CN105235768B - Three-degree-freedom walking robot - Google Patents
Three-degree-freedom walking robot Download PDFInfo
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- CN105235768B CN105235768B CN201510784594.4A CN201510784594A CN105235768B CN 105235768 B CN105235768 B CN 105235768B CN 201510784594 A CN201510784594 A CN 201510784594A CN 105235768 B CN105235768 B CN 105235768B
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Abstract
The invention discloses a three-degree-freedom walking robot comprising a rack, wherein walking mechanisms are symmetrically arranged on the rack in the left-right direction. The three-degree-freedom walking robot is characterized in that each walking mechanism comprises a swinging device, a rod-less hydraulic cylinder I which is arranged horizontally, and a rod-less hydraulic cylinder II which is arranged vertically, wherein each rod-less hydraulic cylinder I comprises a cylinder tube I which is horizontally arranged along the back-forth direction of the rack, and a sliding seat I which is arranged at the periphery of the cylinder tube I and is in sliding along the length direction of the cylinder tube I; each rod-less hydraulic cylinder II comprises a cylinder tube II which is vertically arranged, and a sliding seat II which is arranged at the periphery of the cylinder tube II and is in sliding fit along the length direction of the cylinder tube II; the bottom end of each cylinder tube II is connected with the top of the corresponding sliding seat I; and each sliding seat II is in hinging fit with the rack by a hanging shaft which is horizontally arranged along the forth-back direction of the rack. The three-degree-freedom walking robot is simple in structure, easy to manufacture, small in control difficulty, and flexible to act, and the robot can complete actions of standing and squatting, and also can complete actions of forward and backward going and leftward and rightward moving.
Description
Technical field
The present invention relates to a kind of robot, and in particular to a kind of Three Degree Of Freedom walking robot.
Background technology
Robot is one of greatest invention of the twentieth century mankind, and the mankind are long-standing for the research of robot.On
Century 70, computer technology, control technology, sensing technology and artificial intelligence technology are developed rapidly, roboticses also with
Enter the high speed development stage, become and combine computer, cybernetics, theory of mechanisms, information and sensing technology, artificial intelligence, imitative
The new and high technology given birth to etc. multi-door subject and formed.Its essence is perception, decision-making, the synthesis of four big technologies of action and interaction, is
Present age research is very active, using increasingly extensive field.Robot application level is a National Industrial automatization level
Important symbol.
Robot is broadly divided into two classes：Industrial robot and other specialized robots, release the world from the U.S. in 1962
Since upper First industrial robot, robot is developed rapidly in industrially developed country.According to International Industry robot
Community counts, and up to 22.5 ten thousand, before global industry robot sales volume, 5 are global industry robot sales volume in 2014 respectively
State, Korea, Japan, the U.S. and Germany, the sales volume in this 5 big market account for the 3/4 of global total sales volume.The machine that Japan possesses in addition
People's sum account for half of whole world robot sum or so, continue to keep the status of kingdom of robot.In addition to Japan, the whole world
The country of also many industry prosperities, the such as U.S., Russia and some national Robot industries of West Europe develop also quickly.
Walking robot is tool humanoid robot anthropomorphous, and it is free that the walking robot having been developed that at present mostly is 4
The humanoid robot of degree and the above, but anthropomorphic robot more than 4DOF is present, and mechanism is complicated, it is big to regulate and control difficulty and makes
The problems such as making difficulty in process.
The content of the invention
For above-mentioned the deficiencies in the prior art, the technical problem to be solved is：How a kind of structure letter is provided
It is single, make easy, manipulate the little Three Degree Of Freedom walking robot of difficulty.
In order to solve above-mentioned technical problem, following technical scheme is present invention employs：
A kind of Three Degree Of Freedom walking robot, including frame, are symmetrically set with running gear, running gear in frame
Including pendulous device, horizontally disposed Rodless cylinder I and the Rodless cylinder II being vertically arranged, the Rodless cylinder I is wrapped
Include along the horizontally disposed earthen pipe I of the frame fore-and-aft direction and in I periphery of earthen pipe what is be slidably matched along I length direction of the earthen pipe
Slide I, the Rodless cylinder II include the earthen pipe II being vertically arranged and in II periphery of earthen pipe along II length direction of the earthen pipe
The slide II being slidably matched, the bottom of the earthen pipe II are connected with the top of the slide I, and the slide II is by along the frame
The horizontally disposed hinge of fore-and-aft direction is hinged cooperation with the frame；
The pendulous device is located at any side in left and right of the slide II, and the pendulous device includes driving means, receives
Power telecontrol equipment and swinging block, the driving means include the drive shaft arranged along the frame fore-and-aft direction, drive shaft connection
In the swinging block eccentric point and the swinging block can be driven to carry out reciprocating swing around the eccentric point, set on the swinging block
Have an arc chute along the swinging block swaying direction, the movement under force device include being arranged in the arc chute and with
The arc chute rolls the rolling member for coordinating, and is provided with deflection connecting shaft, partially between the arc chute and the slide II
The one end for turning connecting shaft is fixedly connected with the slide II, and the other end is rotatably assorted with the rolling member.
