CN106272402A - A kind of Based Intelligent Control walks upright robot - Google Patents
A kind of Based Intelligent Control walks upright robot Download PDFInfo
- Publication number
- CN106272402A CN106272402A CN201610830277.6A CN201610830277A CN106272402A CN 106272402 A CN106272402 A CN 106272402A CN 201610830277 A CN201610830277 A CN 201610830277A CN 106272402 A CN106272402 A CN 106272402A
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- China
- Prior art keywords
- connecting rod
- revolute pair
- guide rail
- frame
- link
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 239000007787 solid Substances 0.000 claims description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 210000002414 leg Anatomy 0.000 abstract description 2
- 210000000689 upper leg Anatomy 0.000 abstract description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of Based Intelligent Control walks upright robot, it is connected with first support bar one end in the middle part of first connecting rod, the first support bar other end is fixed in frame, first connecting rod one end is connected on the first slide block, the first connecting rod other end is connected with second connecting rod one end, the second connecting rod other end is connected in the middle part of third connecting rod, third connecting rod one end is connected with second support bar one end, the second support bar other end is fixed in frame, the third connecting rod other end is connected in the middle part of fourth link, fourth link one end is connected on the second slide block, and the fourth link other end is connected on sole part.The present invention only with a servomotor as power source, by chain-drive mechanism, motion is divided into two-way, drives thigh and the reciprocating motion of shank respectively, simple in construction, rationally distributed, the range of activity making robot leg is big, bearing capacity strong, the most convenient for assembly.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of Based Intelligent Control walks upright robot.
Background technology
Robot is the installations automatically performing work.It both can accept mankind commander, can run again and compile in advance
The program of row, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as, produce the work of industry, building industry, or danger.Walking robot is to have humanoid machine anthropomorphous
People is also referred to as nature walking robot.The walking mechanism of robot is divided into wheeled, lower limb formula, crawler type etc. by move mode.But, it
Each there is corresponding defect, wheeled construction robot speed is fast, control flexibly, but leaping over obstacles is limited in one's ability；
Robot of Tui Shi mechanism is adaptable, controls complexity, and energy consumption is big；Caterpillar mobile robot weight is big, and energy consumption is high.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that a kind of Based Intelligent Control walks upright robot.
To achieve these goals, present invention employs techniques below scheme:
A kind of Based Intelligent Control walks upright robot, including frame, servomotor, chain, the first sprocket wheel, the first crank,
First drive link, the first guide rod, the first guide rail, the first frame guide rail, the first slide block, the second sprocket wheel, the second crank, second drive
Dynamic connecting rod, the second guide rod, the second guide rail, the second frame guide rail, the second slide block, first connecting rod, second connecting rod, third connecting rod, the
Double leval jib, the 5th connecting rod, six-bar linkage, the first support bar, the second support bar, arc guide rail, sole part, expansion link and monolithic
Machine,
Servomotor is arranged in frame, and the first sprocket wheel is arranged on the output shaft of servomotor, and first crank one end is solid
Being scheduled on the output shaft of servomotor, the first crank other end is connected with first drive link one end by revolute pair one, and first
The drive link other end is connected with the first guide rod by revolute pair two, and the first guide rod is arranged on the first guide rail, and first leads
Bar is fixed in frame, and the first guide rod other end is fixed with the first frame guide rail, and the first slide block is arranged on the first framework and leads
In rail,
Being connected with first support bar one end by revolute pair three in the middle part of first connecting rod, the first support bar other end is fixed on machine
