CN210101819U - Four-footed robot based on five-bar linkage - Google Patents
Four-footed robot based on five-bar linkage Download PDFInfo
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- CN210101819U CN210101819U CN201920727251.8U CN201920727251U CN210101819U CN 210101819 U CN210101819 U CN 210101819U CN 201920727251 U CN201920727251 U CN 201920727251U CN 210101819 U CN210101819 U CN 210101819U
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 20
- 229910052742 iron Inorganic materials 0.000 claims description 10
- 230000009471 action Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000005021 gait Effects 0.000 description 7
- 230000001429 stepping effect Effects 0.000 description 6
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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Abstract
The four-footed robot based on the five-bar linkage mechanism comprises a trunk, legs, a swinging mechanism and a clamping plate mechanism; the trunk is a rectangular frame; the four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the trunk in pairs; the swing mechanism is arranged on the trunk; the clamping plate mechanism is fixedly connected to the swing frame and moves in an arc-shaped track on a vertical plane along with the swing of the swing frame. The utility model has the advantages of, the shank structure is simple relatively, and is reliable and stable, and connecting rod A and connecting rod B among the five link mechanism in control plane respectively rotate, can realize five link mechanism in plane's deformation, and then realize that single leg takes a step forward, takes a step backward, the original place is marked time and movements such as translation, and the motion function such as the four-footed robot that gos forward, retreat, turn and the original place that the rethread four legs can be realized to the collocation combination of different actions falls the head.
Description
Technical Field
The utility model relates to a sufficient robot technical field, especially a four-footed robot based on five-bar linkage.
Background
With the continuous development of the robot technology, the application field of the foot type robot is wider and wider. The legged robot has an incomparable peculiarity with a wheeled robot, which utilizes isolated ground support rather than the continuous ground support required by a wheeled robot. The foot robot can stably walk on uneven ground or avoid obstacles in a non-contact mode.
However, the existing foot type robot has a relatively complex structure and a complicated linkage of a transmission mechanism. Resulting in higher manufacturing cost and greater difficulty in electronic control design.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough of prior art, and provide a four-footed robot based on five link mechanism, it has solved current sufficient formula robot structure complicacy relatively, drive mechanism links up loaded down with trivial details problem.
The technical scheme of the utility model is that: the four-footed robot based on the five-bar linkage mechanism comprises a trunk, legs, a swinging mechanism and a clamping plate mechanism;
the trunk is a rectangular frame;
the four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the trunk in pairs; the legs comprise connecting rods A, B, C, D, a driving motor A and a driving motor B, the driving motor A and the driving motor B are fixedly installed at the side edge of the trunk and are located at the same horizontal height, the connecting rods A, B, C and D are sequentially hinged to form a five-bar mechanism, the connecting rods A are connected with a machine shaft of the driving motor A and swing under the driving of the driving motor A to drive the five-bar mechanism to deform, and the connecting rods B are connected with the machine shaft of the driving motor B and swing under the driving of the driving motor B to drive the five-bar mechanism to deform;
the swing mechanism is arranged on the trunk and comprises a shaft seat, a worm seat, a driving motor C, a rotating shaft, a turbine, a swing frame and a worm; the shaft seat, the worm seat and the driving motor C are all fixedly arranged on the trunk; two ends of the rotating shaft are movably arranged on the shaft seat; the turbine and the swing frame are both fixedly arranged on the rotating shaft; one end of the worm is movably arranged on the worm seat, and the other end of the worm is connected with a crankshaft of the driving motor C and meshed with the turbine;
the clamping plate mechanism is fixedly connected to the swing frame and moves in an arc-shaped track on a vertical plane along with the swing of the swing frame.