In the present invention, the standing of robot and moving for squatting down, move forward and backward and move to left and move to right can be realized respectively
Make, its simple structure, make easy, manipulation difficulty is little.Wherein, by controlling Rodless cylinder II, slide II is enable along cylinder
II length direction of pipe is moved up and down, the relation that slide II is articulated and connected with frame, while order about frame rise or fall, so as to complete
Into standing and the squatting motion of robot.
When robot is under standing state, overall center of gravity is in whole robot center, one of running gear（Right crus of diaphragm）
In pendulous device, under the drive of driving means, swinging block carries out reciprocating swing by oscillation center of eccentric point thereon, pendulum
Motion block can also adjust the center of gravity of frame, while another running gear when swinging（Left foot）In slide II to
Lower movement, because slide II is hingedly connected in frame, moves with respect to earthen pipe II upwards, lifts left foot equivalent to robot, now
The center of gravity of robot is partial to right crus of diaphragm, and right crus of diaphragm is independently stood；I forward movement of slide on right crus of diaphragm is controlled again, drives whole machine
People moves forward, while the slide I of left foot is moved back by, makes earthen pipe I to extension；Then the slide II of left foot is moved up, with respect to earthen pipe
II to moving down, and makes left foot touch ground, while the driving means control swinging block of pendulous device is inverted in right crus of diaphragm, makes robot
Centre of gravity adjustment returns to standing state to center, now completes the movement to back.Rear left and right castor change alternating movement,
Robot is made to move ahead.Otherwise travelling rearwardly for robot can also be realized.
When robot is under standing state, the swinging block eccentric rotary in right crus of diaphragm, while moving on the earthen pipe II in left foot, makes
Robot center of gravity deflection right crus of diaphragm, foot of keeping right independently are stood；Then the swinging block eccentric rotary in left foot, makes the earthen pipe II in left foot
Deflect to the left and separate；Then the earthen pipe II in left lower limb is moved down, and makes left foot touch ground, is now in right lower limb standing, left lower limb
Bearing diagonal state；So the earthen pipe II in rear right-leg is moved down, and frame is offset to the left, while moving on the earthen pipe II in the left lower limb of control, is made
Robot entirety center of gravity is partial to left foot, is now in left foot standing, right lower limb bearing diagonal state；Then the earthen pipe II in right crus of diaphragm after
It is continuous upper to move, and control the swinging block eccentric rotary in right crus of diaphragm, the earthen pipe II in right crus of diaphragm is deflected to the left, while the pendulum in left foot
Motion block eccentric rotary, makes frame and left foot to right avertence, allows robot to return to standing state.The above-mentioned course of action of repetition, can
Robot is made to advance to the left.Otherwise the traveling to the right of robot can also be realized.
Used as optimization, the swinging block is semicircle eccentric, and the radian of the arc chute is semicircle inclined less than described
The radian of heart wheel.When making, semicircle eccentric can reduce production technology, reduce production cost, save the production time, carry
High efficiency.
Used as optimization, the rolling member is scroll wheel, and rolling surface and the arc chute of the scroll wheel roll cooperation, institute
The side for stating scroll wheel is provided with to opposite side rotating shaft that is wearing and being rotatably assorted with the scroll wheel, the deflection connecting shaft with
The connection end of the rolling member is provided with Baltimore groove, and the two ends of the rotating shaft are connected with the inner side cell wall of the Baltimore groove respectively.
Scroll wheel is rolled in arc chute, and the end for deflecting connecting shaft is rotatably assorted with scroll wheel by rotating shaft, makes eccentric inclined
When the heart is rotated, deflection connecting shaft stretches oneself, without jam phenomenon, and is easily installed and safeguards.