On frame, first connecting rod one end is connected on the first slide block by revolute pair four, and the first connecting rod other end is by revolute pair five and the
Two connecting rod one end connect, and the second connecting rod other end is connected in the middle part of third connecting rod by revolute pair six, and third connecting rod one end is passed through
Revolute pair seven is connected with second support bar one end, and the second support bar other end is fixed in frame, and the third connecting rod other end passes through
Revolute pair eight is connected in the middle part of fourth link, and fourth link one end is connected on the second slide block by revolute pair 11, and the 4th even
The bar other end is connected on sole part by revolute pair 12,
Second crank one end and the second sprocket coaxiality are fixed and are arranged in frame, and the second crank other end passes through revolute pair
Nine are connected with second drive link one end, and the second drive link other end is connected with the second guide rod by revolute pair ten, the
Two guide rods are arranged on the second guide rail, and the second guide rail is fixed in frame, and the second guide rod other end is fixed with the second frame guide rail,
Second slide block is arranged in the second frame guide rail,
Arc guide rail one end is fixed on third connecting rod and the center of circle of arc guide rail is on the position of revolute pair eight, the
Five connecting rod one end are connected on arc guide rail by revolute pair 13, and the other end is connected by revolute pair 14 and six-bar linkage one end
Connecing, the six-bar linkage other end is connected on sole part by revolute pair 15, and expansion link one end is connected to by revolute pair 16
In fourth link, the other end is simultaneously connected with the 5th connecting rod and six-bar linkage by revolute pair 16, solid in described fourth link
Surely having boss slider, boss slider is inlaid in arc guide rail, and the distance of boss slider to revolute pair eight is equal to arc guide rail
Radius, chain is arranged on the first sprocket wheel and the second sprocket wheel, and single-chip microcomputer is connected with servomotor and expansion link and controls servo electricity
The rotating speed of machine and the length of expansion link.
Compared with prior art, the beneficial effect that the present invention possesses:
Motion as power source, is divided into two-way by chain-drive mechanism only with a servomotor by the present invention, point
Not Qu Dong thigh and the reciprocating motion of shank, simple in construction, rationally distributed so that the range of activity of robot leg is big, carrying
Ability is strong, the most convenient for assembly.
Accompanying drawing explanation
Fig. 1 is that Based Intelligent Control of the present invention walks upright the markd structural representation of robot.
Fig. 2 is that Based Intelligent Control of the present invention walks upright the unmarked structural representation of robot.
Detailed description of the invention
Below by embodiment, technical scheme is further elaborated.
Embodiment 1
A kind of Based Intelligent Control walks upright robot, including frame 9, servomotor 18, chain the 19, first sprocket wheel 11, the
One crank the 12, first drive link the 13, first guide rod the 14, first guide rail the 15, first frame guide rail the 16, first slide block 17, second
Sprocket wheel the 21, second crank the 22, second drive link the 23, second guide rod the 24, second guide rail the 25, second frame guide rail 26, second is sliding
Block 27, first connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link the 4, the 5th connecting rod 5, six-bar linkage the 6, first support bar 7,
Second support bar 8, arc guide rail 28, sole part 29, expansion link 30 and single-chip microcomputer,
Servomotor 18 is arranged in frame 9, and the first sprocket wheel 11 is arranged on the output shaft of servomotor 18, the first crank
12 one end are fixed on the output shaft of servomotor 18, and first crank 12 other end is by revolute pair 1 and first company of driving
Bar 13 one end connects, and first drive link 13 other end is connected with first guide rod 14 one end by revolute pair 2 102, the first guide rod
14 are arranged on the first guide rail 15, and the first guide rod 14 is fixed in frame 9, and first guide rod 14 one end other end is fixed with the first frame
Frame guide rail 16, the first slide block 17 is arranged in the first frame guide rail 16,
Being connected with first support bar 7 one end by revolute pair 3 103 in the middle part of first connecting rod 1, first support bar 7 other end is solid
