioned at the top of back leg fixing support rack 24, cooperate the back leg three cam drive control assemblys of installing with rear leg assemblies, back leg three cam drive control assemblys comprise the right rear leg three cam drive control assemblys that cooperate the left back leg three cam drive control assemblys of installation and cooperate installation with the right rear leg assembly with left back leg assembly; Between foreleg fixing support rack 23 and back leg fixing support rack 24, be used to be connected the universal coupling assembling of front and back leg of foreleg assembly and rear leg assemblies, the two ends of the universal coupling assembling of leg before and after foreleg fixing support rack 23 is arranged on symmetrically with back leg fixing support rack 24; And, be fixedly mounted on the top of back leg fixing support rack 24, be equipped with the universal coupling assembling of front and back leg, and be used to drive the DC servo drive motor 1 of foreleg three cam drive control assemblys and the motion of back leg three cam drive control assemblys.
Here, utilize three cams to replace servomotor, the walking parameter of drive controlling quadruped robot; Particularly: foreleg fixing support rack 23 is used for fixing foreleg assembly, foreleg three cam drive control assembly and robot shells; Back leg fixing support rack 24 is used for fixing rear leg assemblies, back leg three cam drive control assembly and robot shells; Leg universal coupling assembling in front and back comprises gear cluster and universal-joint group, is used for power transmission and turning; DC servo drive motor 1 is used to provide the driving power of quadruped robot walking.
Further, in the above-described embodiments, the left front leg assembly comprises hip joint 14, thigh 16, knee joint and the shank 21 of order setting from up to down, hip joint 14 is away from an end of thigh 16, be connected with foreleg fixing support rack 23 by pin, near an end of thigh 16, be connected away from a kneed end with thigh 16 by pin; Thigh 16 is near kneed ends, be connected with the end of knee joint away from shank 21 by pin; Knee joint is near an end of shank 21, be connected with shank 21 by adapter shaft 7; At the axle head of adapter shaft 7 near shank 21 inboards, be equipped with knee joint and be with the connection belt wheel synchronously, promptly driven pulley 20.
Here, left front leg assembly, RAT assembly, left back leg assembly have identical structure with the right rear leg assembly, and principle of work is identical, and, be the three-freedom planar assembly; The three-freedom planar assembly comprises a redundant degree of freedom, by redundant degree of freedom is retrained, can realize the coordinated movement of various economic factors of respective leg assembly.
Further, in the above-described embodiments, left front leg three cam drive control assemblys comprise: be used for the hip joint cam 10 of drive controlling left front leg hip joint 14, the hip joint cam follower 131, hip joint push boat and the hip joint cam returning spring 132 that are equipped with hip joint cam 10; Hip joint cam 10, hip joint cam follower 131, hip joint push boat and hip joint cam returning spring 132 are fixedly mounted on respectively on the foreleg fixing support rack 23; The master cam 11 that is used for drive controlling left front leg thigh, the master cam push rod 151, head pulley and the master cam retracing spring 152 that are equipped with master cam 11; Master cam 11, master cam push rod 151, head pulley and master cam retracing spring 152 are fixedly mounted on respectively on the foreleg fixing support rack 23; And, be used for the kneed knee joint cam 12 of drive controlling left front leg, the knee joint rack-and-pinion 172, knee joint gear wheel shaft, the knee joint tooth bar retracing spring 171 that are equipped with knee joint cam 12; Knee joint cam 12, knee joint rack-and-pinion 172, knee joint gear wheel shaft and knee joint tooth bar retracing spring 171 are fixedly mounted on respectively on the foreleg fixing support rack 23; Hip joint cam 10, master cam 11 and knee joint cam 12 are installed in the left front leg end of foreleg camshaft 9 in turn, and knee joint cam 12 is near the universal coupling assembling settings of front and back leg.