Used as optimization, the bottom of the Rodless cylinder I is connected with horizontally disposed foot plate.Robot is made to possess as people
The same sole, stands very steady.
In sum, the beneficial effects of the present invention is：Present configuration is simple, makes easy, and manipulation difficulty is little, action
Flexibly, robot not only can be made to complete to stand and squatting motion, moreover it is possible to complete the action advanced, retreat, move to left and move to right.
Description of the drawings
In order that the purpose of invention, technical scheme and advantage are clearer, the present invention is made into one below in conjunction with accompanying drawing
The detailed description of step, wherein：
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the pendulous device structural representation in the present invention；
Fig. 3 is the schematic diagram of left and right directions walking process of the present invention；
Fig. 4 is the schematic diagram of fore-and-aft direction walking process of the present invention；
Fig. 5 is the hydraulic principle figure of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figures 1 to 5, a kind of Three Degree Of Freedom walking robot in this specific embodiment, including frame 1, machine
It is symmetrically set with running gear on frame 1, running gear includes pendulous device, horizontally disposed Rodless cylinder I and vertically
The Rodless cylinder II of setting, the Rodless cylinder I include along the horizontally disposed earthen pipe I 2 of 1 fore-and-aft direction of the frame and
The slide I 3 that I 2 periphery of earthen pipe is slidably matched along I 2 length direction of the earthen pipe, the Rodless cylinder II include what is be vertically arranged
Earthen pipe II 4 and the slide II 5 being slidably matched along II 4 length direction of the earthen pipe in II 4 periphery of earthen pipe, the bottom of the earthen pipe II 4
End be fixedly connected with the top of the slide I 3, the slide II 5 by along the horizontally disposed hinge of 1 fore-and-aft direction of the frame with
The frame 1 is hinged cooperation；
The pendulous device is located at any side in left and right of the slide II 5, and the pendulous device includes driving means, receives
Power telecontrol equipment and swinging block 6, the driving means include the drive shaft 7 arranged along 1 fore-and-aft direction of the frame, drive shaft 7
Be connected to the eccentric point of the swinging block 6 and the swinging block 6 can be driven reciprocating swing, the swing to be carried out around the eccentric point
Block 6 is provided with the arc chute 8 along 6 swaying direction of the swinging block, and the movement under force device includes being arranged on the arc
The rolling member for coordinating is rolled in chute 8 and with the arc chute 8, is provided between the arc chute 8 and the slide II 5
Deflection connecting shaft 9, the one end for deflecting connecting shaft 9 are fixedly connected with the slide II 5, and the other end is rotated with the rolling member matches somebody with somebody
Close.
In this specific embodiment, the swinging block 6 is semicircle eccentric, and the radian of the arc chute 8 is less than institute
State the radian of semicircle eccentric.
In this specific embodiment, the rolling member is scroll wheel, and rolling surface and the arc chute 8 of the scroll wheel are rolled
Dynamic to coordinate, the side of the scroll wheel is provided with to opposite side rotating shaft that is wearing and being rotatably assorted with the scroll wheel, described inclined
The connection end for turning connecting shaft 9 and the rolling member is provided with Baltimore groove, the two ends of the rotating shaft respectively with the Baltimore groove in
Side channel wall connects.
In this specific embodiment, the bottom of the Rodless cylinder I is connected with horizontally disposed foot plate 10.
During enforcement, the work of Rodless cylinder I and Rodless cylinder II is completed by hydraulic control.Hydraulic pressure is moved
Power is provided by controlled oil pressure oil pump 11, sends into 43 position-5 way electromagnetic valves 12 by oil pipe, controls electromagnetic valve 12 by master control system
Realize that the movable and slide II 5 of the slide I 3 on Rodless cylinder I and Rodless cylinder II is moved up and down, while allowing nothing
The hydraulic oil Jing oil pipes that bar hydraulic cylinder I and Rodless cylinder II flow out are back in fuel tank 13.
Mechanical arm and visual system are installed in frame 1 in addition, can be used to get rid of the danger except sudden and violent, poisonous and harmful environment work,
Soldier can be replaced in military affairs to complete warning and special disposal task, appropriate nursing work is completed in aged family and community nursing
Make, it can also be used to which public's service is carried out in station, airport, store etc..
