CN105818879A - A forward-backward double-gait legged robot - Google Patents

Abstract

A positive and negative double-gait foot-type robot comprises a left leg, a right leg and a trailer, wherein a left first connecting rod of the left leg is connected with an output shaft of a double-output-shaft motor in a matched mode, and a right first connecting rod of the right leg is connected with the other output shaft of the double-output-shaft motor in a matched mode. One end of the connecting shaft of the trailer is fixedly connected with the left frame, and the other end of the connecting shaft of the trailer is fixedly connected with the right frame, so that the connection of the trailer and the left and right legs is realized. The double-output-shaft motor drives the left and right first connecting rods to rotate in the whole circle, so that the motion of the foot type robot is realized. The left leg and the right leg are respectively provided with a sliding pair, so that the foot end track is optimized; the left leg and the right leg are provided with 10-bar mechanisms, so that the walking movement with both positive and negative directions can be realized, the walking on the front side is a high leg lifting gait, and the high obstacle crossing can be realized; the walking on the reverse side is walk on tiptoe walking, and certain concealed walking can be realized; meanwhile, the problem that the mechanism fails after being turned over to walk is avoided. The invention can be used in the fields of celestial exploration, military and archaeological exploration, toy teaching and the like.

Description

A forward-backward double-gait legged robot

technical field

The invention relates to a footed robot with forward and reverse double gaits, in particular to a bionic walking robot. By optimizing the kinematic pair of the rod and the size of the rod, the robot can realize two gaits in forward and reverse walking, avoiding It avoids the failure of walking after the mechanism is overturned, and has good flexibility and ground adaptability. The invention can be used in the fields of star exploration, military and archaeological survey, toy teaching and the like.

Background technique

Compared with other mobile robots, legged mobile robots have higher flexibility and environmental adaptability, and have attracted more and more attention from researchers. The leg mechanisms of general footed robots mostly use revolving joints, and the trajectory of the foot end is not stable. At the same time, most of the existing legged robots have the same forward and reverse walking gait, and the walking will fail after the mechanism is overturned, which limits the flexibility and obstacle-surmounting ability of the robot.

Chinese patent CN102068819A discloses a "single-power quadruped walking platform". limit.

Contents of the invention

The technical problem to be solved by the present invention: the leg structure of the footed robot with a closed chain has a single foot end track, and the planar mechanism is prone to overturning, which limits the flexibility of the robot and the ability to overcome obstacles. Provided is a forward and reverse double gait legged robot.

Technical scheme of the present invention:

A forward-backward double-gait footed robot is characterized in that the forward-backward double-gait footed robot includes a left leg, a right leg, and a trailer.

The left leg is a single-degree-of-freedom link mechanism. The two motor mounting holes on the left frame near the first left connecting rod are fixed with one side of the double-shaft motor through screws; the output shaft of the double-shaft motor passes through the left The frame is fixedly connected with the first left connecting rod by jacking screws. The left leg is a 10-link mechanism, which can realize both positive and negative walking movements. The right leg is a single-degree-of-freedom link mechanism, and the two motor mounting holes on the right first connecting rod on the right frame are fixed with the other side of the double-shaft motor through screws; the other output shaft of the double-shaft motor Pass through the right frame and be fixedly connected with the first right connecting rod by jackscrews. The right leg is a 10-link mechanism, which can realize both positive and negative walking movements. The left leg and the right leg are symmetrically arranged in a mirror image. The rotation axis of the left first connecting rod of the left leg coincides with the rotation axis of the right first connecting rod of the right leg, and is driven by a double output shaft motor to rotate the whole circle, with a phase difference of 180°.

Trailer is made up of right wheel, left wheel, wheel axle, trailer first connecting rod, trailer second connecting rod, connecting shaft. The left and right wheels of the trailer are fixedly connected by the wheel axle; the mounting holes at one end of the first and second connecting rods of the trailer pass through the wheel axle. The other end mounting holes of the first and second connecting rods of the trailer pass through the connecting shafts. One end of the connecting shaft is fixedly connected with the left frame, and the other end is fixedly connected with the right frame, so as to realize the connection between the trailer and the left and right legs. The output shafts on both sides of the double output shaft motor respectively drive the left and right first connecting rods to rotate for a full circle, so as to realize the motion of the forward and reverse dual gait legged robot.

The left leg includes a left rack, a left slider, a left first connecting rod, a left second connecting rod, a left third connecting rod, a left fourth connecting rod, a left fifth connecting rod, a left sixth connecting rod, a left Seven connecting rods, the eighth connecting rod on the left.