The utility model discloses further technical scheme is: the clamping plate mechanism comprises a first clamping plate, a second clamping plate, an elastic element, a resisting rod and a rotating pin; the first clamping plate and the second clamping plate are hinged at the rear ends respectively, a through groove for the abutting rod to pass through is formed in the first clamping plate, a boss for abutting against the abutting rod is arranged on the inner surface of the first clamping plate, an iron block is arranged at the front end of the first clamping plate, a magnet corresponding to the iron block at the front end of the first clamping plate is arranged at the front end of the second clamping plate, the surfaces, opposite to each other, of the first clamping plate and the second clamping plate are defined as respective inner surfaces, and the surfaces, opposite to each other, of the first clamping plate and the second clamping plate are defined as respective outer; one end of the elastic element is connected to the inner surface of the first clamping plate, the other end of the elastic element is connected to the inner surface of the second clamping plate, and one end of the resisting rod is movably connected to the front end of the second clamping plate through a rotating pin; the clamping plate mechanism can be switched between an opening state and a closing state, when the clamping plate mechanism is in the opening state, the first clamping plate and the second clamping plate form an included angle of 50-80 degrees, the end of the abutting rod abuts against a boss on the inner surface of the first clamping plate, and the elastic element is in a stretching state; when the clamping plate mechanism is in a folding state, the first clamping plate is attached to the second clamping plate, the first clamping plate is fixedly attracted with the magnet at the front end of the second clamping plate through the iron block at the front end, and the end of the supporting rod penetrates out of the through groove of the first clamping plate.
The utility model discloses still further technical scheme is: the length ratio between the connecting rods A and B and between the connecting rods C and D is 1: 3: 3: 1.
the utility model discloses a further technical scheme is: the elastic element is a rubber band.
The utility model discloses a further technical scheme is: the hinged part of the connecting rod B and the connecting rod C is connected with a buffer rubber block.
Compared with the prior art, the utility model have following advantage:
1. the leg structure is relatively simple, stable and reliable, each leg comprises a plane five-bar mechanism, the connecting rods A and B in the plane five-bar mechanisms are controlled to rotate respectively through the driving motors A and B, deformation of the plane five-bar mechanisms can be achieved, actions of a single leg such as forward stepping, backward stepping, stepping in place and translation can be achieved, and the movement functions of the four-legged robot such as forward movement, backward movement, turning, falling in place and the like can be achieved through matching and combination of the four legs for different actions.
2. The trunk is provided with a swing mechanism and a clamping plate mechanism, and the swing mechanism can swing within a certain angle to raise or lower the height of the clamping plate mechanism, so that convenience is brought to a user.
3. The clamping plate mechanism is suitable for rapidly clamping and taking plate type objects, the clamping plate mechanism serves as a trigger element through the abutting rod in an opening state, a user uses the object to be clamped to stir the abutting rod to enable the end of the abutting rod to enter the through groove of the first clamping plate, the clamping plate mechanism is immediately folded under the action of the elastic element to become a folding state, the object to be clamped is clamped between the first clamping plate and the second clamping plate, rapid clamping can be achieved, in addition, the clamping plate mechanism is in the folding state, the first clamping plate and the second clamping plate are fixed in an adsorption mode through the matching of the magnet and the iron sheet, certain clamping force is guaranteed, and the object is prevented from being separated.
The invention is further described below with reference to the figures and examples.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the connection relationship among the trunk, the swing mechanism and the clamping plate mechanism;
FIG. 3 is a schematic view of the connection of the torso to the legs;
fig. 4 is a schematic structural view of the clamping mechanism.
Detailed Description
Example 1:
as shown in fig. 1 to 4, a four-footed robot based on a five-link mechanism comprises a trunk 1, legs, a swing mechanism and a splint mechanism;
the trunk 1 is a rectangular frame.