Wherein, above-mentioned knee joint rack-and-pinion 172 comprises tooth bar, the gear that is equipped with tooth bar; One end of tooth bar is the circular push boat that is subjected to the knee joint cam-controlled; Gear and knee joint gear wheel shaft are connected; In two ends of knee joint gear wheel shaft, be respectively equipped with the gear wheel shaft bearing that is used for by bearing fixing mounting teeth wheel shaft, the gear wheel shaft bearing is fixed on the top of foreleg fixing support rack 23; One end of knee joint gear wheel shaft is that synchronous band connects belt wheel, and the belt wheel of band connection synchronously is with synchronously with knee joint and is connected between the belt wheel, connects by synchronous band; Here, the belt wheel of band connection synchronously is a driving pulley 18, and band is a wedge shape belt 19 synchronously; Be complementary with driving pulley 18, also be provided with belt tension assembly 22.
In the above-described embodiments, RAT three cam drive control assemblys have identical structure with left front leg three cam drive control assemblys, and principle of work is identical, and just the installation site of respective cams group is opposite, promptly are installed in the two ends of foreleg camshaft 9 symmetrically.Left back leg three cam drive control assemblys and right rear leg three cam drive control assemblys all have identical structure with left front leg three cam drive control assemblys; Left back leg three cam drive control assemblys and right rear leg three cam drive control assemblys are installed in the two ends of back leg camshaft symmetrically.
Further, in the above-described embodiments, leg universal coupling assembling in front and back comprises: the foreleg camshaft 9 that is used for installing symmetrically left front leg three cam drive control assemblys and RAT three cam drive control assemblys, be used for installing symmetrically the back leg camshaft of left back leg three cam drive control assemblys and right rear leg three cam drive control assemblys, and the main shaft that is used to connect foreleg camshaft and back leg camshaft.Here, foreleg camshaft 9 is as the transmission shaft of respective cams group in left front leg three cam drive control assemblys and the RAT three cam drive control assemblys, and the back leg camshaft is as the transmission shaft of respective cams group in left back leg three cam drive control assemblys and the right rear leg three cam drive control assemblys.
Wherein, above-mentioned main shaft comprises adapter shaft, adapter shaft near an end of foreleg camshaft 9, be provided with first finishing bevel gear cuter that is used to connect foreleg camshaft 9, adapter shaft near an end of back leg camshaft, be provided with the middle tap gear that is used to connect the back leg camshaft, wherein, bevel-gear pair 8 before corresponding finishing bevel gear cuter constitutes on first finishing bevel gear cuter and the foreleg camshaft 9, corresponding finishing bevel gear cuter constitutes the back bevel-gear pair on middle tap gear and the back leg camshaft; Between first finishing bevel gear cuter and middle tap gear, be interval with first universal-joint and second universal-joint, wherein, first universal-joint is that universal-joint 6, the second universal-joints of foreleg fixing support rack are the universal-joint 5 of back leg fixing support rack; Between second universal-joint and middle tap gear, be provided with and be used for and DC servo drive motor 1 bonded assembly helical wheel; On foreleg fixing support rack 23 and back leg fixing support rack 24, be respectively equipped with the bearing brackett that is used for the support and connection axle.
Here, main shaft comprises the preceding adapter shaft 7 that is provided with near foreleg fixing support rack 23, with the back adapter shaft 4 that is provided with near back leg fixing support rack 24; Helical wheel comprises the driving gear 2 that is arranged on DC servo drive motor 1 end, with the driven gear 3 that is arranged on the main shaft.
The traveling gear of the cam driving control type quadruped robot of present embodiment belongs to the traveling gear that Purely mechanical drives, and is applicable to the walking of the quadruped robot of fixed step size.