There is a mounting hole at both ends of the left first connecting rod, the left second connecting rod, the left fifth connecting rod, the left sixth connecting rod and the left seventh connecting rod respectively; the left third connecting rod is a triangular member; the left third connecting rod The three connecting rods have a mounting hole at each of the three apexes, and a mounting hole in the middle of the two shorter sides; the fourth connecting rod on the left and the eighth connecting rod on the left have a mounting hole at the end and the middle. ;The left frame has a chute on the upper part, which is arranged with three rod installation holes, two motor holes and a connection hole with the trailer; the left slider is an H-shaped block member, and the outer end of the left slider has a Threaded hole.

The connection method between the left leg rods is as follows: one end of the double output shaft motor passes through the left frame and is fixedly connected with the left first connecting rod through a top screw; the other end of the left first connecting rod is connected to the mounting hole at the left third The mounting hole at the apex of the connecting rod is hinged through the rotation of the pin; the mounting hole at the end of the second left connecting rod is hinged with the other mounting hole below the left frame through the rotating hinge of the pin; the mounting hole at the other end of the second left connecting rod is connected to the The middle installation hole of the third left connecting rod is hinged through the rotation of the pin; the end installation hole of the left fourth connecting rod and the end installation hole of the left seventh connecting rod are hinged through the rotation of the pin; the middle part of the left fourth connecting rod is installed The hole is hinged with the top angle installation hole of the third left connecting rod through the rotation of the pin; the end installation hole of the fifth left connecting rod is hinged with the other middle installation hole of the third left connecting rod through the rotation of the pin; the fifth left connection The mounting hole at the other end of the rod is hinged with the mounting hole at the end of the sixth left connecting rod through a pin; the mounting hole at the other end of the sixth left connecting rod is hinged with the middle mounting hole of the eighth left connecting rod through a pin The mounting hole at the end of the eighth left connecting rod and the other apex mounting hole of the third connecting rod on the left are pivotally hinged through a pin; the mounting hole at the other end of the seventh connecting rod on the left is connected with the middle mounting hole of the left frame through a pin The shaft is pivoted and hinged; the left slider is stuck in the chute of the left frame, and forms a sliding fit with the chute.

The right side leg includes a right frame, a right slider, a right first connecting rod, a right second connecting rod, a right third connecting rod, a right fourth connecting rod, a right fifth connecting rod, and a right sixth connecting rod , the seventh connecting rod on the right, the eighth connecting rod on the right. The part structure, size, connection relationship, and degrees of freedom of the right leg are exactly the same as those of the left leg.

Beneficial effects of the present invention:

In the forward-backward double-gait legged robot described in the present invention, one leg is a single-degree-of-freedom mechanism, and the cranks on both sides are driven by a double-output shaft motor to rotate in a full circle, and the left and right legs are respectively provided with sliding pairs to optimize the trajectory of the foot end; Through the design optimization of the rod size, the gait of the mechanism is different in the forward and reverse walking states. The frontal walking is a high-leg raising gait, which can realize high obstacle crossing; the reverse walking is a creeping gait, which can realize a certain concealment walking; The problem of walking failure after the mechanism is overturned is avoided, and it has higher flexibility and obstacle-surmounting ability.

Description of drawings

Fig. 1 The overall three-dimensional diagram of the front and back double gait legged robot;

Fig. 2 The three-dimensional diagram of the left leg of the forward-backward double-gait legged robot;

Fig. 3 The three-dimensional diagram of the right leg of the forward and reverse dual gait legged robot;

Fig. 4 The three-dimensional diagram of the front and back double gait legged robot trailer.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

A forward-backward double-gait legged robot, as shown in Figure 1, includes a left leg (A), a right leg (B), and a trailer (C).

The left side leg (A) is a single-degree-of-freedom link mechanism, and the two motor mounting holes close to the left first connecting rod (A2) on the left frame (A1) are connected to one of the double-outlet shaft motors (1) through screws. The side fits and fixes; the output shaft of the double output shaft motor (1) passes through the left frame (A1) and is fixedly connected with the left first connecting rod (A2) through a top screw; the left leg (A) is a 10-bar linkage mechanism, which can Realize both positive and negative walking movements.

The right leg (B) is a single-degree-of-freedom link mechanism, as shown in Figure 3, the two motor mounting holes of the first right connecting rod (B2) on the right frame (B1) are connected to the double-outlet shaft motor ( The other side of 1) is mated and fixed; the other output shaft of the double output shaft motor (1) passes through the right frame (B1) and is fixedly connected with the first right connecting rod (B2) through a top screw. The right leg (B) is a 10-link mechanism, which can realize both positive and negative walking movements.