The four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the trunk 1 in pairs; the legs comprise a connecting rod A21, a connecting rod B22, a connecting rod C23, a connecting rod D24, a driving motor A25 and a driving motor B26, the driving motor A25 and the driving motor B26 are fixedly installed at the side edge of the trunk 1 and are located at the same horizontal height, the connecting rod A21, the connecting rod B22, the connecting rod C23 and the connecting rod D24 are sequentially hinged to form a plane five-bar mechanism, the connecting rod A21 is connected with a crankshaft of the driving motor A25 and swings under the driving of the driving motor A25 to drive the plane five-bar mechanism to deform, and the connecting rod B22 is connected with a crankshaft of the driving motor B26 and swings under the driving of the driving motor B26 to drive the plane five-bar mechanism to deform.
The swing mechanism is arranged on the trunk 1 and comprises a shaft seat 31, a worm seat 32, a driving motor C33, a rotating shaft 34, a turbine 35, a swing frame 36 and a worm 37; the shaft seat 31, the worm seat 32 and the driving motor C33 are all fixedly arranged on the trunk 1; two ends of the rotating shaft 34 are movably arranged on the shaft seat 31; the turbine 35 and the swing frame 36 are both fixedly arranged on the rotating shaft 34; one end of the worm 37 is movably arranged on the worm seat 32, and the other end is connected with a crankshaft of a driving motor C33 and meshed with the turbine 35. The driving motor C33 is activated to rotate the worm 37, which in turn rotates the worm wheel 35, and the worm wheel 35 drives the rotating shaft 34 and the swing frame 36 to rotate synchronously.
The clamping plate mechanism is fixedly connected to the swing frame 36 and moves in an arc-shaped track on a vertical plane along with the swing of the swing frame 36. The clamping plate mechanism comprises a first clamping plate 41, a second clamping plate 42, an elastic element 43, a resisting rod 44 and a rotating pin 45; the first clamping plate 41 and the second clamping plate 42 are hinged at the rear ends respectively, a through groove 411 for a support rod to pass through is arranged on the first clamping plate 41, a boss 412 for supporting the support rod is arranged on the inner surface of the first clamping plate 41, an iron block 413 is arranged at the front end of the first clamping plate 41, a magnet 421 corresponding to the iron block 413 at the front end of the first clamping plate 41 is arranged at the front end of the second clamping plate 42, the opposite surfaces of the first clamping plate 41 and the second clamping plate 42 are defined as respective inner surfaces, and the opposite surfaces of the first clamping plate 41 and the second clamping plate 42 are defined as respective outer surfaces; the elastic member 43 has one end connected to the inner surface of the first clamping plate 41 and the other end connected to the inner surface of the second clamping plate 42, and the abutting rod 44 is movably connected at one end to the front end of the second clamping plate 42 through a rotating pin 45.
The clamping plate mechanism can be switched between an opening state and a closing state, when the clamping plate mechanism is in the opening state, the first clamping plate 41 and the second clamping plate 42 form an included angle of 50-80 degrees, the end of the abutting rod 44 abuts against a boss 412 on the inner surface of the first clamping plate 41, and the elastic element 43 is in a stretching state; when the clamping plate mechanism is in a closed state, the first clamping plate 41 is attached to the second clamping plate 42, the first clamping plate 41 is fixed with the magnet 421 at the front end of the second clamping plate 42 through the iron block 413 at the front end in a suction manner, and the end of the abutting rod 44 penetrates out of the through groove 411 of the first clamping plate 41.
Preferably, the length ratio between the link a21 and link B22 to the link C23 and link D24 is 1: 3: 3: 1.
preferably, the elastic element 43 is a rubber band.
Preferably, a buffer rubber block 27 is connected to the hinged part of the connecting rod B22 and the connecting rod C23.
Preferably, the trunk 1 is provided with a limiting frame 11 for limiting the maximum rotation angle of the swing frame 36.
Brief description the gait control method of the utility model: the utility model discloses can realize the gait of advancing and the rotatory gait of original place, the control step is as follows respectively:
advancing gait: 1. controlling the right leg at the front end of the trunk and the left leg at the rear side of the trunk to simultaneously step forwards; 2. and controlling the left leg at the front end of the trunk and the right leg at the rear side of the trunk to simultaneously step forwards, and simultaneously driving the trunk to move forwards by a step distance, thereby completing a cycle of forward gait control.