Finally illustrate, above example is only unrestricted to illustrate technical scheme, although by ginseng
According to the preferred embodiments of the present invention, invention has been described, it should be appreciated by those of ordinary skill in the art that can
To make various changes in the form and details to which, without departing from the present invention limited by appended claims
Spirit and scope.
Claims (4)
1. a kind of Three Degree Of Freedom walking robot, including frame, is symmetrically set with running gear in frame, its feature exists
In：Running gear includes pendulous device, horizontally disposed Rodless cylinder I and the Rodless cylinder II being vertically arranged, the nothing
Bar hydraulic cylinder I is included along the horizontally disposed earthen pipe I of the frame fore-and-aft direction and in I periphery of earthen pipe along I length side of the earthen pipe
To the slide I being slidably matched, the Rodless cylinder II includes the earthen pipe II being vertically arranged and in II periphery of earthen pipe along the cylinder
The slide II that II length direction of pipe is slidably matched, the bottom of the earthen pipe II are fixedly connected with the top of the slide I, the slide
II by being hinged cooperation with the frame along the horizontally disposed hinge of the frame fore-and-aft direction；
The pendulous device is located at any side in left and right of the slide II, and the pendulous device includes driving means, stress fortune
Dynamic device and swinging block, the driving means include the drive shaft arranged along the frame fore-and-aft direction, and drive shaft is connected to institute
Stating the eccentric point of swinging block and the swinging block being driven reciprocating swing to be carried out around the eccentric point, the swinging block is provided with edge
The arc chute of the swinging block swaying direction, the movement under force device include being arranged in the arc chute and with it is described
Arc chute rolls the rolling member for coordinating, and deflection connecting shaft is provided between the arc chute and the slide II, and deflection connects
One end of spindle is fixedly connected with the slide II, and the other end is rotatably assorted with the rolling member.
2. a kind of Three Degree Of Freedom walking robot according to claim 1, it is characterised in that：The swinging block is semicircle
Eccentric, the radian of the arc chute are less than the radian of the semicircle eccentric.
3. a kind of Three Degree Of Freedom walking robot according to claim 1, it is characterised in that：The rolling member is rolling
Wheel, the rolling surface of the scroll wheel are rolled with arc chute and are coordinated, the side of the scroll wheel be provided with to opposite side it is wearing and
The rotating shaft being rotatably assorted with the scroll wheel, the deflection connecting shaft are provided with Baltimore groove with the connection end of the rolling member, institute
The two ends for stating rotating shaft are connected with the inner side cell wall of the Baltimore groove respectively.
4. a kind of Three Degree Of Freedom walking robot according to claim 1, it is characterised in that：The Rodless cylinder I
Bottom is connected with horizontally disposed foot plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510784594.4A CN105235768B (en) | 2015-11-16 | 2015-11-16 | Three-degree-freedom walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510784594.4A CN105235768B (en) | 2015-11-16 | 2015-11-16 | Three-degree-freedom walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105235768A CN105235768A (en) | 2016-01-13 |
| CN105235768B true CN105235768B (en) | 2017-05-03 |
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ID=55033688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510784594.4A Active CN105235768B (en) | 2015-11-16 | 2015-11-16 | Three-degree-freedom walking robot |
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| Country | Link |
|---|---|
| CN (1) | CN105235768B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116198626A (en) * | 2023-02-28 | 2023-06-02 | 清华大学 | Three degrees of freedom biped robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998026905A1 (en) * | 1996-12-19 | 1998-06-25 | Honda Giken Kogyo Kabushiki Kaisha | Attitude controller of legged moving robot |
| CN102785721A (en) * | 2012-07-11 | 2012-11-21 | 上海大学 | Pedal type gait robot |
| CN204713231U (en) * | 2015-04-15 | 2015-10-21 | 江苏博涛科技有限公司 | A kind of stairs climbing device |
-
2015
- 2015-11-16 CN CN201510784594.4A patent/CN105235768B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998026905A1 (en) * | 1996-12-19 | 1998-06-25 | Honda Giken Kogyo Kabushiki Kaisha | Attitude controller of legged moving robot |
| CN102785721A (en) * | 2012-07-11 | 2012-11-21 | 上海大学 | Pedal type gait robot |
| CN204713231U (en) * | 2015-04-15 | 2015-10-21 | 江苏博涛科技有限公司 | A kind of stairs climbing device |
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| Publication number | Publication date |
|---|---|
| CN105235768A (en) | 2016-01-13 |
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