The left leg (A) and the right leg (B) are symmetrically arranged in a mirror image, the left first connecting rod (A2) of the left leg (A) is rotated with the right first connecting rod (B2) of the right leg (B) The axes coincide and are driven by the double output shaft motors (1) to rotate for a full circle with a phase difference of 180°.

Trailer (C), as shown in Figure 3, consists of right wheel (C1), left wheel (C3), wheel axle (C2), trailer first connecting rod (C4), trailer second connecting rod (C5), connecting shaft (C6); the left and right wheels (C1, C3) of the trailer (C) are fixedly connected by the wheel axle (C2); ) through; the other end mounting holes of the first and second connecting rods (C4, C5) of the trailer pass through the connecting shaft (C6); one end of the connecting shaft (C6) is fixedly connected with the left frame (A1), and the other end is connected with The right frame (B1) is fixedly connected to realize the connection between the trailer (C) and the left and right legs (A, B).

Through the above connection, the assembly of the forward and reverse dual gait legged robot is completed, and the output shafts on both sides of the double output shaft motor (1) respectively drive the left and right first connecting rods (A2, B2) to rotate for a full circle to realize positive and negative. The locomotion of an anti-bigait legged robot.

The left leg (A), as shown in Figure 2, includes the left frame (A1), the left slider (A8), the left first connecting rod (A2), the left second connecting rod (A3), the left third connecting rod Rod (A4), left fourth connecting rod (A5), left fifth connecting rod (A6), left sixth connecting rod (A7), left seventh connecting rod (A9), left eighth connecting rod (A10).

There is one at the two ends of the left first connecting rod (A2), the left second connecting rod (A3), the left fifth connecting rod (A6), the left sixth connecting rod (A7) and the left seventh connecting rod (A9). Mounting holes; the third left connecting rod (A4) is a triangular member; the third left connecting rod (A4) has a mounting hole at each of the three vertices, and a mounting hole at the middle of the two shorter sides; The left fourth connecting rod (A5) and the left eighth connecting rod (A10) are arranged with a mounting hole at the end and the middle; the left frame (A1) has a chute on the upper part, and is arranged with three rod mounting holes, Two motor holes and a connection hole with the trailer (C); the left slider (A8) is an H-shaped block member, and the outer end surface of the left slider (A8) has a threaded hole.

The connection method between the rods of the left leg (A) is as follows: one end of the double output shaft motor (1) passes through the left frame (A1) and is fixedly connected with the first left connecting rod (A2) through a top screw; The mounting hole at the other end of the connecting rod (A2) is hinged with the top mounting hole of the third left connecting rod (A4) through the rotation of the pin; the mounting hole at the end of the second left connecting rod (A3) is connected to the left frame (A1) The other mounting hole at the bottom is hinged through the rotation of the pin; the mounting hole at the other end of the left second connecting rod (A3) and the middle mounting hole of the left third connecting rod (A4) are hinged through the rotation of the pin; the left fourth connecting rod The end mounting hole of (A5) and the end mounting hole of the left seventh connecting rod (A9) are hinged by pin rotation; the middle mounting hole of the left fourth connecting rod (A5) is connected with the left third connecting rod (A4) The mounting hole at the top angle is hinged through the rotation of the pin; the mounting hole at the end of the left fifth connecting rod (A6) is hinged with the other middle mounting hole of the third left connecting rod (A4) through the rotating hinge of the pin; the left fifth connecting rod ( The other end installation hole of A6) and the end installation hole of the left sixth connecting rod (A7) are hinged through the pin shaft rotation; the other end installation hole of the left sixth connecting rod (A7) is connected with the left eighth connecting rod (A10 ) in the middle of the mounting hole is hinged by pin rotation; the end mounting hole of the left eighth connecting rod (A10) is hinged with the other apex mounting hole of the left third connecting rod (A4) by pin rotation; the left seventh connecting rod The mounting hole at the other end of (A9) and the middle mounting hole of the left frame (A1) are pivotally hinged through the pin shaft; the left slider (A8) is stuck in the chute of the left frame (A1), forming a sliding Cooperate. The threaded hole of the left slide block (A8) outer end surface and the fifth and the sixth connecting rods (A6, A7) of the left side each end mounting hole are fixed by threaded connection.