Rotating gait in situ: 1. controlling the left leg at the front end of the trunk to step backwards, controlling the right leg at the rear end of the trunk to step forwards, and controlling the other two legs to be always in contact with the ground and keep still in the process of stepping by the left leg at the front end and the rear leg at the right end; 2. then controlling the left leg at the front end of the trunk and the right leg at the rear end of the trunk to simultaneously rub and move on the ground so as to return to the state before stepping, thereby applying a rotating couple system to the trunk; the trunk can rotate by controlling the other two legs to alternately do the stepping action of vertical up-and-down movement in situ while the front left leg and the rear right leg move in a friction manner.
Turning under the two gaits can be realized by controlling the step distances of legs on two sides of the trunk to step out to be different, namely differential turning.
Claims (5)
1. Four-footed robot based on five-bar linkage, characterized by: comprises a trunk (1), legs, a swinging mechanism and a splint mechanism;
the trunk (1) is a rectangular frame;
the four legs are symmetrically arranged on two sides of the front end and two sides of the rear end of the trunk (1) in pairs; the legs comprise connecting rods A (21), B (22), C (23), D (24), A (25) and B (26), the A (25) and B (26) are fixedly installed at the side edge of the trunk (1) and are located at the same horizontal height, the A (21), B (22), C (23) and D (24) are sequentially hinged to form a five-bar mechanism, the A (21) is connected with a crankshaft of the A (25) and swings under the driving of the A (25) to drive the five-bar mechanism to deform, the B (22) is connected with the crankshaft of the B (26) and swings under the driving of the B (26) to drive the five-bar mechanism to deform;
the swing mechanism is arranged on the trunk (1) and comprises a shaft seat (31), a worm seat (32), a driving motor C (33), a rotating shaft (34), a turbine (35), a swing frame (36) and a worm (37); the shaft seat (31), the worm seat (32) and the driving motor C (33) are all fixedly arranged on the trunk (1); two ends of the rotating shaft (34) are movably arranged on the shaft seat (31); the turbine (35) and the swing frame (36) are both fixedly arranged on the rotating shaft (34); one end of a worm (37) is movably arranged on the worm seat (32), and the other end of the worm is connected with a crankshaft of a driving motor C (33) and meshed with a turbine (35);
the clamping plate mechanism is fixedly connected to the swing frame (36) and moves in an arc-shaped track on a vertical plane along with the swing of the swing frame (36).
2. The quadruped robot based on the five-bar linkage as claimed in claim 1, wherein: the clamping plate mechanism comprises a first clamping plate (41), a second clamping plate (42), an elastic element (43), a resisting rod (44) and a rotating pin (45); the first clamping plate (41) and the second clamping plate (42) are hinged at the rear ends respectively, a through groove (411) for a supporting rod to penetrate through is formed in the first clamping plate (41), a boss (412) for supporting the supporting rod is arranged on the inner surface of the first clamping plate (41), an iron block (413) is arranged at the front end of the first clamping plate (41), a magnet (421) corresponding to the iron block (413) at the front end of the first clamping plate (41) is arranged at the front end of the second clamping plate (42), the opposite surfaces of the first clamping plate (41) and the second clamping plate (42) are defined as respective inner surfaces, and the opposite surfaces of the first clamping plate (41) and the second clamping plate (42) are defined as respective outer surfaces; one end of the elastic element (43) is connected to the inner surface of the first clamping plate (41), the other end of the elastic element is connected to the inner surface of the second clamping plate (42), and the abutting rod (44) is movably connected to the front end of the second clamping plate (42) at one end through a rotating pin (45);
the clamping plate mechanism can be switched between an opening state and a closing state, when the clamping plate mechanism is in the opening state, the first clamping plate (41) and the second clamping plate (42) form an included angle of 50-80 degrees, the end of the abutting rod (44) abuts against a boss (412) on the inner surface of the first clamping plate (41), and the elastic element (43) is in a stretching state; when the clamping plate mechanism is in a folding state, the first clamping plate (41) is attached to the second clamping plate (42), the first clamping plate (41) is attracted and fixed with a magnet (421) at the front end of the second clamping plate (42) through an iron block (413) at the front end, and the end of the abutting rod (44) penetrates out of the through groove (411) of the first clamping plate (41).