In the present embodiment, article four, the leg assembly (is the left front leg assembly, the RAT assembly, left back leg assembly and right rear leg assembly) the drive scheme taked of motion basic identical, with the left front leg assembly is that example describes: DC servo drive motor 1 is given back adapter shaft 4 by a pair of gear pair (being driving gear 2 and driven gear 3) drive transmitting, and by two universal-joints (being the universal-joint 6 of foreleg fixing support rack and the universal-joint 5 of back leg fixing support rack), give preceding adapter shaft 7 with transmission of power, the rotation of preceding adapter shaft 7 passes to lordosis wheel shaft 9 by preceding bevel-gear pair 8, and changes rotation direction; Two groups of cams are installed on the lordosis wheel shaft 9, be three cams (from left to right being followed successively by hip joint cam 10, master cam 11, knee joint cam 12) control left front leg assembly action of left cam group, the action of three cams of right cam group (with the left side symmetry) control RAT assembly; Wherein, hip joint cam 10 is by the motion of hip joint cam follower 131 and hip joint cam returning spring 132 control hip joints 14, master cam 11 is by the action of master cam push rod 151 and master cam retracing spring 152 control thighs 16, knee joint cam 12 is by knee joint rack-and-pinion 172 and knee joint tooth bar retracing spring 171, with Motion Transmission driving pulley 18, pass on the driven pulley 20 that is fixedly connected on the knee joint adapter shaft through wedge shape belt 19 again, thereby control the motion of shank 21 effectively; Belt tension mechanism 22 can be made up of tensioning spring, hold-down arm, tension wheel etc., is used for guaranteeing that wedge shape belt 19 is at motion process in tension all the time.
Wherein, the cam profile of hip joint cam 10, master cam 11, knee joint cam 12 is derived by corresponding theory and is obtained and process emulation and verification experimental verification, can guarantee the accurate motion of this leg assembly.The drive controlling principle of its excess-three bar leg assembly has adopted the mentality of designing approximate with the left front leg assembly.
In sum, the traveling gear of the cam driving control type quadruped robot of each embodiment of the utility model is owing to comprise vertically parallel the setting and identical foreleg assembly and the rear leg assemblies of structure; Level cooperates the top that is installed in the foreleg assembly, the foreleg fixing support rack that is used for fixing and supports the foreleg assembly, and level cooperates the top that is installed in rear leg assemblies, the back leg fixing support rack that is used for fixing and supports rear leg assemblies; Be positioned at the top of foreleg fixing support rack, cooperate the foreleg three cam drive control assemblys of installing with the foreleg assembly; Be positioned at the top of back leg fixing support rack, cooperate the back leg three cam drive control assemblys of installing with rear leg assemblies; Between foreleg fixing support rack and back leg fixing support rack, be used to be connected the universal coupling assembling of front and back leg of foreleg assembly and rear leg assemblies, the two ends of the universal coupling assembling of leg before and after foreleg fixing support rack and back leg fixing support rack are arranged on symmetrically; And, be fixedly mounted on the top of back leg fixing support rack, be equipped with the universal coupling assembling of front and back leg, and be used to drive the DC servo drive motor of foreleg three cam drive control assemblys and the motion of back leg three cam drive control assemblys; Like this, utilize cam to replace driven by servomotor control walking parameter; Thereby can overcome complex structure in the prior art, control accuracy is low, cost is high and the big defective of weight, simple with implementation structure, control accuracy is high, cost is low and lightweight advantage.
It should be noted that at last: the above only is preferred embodiment of the present utility model, be not limited to the utility model, although the utility model is had been described in detail with reference to previous embodiment, for a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement.All within spirit of the present utility model and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (9)
1. the traveling gear of a cam driving control type quadruped robot, it is characterized in that, comprise: vertically parallel the setting and identical foreleg assembly and the rear leg assemblies of structure, described foreleg assembly comprises left front leg assembly and RAT assembly, and described rear leg assemblies comprises left back leg assembly and right rear leg assembly;
Level cooperates the top that is installed in described foreleg assembly, the foreleg fixing support rack that is used for fixing and supports described foreleg assembly, and level cooperates the top that is installed in described rear leg assemblies, the back leg fixing support rack that is used for fixing and supports described rear leg assemblies;
Be positioned at the top of described foreleg fixing support rack, cooperate the foreleg three cam drive control assemblys of installing with described foreleg assembly, described foreleg three cam drive control assemblys comprise the RAT three cam drive control assemblys that cooperate the left front leg three cam drive control assemblys of installation and cooperate installation with the RAT assembly with the left front leg assembly;
Be positioned at the top of described back leg fixing support rack, cooperate the back leg three cam drive control assemblys of installing with described rear leg assemblies, described back leg three cam drive control assemblys comprise the right rear leg three cam drive control assemblys that cooperate the left back leg three cam drive control assemblys of installation and cooperate installation with the right rear leg assembly with left back leg assembly;
Between described foreleg fixing support rack and back leg fixing support rack, be used to be connected the universal coupling assembling of front and back leg of described foreleg assembly and rear leg assemblies, the two ends of the universal coupling assembling of leg before and after described foreleg fixing support rack and back leg fixing support rack are arranged on symmetrically; And,
Be fixedly mounted on the top of described back leg fixing support rack, be equipped with, and be used to drive the DC servo drive motor of foreleg three cam drive control assemblys and the motion of back leg three cam drive control assemblys with the described front and back universal coupling assembling of leg.