The right leg (B), as shown in Figure 3, includes the right rack (B1), right slider (B8), right first connecting rod (B2), right second connecting rod (B3), right third connecting rod Rod (B4), right fourth connecting rod (B5), right fifth connecting rod (B6), right sixth connecting rod (B7), right seventh connecting rod (B9), right eighth connecting rod (B10);

There is one at the two ends of the right first connecting rod (B2), the right second connecting rod (B3), the right fifth connecting rod (B6), the right sixth connecting rod (B7) and the right seventh connecting rod (B9). Mounting holes; the third connecting rod on the right (B4) is a triangular member; the third connecting rod on the right (B4) has a mounting hole at three vertices, and a mounting hole at the middle of the two shorter sides; The right fourth connecting rod (B5) and the right eighth connecting rod (B10) are arranged with a mounting hole at the end and the middle; the right frame (B1) has a chute on the upper part, and is arranged with three rod mounting holes, Two motor holes and a connection hole with the trailer (C); the right slider (B8) is an H-shaped block member, and the outer end surface of the right slider (B8) has a threaded hole.

The connection method between the rods of the right leg (B) is as follows: the other end of the double output shaft motor (1) passes through the right frame (B1) and is fixedly connected with the first right connecting rod (B2) through a top screw; The mounting hole at the other end of a connecting rod (B2) is hinged with the top mounting hole of the third right connecting rod (B4) through the rotation of a pin; the mounting hole at the end of the second right connecting rod (B3) is connected to the right frame (B1 ) below the other mounting hole through the pin rotation hinge; the other end mounting hole of the second right connecting rod (B3) and the middle mounting hole of the third right connecting rod (B4) are hinged through the pin rotation; the fourth right connection The mounting hole at the end of the rod (B5) and the mounting hole at the end of the seventh right connecting rod (B9) are pivotally hinged through the pin shaft; the middle mounting hole of the fourth right connecting rod (B5) is connected to the third right connecting rod (B4) The mounting hole at the top corner of the right connecting rod (B6) is hinged through the rotation of the pin; the mounting hole at the end of the right fifth connecting rod (B6) and the other middle mounting hole of the third right connecting rod (B4) are hinged through the rotating pin; the fifth connecting rod on the right The other end mounting hole of (B6) and the end mounting hole of the sixth connecting rod (B7) of the right are hinged by pin shaft rotation; the other end mounting hole of the sixth connecting rod (B7) of the right is connected with the eighth connecting rod of the right ( The mounting hole in the middle of B10) is hinged by pin rotation; the end mounting hole of the eighth right connecting rod (B10) and the other apex mounting hole of the third right connecting rod (B4) are hinged by rotating the pin; the seventh right connection The mounting hole at the other end of the rod (B9) is hinged with the middle mounting hole of the right frame (B1) through a pin shaft; the right slider (B8) is stuck in the chute of the right frame (B1) and forms a Slip fit. The threaded hole of the right slide block (B8) outer end surface and the fifth and the sixth connecting rods (B6, B7) of the right, each end mounting hole is fixed by threaded connection.

Claims (2)