Being scheduled in frame 9, first connecting rod 1 one end is connected on the first slide block 17 by revolute pair 4 104, and first connecting rod 1 other end leads to
Crossing revolute pair 5 105 to be connected with second connecting rod 2 one end, second connecting rod 2 other end is connected to third connecting rod by revolute pair 6 106
In the middle part of in the of 3, third connecting rod 3 one end is connected with second support bar 8 one end by revolute pair 7 107, and second support bar 8 other end is fixed
In frame 9, third connecting rod 3 other end is connected in the middle part of fourth link 4 by revolute pair 8 108, and fourth link 4 one end is passed through
Revolute pair 11 is connected on the second slide block 27, and fourth link 4 other end is connected to sole part by revolute pair 12
On 29,
Second crank 22 one end and the second sprocket wheel 21 are coaxially fixing and are arranged in frame 9, and second crank 22 other end leads to
Crossing revolute pair 9 109 to be connected with second drive link 23 one end, second drive link 23 other end passes through revolute pair ten and second
Guide rod 24 one end connects, and the second guide rod 24 is arranged on the second guide rail 25, and the second guide rail 25 is fixed in frame 9, the second guide rod
24 other ends are fixed with the second frame guide rail 26, and the second slide block 27 is arranged in the second frame guide rail 26,
Arc guide rail 28 one end is fixed on third connecting rod 3 and the center of circle of arc guide rail 28 is in revolute pair 8 108
On position, the 5th connecting rod 5 one end is connected on arc guide rail 28 by revolute pair 13, and the other end passes through revolute pair 14
114 are connected with six-bar linkage 6 one end, and six-bar linkage 6 other end is connected on sole part 29 by revolute pair 15, flexible
Bar 30 one end is connected in fourth link 4 by revolute pair 16, and the other end passes through revolute pair 16 and the 5th connecting rod 5
Being simultaneously connected with six-bar linkage 6, described fourth link 4 is fixed with boss slider 31, boss slider 31 is inlaid in arc guide rail
In 28, the distance of boss slider 31 to revolute pair 8 108 is equal to the radius of arc guide rail 28, and chain 19 is arranged on the first sprocket wheel 11
With on the second sprocket wheel 21, single-chip microcomputer is connected with servomotor 18 and expansion link 30 and controls rotating speed and the expansion link of servomotor 18
The length of 30.
Claims (1)
1. a Based Intelligent Control walks upright robot, it is characterised in that include frame, servomotor, chain, the first sprocket wheel,
First crank, the first drive link, the first guide rod, the first guide rail, the first frame guide rail, the first slide block, the second sprocket wheel, the second song
Handle, the second drive link, the second guide rod, the second guide rail, the second frame guide rail, the second slide block, first connecting rod, second connecting rod,
Three connecting rods, fourth link, the 5th connecting rod, six-bar linkage, the first support bar, the second support bar, arc guide rail, sole part, flexible
Bar and single-chip microcomputer,
Servomotor is arranged in frame, and the first sprocket wheel is arranged on the output shaft of servomotor, and first crank one end is fixed on
On the output shaft of servomotor, the first crank other end is connected with first drive link one end by revolute pair one, and first drives
The connecting rod other end is connected with the first guide rod by revolute pair two, and the first guide rod is arranged on the first guide rail, and the first guide rod is solid
Being scheduled in frame, the first guide rod other end is fixed with the first frame guide rail, and the first slide block is arranged in the first frame guide rail,
Being connected with first support bar one end by revolute pair three in the middle part of first connecting rod, the first support bar other end is fixed on frame
On, first connecting rod one end is connected on the first slide block by revolute pair four, and the first connecting rod other end passes through revolute pair five and second
Connecting rod one end connects, and the second connecting rod other end is connected in the middle part of third connecting rod by revolute pair six, and third connecting rod one end is by turning
Dynamic secondary seven are connected with second support bar one end, and the second support bar other end is fixed in frame, and the third connecting rod other end is by turning