2. the traveling gear of cam driving control type quadruped robot according to claim 1, it is characterized in that, described left front leg assembly comprises hip joint, thigh, knee joint and the shank of order setting from up to down, described hip joint is away from an end of thigh, be connected with the foreleg fixing support rack by pin, near an end of thigh, be connected away from a kneed end with thigh by pin;
Described thigh near a kneed end, be connected with the end of knee joint by pin away from shank; Described knee joint is near an end of shank, be connected with shank by adapter shaft;
At the axle head of described adapter shaft, be equipped with knee joint and be with the connection belt wheel synchronously near medial leg.
3. the traveling gear of cam driving control type quadruped robot according to claim 2 is characterized in that, described foreleg assembly and rear leg assemblies are the three-freedom planar assembly; Described three-freedom planar assembly comprises a redundant degree of freedom.
4. the traveling gear of cam driving control type quadruped robot according to claim 3, it is characterized in that, described left front leg three cam drive control assemblys comprise: be used for the hip joint cam of drive controlling left front leg hip joint, the hip joint cam follower, hip joint push boat and the hip joint cam returning spring that are equipped with described hip joint cam; Described hip joint cam, hip joint cam follower, hip joint push boat and hip joint cam returning spring are fixedly mounted on respectively on the described foreleg fixing support rack;
The master cam that is used for drive controlling left front leg thigh, the master cam push rod, head pulley and the master cam retracing spring that are equipped with described master cam; Described master cam, master cam push rod, head pulley and master cam retracing spring are fixedly mounted on respectively on the described foreleg fixing support rack; And,
Be used for the kneed knee joint cam of drive controlling left front leg, the knee joint rack-and-pinion, knee joint gear wheel shaft, the knee joint tooth bar retracing spring that are equipped with described knee joint cam; Described knee joint cam, knee joint rack-and-pinion, knee joint gear wheel shaft and knee joint tooth bar retracing spring are fixedly mounted on respectively on the described foreleg fixing support rack;
Described hip joint cam, master cam and knee joint cam are installed in the left front leg end of foreleg camshaft in turn, and described knee joint cam is near the universal coupling assembling setting of front and back leg; Be complementary with described hip joint cam.
5. the traveling gear of cam driving control type quadruped robot according to claim 4 is characterized in that, described knee joint rack-and-pinion comprises tooth bar, the gear that is equipped with described tooth bar; One end of described tooth bar is the circular push boat that is subjected to the knee joint cam-controlled; Described gear and knee joint gear wheel shaft are connected;
In two ends of described knee joint gear wheel shaft, be respectively equipped with the gear wheel shaft bearing that is used for installing described gear wheel shaft by bearing fixing, described gear wheel shaft bearing is fixed on the top of foreleg fixing support rack;
One end of described knee joint gear wheel shaft is that band connects belt wheel synchronously, and described synchronous band connection belt wheel is with synchronously with knee joint and is connected between the belt wheel, connects by synchronous band; Be connected belt wheel with described synchronous band and be complementary, also be provided with the belt tension assembly.