1. A forward and reverse double gait footed robot is characterized in that: this forward and reverse double gait footed robot comprises left side leg (A), right side leg (B), trailer (C); The left side leg (A) is a single-degree-of-freedom link mechanism, and the two motor mounting holes close to the left first connecting rod (A2) on the left frame (A1) are connected to one of the double-outlet shaft motors (1) through screws. The side fits and fixes; the output shaft of the double output shaft motor (1) passes through the left frame (A1) and is fixedly connected with the left first connecting rod (A2) through a top screw; the left leg (A) is a 10-bar linkage mechanism, which can Realize both positive and negative walking movements; The right side leg (B) is a single-degree-of-freedom link mechanism, and the two motor mounting holes of the first right connecting rod (B2) on the right frame (B1) are connected with the other motor (1) of the double output shaft motor (1) through screws. One side is fitted and fixed; the other output shaft of the double output shaft motor (1) passes through the right frame (B1) and is fixedly connected with the first right connecting rod (B2) through a top screw; the right leg (B) is a 10-rod Mechanism, can realize both positive and negative walking movement; The left leg (A) and the right leg (B) are symmetrically arranged in a mirror image, and the left first connecting rod (A2) of the left leg (A) is connected with the right first connecting rod (B2) of the right leg (B). ) coincides with the rotation axes, and is driven by the double output shaft motor (1) to rotate for a full circle, with a phase difference of 180°; Through the above connection, the assembly of the left and right legs (A, B) and the double output shaft motor (1) is completed; The trailer (C) is composed of a right wheel (C1), a left wheel (C3), a wheel axle (C2), a first trailer connecting rod (C4), a second trailer connecting rod (C5), and a connecting shaft (C6); The left and right wheels (C1, C3) of the trailer (C) are fixedly connected by the wheel axle (C2); the mounting holes at one end of the first and second connecting rods (C4, C5) of the trailer pass through the wheel axle (C2), realizing Rotational connection; the other end mounting holes of the first and second connecting rods (C4, C5) of the trailer pass through the connecting shaft (C6); one end of the connecting shaft (C6) is fixedly connected with the left frame (A1), and the other end is connected with the right The frame (B1) is fixedly connected to realize the connection between the trailer (C) and the left and right legs (A, B); Through the above connection, the assembly of the forward and reverse dual gait legged robot is completed, and the output shafts on both sides of the double output shaft motor (1) respectively drive the left and right first connecting rods (A2, B2) to rotate for a full circle to realize positive and negative. The locomotion of an anti-bigait legged robot. 2. The forward and reverse dual gait legged robot according to claim 1, characterized in that: The left leg (A) includes a left frame (A1), a left slider (A8), a first left connecting rod (A2), a second left connecting rod (A3), a third left connecting rod (A4), Left fourth connecting rod (A5), left fifth connecting rod (A6), left sixth connecting rod (A7), left seventh connecting rod (A9), left eighth connecting rod (A10); There is one at the two ends of the left first connecting rod (A2), the left second connecting rod (A3), the left fifth connecting rod (A6), the left sixth connecting rod (A7) and the left seventh connecting rod (A9). Mounting holes; the third left connecting rod (A4) is a triangular member; the third left connecting rod (A4) has a mounting hole at each of the three vertices, and a mounting hole at the middle of the two shorter sides; The left fourth connecting rod (A5) and the left eighth connecting rod (A10) are arranged with a mounting hole at the end and the middle; the left frame (A1) has a chute on the upper part, and is arranged with three rod mounting holes, Two motor holes and a connection hole with the trailer (C); the left slider (A8) is an H-shaped block member, and a threaded hole is opened on the outer end surface of the left slider (A8); The connection method between the rods of the left leg (A) is as follows: one end of the double output shaft motor (1) passes through the left frame (A1) and is fixedly connected with the first left connecting rod (A2) through a top screw; The mounting hole at the other end of the connecting rod (A2) is hinged with a top mounting hole of the third left connecting rod (A4); the mounting hole at the end of the left second connecting rod (A3) is connected to the left frame (A1 ) below the other mounting hole is hinged by pin rotation; the other end mounting hole of the left second connecting rod (A3) and a middle mounting hole of the left third connecting rod (A4) are hinged by pin rotation; the left fourth The mounting hole at the end of the connecting rod (A5) and the mounting hole at the end of the seventh left connecting rod (A9) are hinged through the rotation of the pin; the middle mounting hole of the fourth connecting rod on the left (A5) is connected to the third connecting rod (A4) ) is hinged through the rotation of the pin shaft; the end mounting hole of the left fifth connecting rod (A6) and the other middle mounting hole of the left third connecting rod (A4) are hinged through the rotation of the pin shaft; the left fifth connection The mounting hole at the other end of the rod (A6) and the mounting hole at the end of the sixth left connecting rod (A7) are pivotally hinged through the pin shaft; the mounting hole at the other end of the sixth connecting rod (A7) is connected to the eighth connecting rod on the left (A10) is pivotally hinged through the middle mounting hole of the pin; the end mounting hole of the left eighth connecting rod (A10) is hinged with the other apex mounting hole of the left third connecting rod (A4) through pin rotating; the left seventh The mounting hole at the other end of the connecting rod (A9) is hinged with the middle mounting hole of the left frame (A1) through a pin shaft; the left slider (A8) is stuck in the chute of the left frame (A1), and A sliding fit is formed, and the threaded hole on the outer end surface of the left slider (A8) is fixed by threaded connection with each end mounting hole of the fifth and sixth connecting rods (A6, A7) on the left; The right leg (B) includes a right frame (B1), a right slider (B8), a right first connecting rod (B2), a right second connecting rod (B3), a right third connecting rod (B4) , right fourth connecting rod (B5), right fifth connecting rod (B6), right sixth connecting rod (B7), right seventh connecting rod (B9), right eighth connecting rod (B10); The part structure, size, connection relationship, and degrees of freedom of the right leg (B) are exactly the same as those of the left leg (A).