3. The quadruped robot based on the five-bar linkage as claimed in claim 2, wherein: the length ratio between the link A (21) and the link B (22) and the link C (23) and the link D (24) is 1: 3: 3: 1.
4. a quadruped robot based on a five-bar linkage as claimed in claim 2 or 3, wherein: the elastic element (43) is a rubber band.
5. The quadruped robot based on the five-bar linkage as claimed in claim 4, wherein: the hinged part of the connecting rod B (22) and the connecting rod C (23) is connected with a buffer rubber block (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920727251.8U CN210101819U (en) | 2019-05-21 | 2019-05-21 | Four-footed robot based on five-bar linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920727251.8U CN210101819U (en) | 2019-05-21 | 2019-05-21 | Four-footed robot based on five-bar linkage |
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| Publication Number | Publication Date |
|---|---|
| CN210101819U true CN210101819U (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920727251.8U Expired - Fee Related CN210101819U (en) | 2019-05-21 | 2019-05-21 | Four-footed robot based on five-bar linkage |
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| CN (1) | CN210101819U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091936A (en) * | 2019-05-21 | 2019-08-06 | 南华大学 | Quadruped robot and gait control method based on five-bar mechanism |
| CN111301552A (en) * | 2020-02-26 | 2020-06-19 | 北京理工大学珠海学院 | Robot leg power system and control method thereof |
| CN112046639A (en) * | 2020-09-29 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Biped robot |
| WO2021047680A1 (en) * | 2020-03-27 | 2021-03-18 | 之江实验室 | Reconfigurable foot-type robot having two-foot, four-wheel and four-foot movement modes |
| CN112660265A (en) * | 2020-12-31 | 2021-04-16 | 北京理工大学 | Biped robot leg structure based on five connecting rods |
| CN113509328A (en) * | 2021-07-13 | 2021-10-19 | 杭州太希智能科技有限公司 | Multi-posture rehabilitation quadruped robot adaptable to various complex pavements |
-
2019
- 2019-05-21 CN CN201920727251.8U patent/CN210101819U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091936A (en) * | 2019-05-21 | 2019-08-06 | 南华大学 | Quadruped robot and gait control method based on five-bar mechanism |
| CN111301552A (en) * | 2020-02-26 | 2020-06-19 | 北京理工大学珠海学院 | Robot leg power system and control method thereof |
| CN111301552B (en) * | 2020-02-26 | 2022-03-08 | 佛山职业技术学院 | Robot leg power system and control method thereof |
| WO2021047680A1 (en) * | 2020-03-27 | 2021-03-18 | 之江实验室 | Reconfigurable foot-type robot having two-foot, four-wheel and four-foot movement modes |
| JP2021534013A (en) * | 2020-03-27 | 2021-12-09 | 之江実験室 | Reconfigurable last-shaped robot with 2-leg / 4-wheel / 4-leg motion mode |
| JP7072308B2 (en) | 2020-03-27 | 2022-05-20 | 之江実験室 | Reconfigurable last-shaped robot with 2-leg / 4-wheel / 4-leg motion mode |
| CN112046639A (en) * | 2020-09-29 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Biped robot |
| CN112660265A (en) * | 2020-12-31 | 2021-04-16 | 北京理工大学 | Biped robot leg structure based on five connecting rods |
| CN113509328A (en) * | 2021-07-13 | 2021-10-19 | 杭州太希智能科技有限公司 | Multi-posture rehabilitation quadruped robot adaptable to various complex pavements |
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