CN102553249B - A kind of robot riding bicycle based on single-degree-of-freedom six-bar mechanism - Google Patents

Abstract

A bicycle riding robot based on a single-degree-of-freedom six-bar mechanism, the robot is composed of two hinge rods, three hinge rods, a rotary joint hinge and a driving motor. The four-bar mechanism composed of two hinge rods and three hinge rods is connected in series with two rod groups to form the skeleton of the six-bar mechanism, and the parallelogram mechanism composed of two two hinge rods parallel to the two sides of the three hinge rods in the skeleton is crossed over the dead point position. Two hinge rods are connected by three hinge rods and fixed on the frame, thereby obtaining a bicycle robot mechanism composed of nine rods. The geometric dimensions of each rod are designed in equal proportions using the principles of bionic design, and the size of the mechanism can be adjusted according to the size of the vehicle to realize the movement of the humanoid robot riding a bicycle.

Description

A bicycle-riding robot based on a single-degree-of-freedom six-bar mechanism

technical field

The invention relates to a mechanical device, specifically a double-crank planar single-degree-of-freedom six-bar mechanism, which is used for a bicycle-riding robot to realize humanoid bicycle-riding motion, and belongs to the field of innovative design of robot mechanisms.

Background technique

The bicycle-riding robot "Murata Naughty Boy" developed by Japan's Murata Manufacturing Co., Ltd. applies the products and advanced control technology of Murata Manufacturing Co. road conditions. Among them, the robot "Murata Urchin" has also appeared in Beijing, China. Most of the domestic and foreign researches on bicycle-riding robots focus on the control of robots. At the 2011 International Robot Exhibition, Japanese robotics expert Masahiko Yamaguchi demonstrated a small robot riding a fixed-gear bicycle, which can apply pressure through pedal actions to move forward, decelerate or brake, and use a gyroscope and a control board to achieve balance and remote control. The above two robots are miniaturized and focus on control research, while the research on the mechanics of bicycle robots is relatively small. Based on the above background, we use the relevant knowledge of mechanism to realize the design of a single-degree-of-freedom bicycle-riding robot by using a six-bar mechanism. The mechanism is simple in design and convenient in control. The six-bar mechanism can be regarded as being composed of a four-bar mechanism and a two-bar group. A six-bar mechanism with two cranks realizes humanoid cycling.

Contents of the invention

The present invention utilizes a six-bar mechanism to realize single-degree-of-freedom cycling movement, which is driven by a motor and transmitted through the six-bar mechanism to realize full-circle rotation at the pedal. Items to be addressed include the length and relative position of the six bars and overcoming dead spots during cycling. The manufacturing process of the mechanism should be simple, and it should have the characteristics of certain rigidity and strength, compression resistance, bending resistance, and stable operation. As a skeleton, this mechanism can realize the riding motion of the cycling robot.

The technical solution of the present invention is to realize the humanoid cycling motion through the six-bar mechanism, and its technical feature is that the motion state of the six-bar mechanism of the bicycle robot completely imitates the motion form of a person riding a bicycle, and is driven by a single degree of freedom. Referring to the accompanying drawing 1, two groups of rods connected in series on the crank-rocker mechanism realize the movement of the six-bar mechanism. The crank-rocker mechanism is used as the driving part. When the crank and the connecting rod overlap, it is the dead point position of the mechanism. Stuck", and the direction of rotation cannot be determined. Referring to accompanying drawing 2, this mechanism constructs two parallelograms by adding two connecting rods parallel to the two sides of the rocker (three-hinge bar), and the movement process passes through the dead point position through the linkage of the parallelogram to avoid "stuck" "Phenomenon, to ensure that the mechanism has a definite direction of motion. This mechanism can achieve the same function by enlarging and reducing the size of the mechanism rods in equal proportions for vehicle models of different sizes.