6. the traveling gear of cam driving control type quadruped robot according to claim 1, it is characterized in that, the described front and back universal coupling assembling of leg comprises: the foreleg camshaft that is used for installing symmetrically described left front leg three cam drive control assemblys and RAT three cam drive control assemblys, be used for installing symmetrically the back leg camshaft of described left back leg three cam drive control assemblys and right rear leg three cam drive control assemblys, and the main shaft that is used to connect described foreleg camshaft and back leg camshaft.
7. the traveling gear of cam driving control type quadruped robot according to claim 6, it is characterized in that, described main shaft comprises adapter shaft, described adapter shaft near an end of foreleg camshaft, be provided with first finishing bevel gear cuter that is used to connect the foreleg camshaft, described adapter shaft near an end of back leg camshaft, be provided with the middle tap gear that is used to connect the back leg camshaft;
Between described first finishing bevel gear cuter and middle tap gear, be interval with first universal-joint and second universal-joint; Between described second universal-joint and middle tap gear, be provided with and be used for and DC servo drive motor bonded assembly helical wheel;
On described foreleg fixing support rack and back leg fixing support rack, be respectively equipped with the bearing brackett that is used to support described adapter shaft.
8. according to the traveling gear of each described cam driving control type quadruped robot among the claim 2-7, it is characterized in that, described RAT three cam drive control assemblys have identical structure with left front leg three cam drive control assemblys, are installed in the two ends of described foreleg camshaft symmetrically.
9. the traveling gear of cam driving control type quadruped robot according to claim 8, it is characterized in that, described left back leg three cam drive control assemblys and right rear leg three cam drive control assemblys all have identical structure with described left front leg three cam drive control assemblys;
Described left back leg three cam drive control assemblys and right rear leg three cam drive control assemblys are installed in the two ends of described back leg camshaft symmetrically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202812824U CN202038387U (en) | 2010-02-26 | 2010-08-04 | Walking mechanism for four-foot robot driven and controlled by cams |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020120056 | 2010-02-26 | ||
| CN201020120056.8 | 2010-02-26 | ||
| CN2010202812824U CN202038387U (en) | 2010-02-26 | 2010-08-04 | Walking mechanism for four-foot robot driven and controlled by cams |
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| Publication Number | Publication Date |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791994A (en) * | 2010-02-26 | 2010-08-04 | 聊城大学 | Walking mechanism of cam driving control type quadruped robot |
| CN102756766A (en) * | 2012-07-11 | 2012-10-31 | 安徽工业大学 | Driving leg mechanism for footed robot |
| CN104386158A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Series elastic actuator-based quadruped robot |
| CN105947012A (en) * | 2016-05-10 | 2016-09-21 | 南京航空航天大学 | Differential gear driving robot leg mechanism and control method |
| CN108198502A (en) * | 2017-12-29 | 2018-06-22 | 芜湖市恒浩机械制造有限公司 | A kind of dummy robot for walking movement of creeping |
-
2010
- 2010-08-04 CN CN2010202812824U patent/CN202038387U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791994A (en) * | 2010-02-26 | 2010-08-04 | 聊城大学 | Walking mechanism of cam driving control type quadruped robot |
| CN102756766A (en) * | 2012-07-11 | 2012-10-31 | 安徽工业大学 | Driving leg mechanism for footed robot |
| CN102756766B (en) * | 2012-07-11 | 2014-04-02 | 安徽工业大学 | Driving leg mechanism for footed robot |
| CN104386158A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Series elastic actuator-based quadruped robot |
| CN104386158B (en) * | 2014-11-17 | 2016-08-17 | 河北工业大学 | A kind of quadruped robot based on series elastic driver |
| CN105947012A (en) * | 2016-05-10 | 2016-09-21 | 南京航空航天大学 | Differential gear driving robot leg mechanism and control method |
| CN108198502A (en) * | 2017-12-29 | 2018-06-22 | 芜湖市恒浩机械制造有限公司 | A kind of dummy robot for walking movement of creeping |
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