The beneficial effects of the present invention are: the first and second hinge rods 21 and the second and second hinge rods 25 realize full-circle rotation with the same period, and the movement of the humanoid bicycle can be realized by using a single-degree-of-freedom six-bar mechanism, which simplifies the movement of the legs. The design reduces the difficulty of control and reduces the cost. While expanding the application of the six-bar mechanism, it also plays a certain role in promoting the development of the bicycle robot technology at home and abroad. Practice has proved that the mechanism is in good motion state, reasonable in structure, stable and reliable in operation.

Description of drawings

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a schematic diagram of a six-bar mechanism of a bicycle-riding robot of the present invention;

Fig. 2 is a schematic diagram of the six-bar mechanism of the bicycle-riding robot of the present invention plus a parallelogram.

The description of the drawings is as follows: the first rotary joint hinge A, the second rotary joint hinge B, the third rotary joint hinge C, the fourth rotary joint hinge D, the fifth rotary joint hinge E, the sixth rotary joint hinge F, the seventh rotary joint Secondary hinge G, the eighth rotary secondary hinge H, the ninth rotary secondary hinge I, the tenth rotary secondary hinge J, the eleventh rotary secondary hinge K, the first and second hinge levers 21, the second and second hinge levers 25, the third and second hinge levers Hinge lever 26, fourth and second hinge lever 27, first and third hinge lever 22, second and third hinge lever 23, third and third hinge lever 24, fourth and third hinge lever 28, fifth and second hinge lever 11, sixth and second hinge Rod 12, the seventh and second hinge rod 14, the eighth and second hinge rod 15, the fifth and third hinge rod 13.

Detailed ways

The present invention adopts hard aluminum alloy material to process each bar, and adds washers at each hinge connection to make the connection more reliable. Referring to accompanying drawing 1, A, D are frame, and the 5th 2nd hinge bar 11, the 6th 2nd hinge bar 12, the 5th 3rd hinge bar 13 constitute the crank rocker mechanism, on the 5th 3rd hinge bar 13 connect the seventh 2nd The hinge bar 14 and the eighth second hinge bar 15 constitute a planar six-bar mechanism. The quadrilateral ABDC composed of rods is similar to the quadrilateral GFDE, and the positions of points D and G are the corresponding positions of the center of the seat and the axis of the bicycle pedal. The position of point A can be determined by assuming an included angle between line AD and line DG, and the specific position of point A can be obtained through the similarity of quadrilaterals. The motor is fixed at A, the fifth and second hinge levers 11 are cranks, and the eighth and second hinge levers 15 are also cranks. The fifth and second hinge levers 11 make one revolution, and the eighth and second hinge levers 15 also make one revolution. Both have the same Turnover speed. When the three points of ABC are on a straight line, the three points of GFE are also on a straight line, which is the dead point of the six-bar mechanism at this time. With reference to Fig. 2, for the improved six-bar mechanism, the dead point position can be crossed. Add parallelogram CHID and parallelogram DJKE. Extend BC to H to obtain the first three-hinge bar 22, fix a point of the third auxiliary bar to D, make EK parallel to DJ, and get the third three-hinge 24, then quadrilateral CHID and quadrilateral DJKE are parallelograms. If different models are selected, the dimensions of each rod will change in equal proportions. For the calculation of the length of the six rods and the determination of the relative positions, at first the positions of D and G can be determined according to the size of the bicycle, the length of the second and second hinge rods 25 is determined according to the length of the bicycle pedal shaft and the axis core length, and the third three hinge rods 24 The length is roughly the length from the human knee to the sole of the foot, and the length of the ED side in the second and third hinge rods 23 is roughly the length from the center of the seat to the knee. So far, the quadrilateral DEFG has been roughly determined, and its geometric dimensions can be synthesized to determine the individual rods of the six-bar mechanism. length. The two leg mechanisms of the robot are the same, and the installation positions have a 180° phase difference. The first and second hinges 21 of the single motor drive rod do the turnover motion to realize the motion of the humanoid robot riding a bicycle. In Fig. 1, the three points A, D, and G are fixed points, which constitute the frame, and A, G are the turnover pairs. In Fig. 2, the three points A, D, and G are also fixed points, which constitute the frame.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (3)

1. the robot riding bicycle based on single-degree-of-freedom six-bar mechanism, it is characterized in that, comprise: the first two hinge bar (21), second two hinge bar (25), 3rd two hinge bar (26), 4th two hinge bar (27), one or three hinge-rod (22), two or three hinge-rod (23), three or three hinge-rod (24), four or three hinge-rod (28), first revolute pair hinge (A), second revolute pair hinge (B), 3rd revolute pair hinge (C), 4th revolute pair hinge (D), 5th revolute pair hinge (E), 6th revolute pair hinge (F), 7th revolute pair hinge (G), 8th revolute pair hinge (H), 9th revolute pair hinge (I), tenth revolute pair hinge (J), 11 revolute pair hinge (K), drive motors, frame,

Described first two hinge bar (21), described one or three hinge-rod (22), the one or the two bar group that four-bar mechanism described three or three hinge-rod (24) of series connection of described two or three hinge-rod (23) and frame composition and described second two hinge bar (25) form forms six-bar mechanism skeleton, and be parallel to by increase the parallel-crank mechanism that the described 3rd two hinge bar (26) on the two or three hinge-rod (23) both sides described in skeleton and described 4th two hinge bar (27) form and cross dead-centre position, described 3rd two hinge bar (26) is connected with described 4th two hinge bar (27) by described two or three hinge-rod (23) and is fixed in frame, thus obtain the robot riding bicycle mechanism of nine rod member compositions,

The physical dimension of each rod member utilizes bionic lubrication principle equal proportion to design, and can realize humanoid robot motion by bike according to vehicle size adjustment mechanism size.

2. robot riding bicycle according to claim 1, is characterized in that: also comprise:

5th two hinge bar (11), the 6th two hinge bar (12), the 7th two hinge bar (14), the 8th two hinge bar (15), the five or three hinge-rod (13); Wherein:

Described first revolute pair hinge (A), 4th dynamic secondary hinge (D) is fixedly connected with described frame, described 5th two hinge bar (11), 6th two hinge bar (12) and described five or three hinge-rod (13) form crank and rocker mechanism, form plane six-bar linkage at described five or three hinge-rod (13) upper series connection institute's the 7th two hinge bar (14) and described 8th two hinge bar (15);

The quadrangle ABDC of rod member composition is similar to quadrangle GFDE, the position that described 4th revolute pair hinge (D) is put is the correspondence position at vehicle seat center, the position that described 7th revolute pair hinge (G) is put is the correspondence position of bicycle pedal shaft core, the determination that position put by described first revolute pair hinge (A) first can suppose an angle of line AD and line DG, similar by quadrangle, show that particular location put by described first revolute pair hinge (A);

Described drive motors is fixed on described first revolute pair hinge (A) place, described 5th two hinge bar (11) is the first crank mechanism, described 8th two hinge bar (15) is the second crank mechanism, described 5th two hinge bar (11) circles, described 8th two hinge bar (15) also circles, and described 5th two hinge bar (11) has identical turnaround speed with described 8th two hinge bar (15).

3. robot riding bicycle according to claim 2, is characterized in that: if select vehicle different, then each rod member size is equal proportion change;

For the calculating of six pole lengths and the determination of relative position, first the position of described 4th revolute pair hinge (D) can be determined according to the position at bicycle saddle center, the position of described 7th revolute pair hinge (G) is determined according to the position of bicycle pedal shaft core, described second two hinge bar (25) length is determined according to bicycle pedal shaft and axis axle core length, described three or three hinge-rod (24) length is roughly for people's knee is to the length of sole, in described two or three hinge-rod (23), ED edge lengths is roughly the length of vehicle seat center to knee, so far quadrangle DEFG roughly determines, its physical dimension can comprehensively go out, determine the length of each rod member of six-bar mechanism,

The two legs mechanism of robot is identical, and installation position is equipped with 180 ° of phase differences, drives described first two hinge bar (21) to do turnover motion, realize anthropomorphic robot motion by bike by single motor.