Dynamic secondary eight are connected in the middle part of fourth link, and fourth link one end is connected on the second slide block by revolute pair 11, fourth link
The other end is connected on sole part by revolute pair 12,
Second crank one end and the second sprocket coaxiality are fixed and are arranged in frame, the second crank other end by revolute pair nine with
Second drive link one end connects, and the second drive link other end is connected with the second guide rod by revolute pair ten, and second leads
Bar is arranged on the second guide rail, and the second guide rail is fixed in frame, and the second guide rod other end is fixed with the second frame guide rail, and second
Slide block is arranged in the second frame guide rail,
Arc guide rail one end is fixed on third connecting rod and the center of circle of arc guide rail is on the position of revolute pair eight, and the 5th even
Bar one end is connected on arc guide rail by revolute pair 13, and the other end is connected with six-bar linkage one end by revolute pair 14,
The six-bar linkage other end is connected on sole part by revolute pair 15, and expansion link one end is connected to the 4th by revolute pair 16
On connecting rod, the other end is simultaneously connected with the 5th connecting rod and six-bar linkage by revolute pair 16, and described fourth link is fixed with
Boss slider, boss slider is inlaid in arc guide rail, and the distance of boss slider to revolute pair eight is equal to the radius of arc guide rail,
Chain is arranged on the first sprocket wheel and the second sprocket wheel, and single-chip microcomputer is connected with servomotor and expansion link and controls turning of servomotor
Speed and the length of expansion link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610830277.6A CN106272402B (en) | 2016-09-19 | 2016-09-19 | A kind of intelligent control walks upright robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610830277.6A CN106272402B (en) | 2016-09-19 | 2016-09-19 | A kind of intelligent control walks upright robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272402A true CN106272402A (en) | 2017-01-04 |
| CN106272402B CN106272402B (en) | 2018-09-07 |
Family
ID=57712128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610830277.6A Active CN106272402B (en) | 2016-09-19 | 2016-09-19 | A kind of intelligent control walks upright robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272402B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
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| JPS6290703A (en) * | 1985-10-17 | 1987-04-25 | Nissan Motor Co Ltd | Robot controller |
| US5577414A (en) * | 1993-09-01 | 1996-11-26 | Kabushiki Kaisha Yaskawa Denki | Articulated robot |
| JP2000202790A (en) * | 1999-01-14 | 2000-07-25 | Sharp Corp | Robot device |
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| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN104875814A (en) * | 2015-05-29 | 2015-09-02 | 上海交通大学 | Walking robot |
| CN105667630A (en) * | 2016-03-24 | 2016-06-15 | 重庆大学 | Robot leg walking mechanism and four-leg robot of robot leg walking mechanism |
| CN105856250A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Four-foot walking robot |
-
2016
- 2016-09-19 CN CN201610830277.6A patent/CN106272402B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4466307A (en) * | 1980-09-14 | 1984-08-21 | Dainichi Kiko Kabushiki Kaisha | Industrial robot |
| JPS6290703A (en) * | 1985-10-17 | 1987-04-25 | Nissan Motor Co Ltd | Robot controller |
| US5577414A (en) * | 1993-09-01 | 1996-11-26 | Kabushiki Kaisha Yaskawa Denki | Articulated robot |
| JP2000202790A (en) * | 1999-01-14 | 2000-07-25 | Sharp Corp | Robot device |
| CN101230761A (en) * | 2007-12-16 | 2008-07-30 | 范文利 | Plane spray coating mechanical hand base on PLC |
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| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN104875814A (en) * | 2015-05-29 | 2015-09-02 | 上海交通大学 | Walking robot |
| CN105667630A (en) * | 2016-03-24 | 2016-06-15 | 重庆大学 | Robot leg walking mechanism and four-leg robot of robot leg walking mechanism |
| CN105856250A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Four-foot walking robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
| CN108000508B (en) * | 2018-01-25 | 2024-01-26 | 西南石油大学 | Motion adjusting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272402B (en) | 2018-09-07 |
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Effective date of registration: 20180725 Address after: 211409 Yang An Road 100, Daye Town Industrial Zone, Yizheng, Yangzhou, Jiangsu Applicant after: Jiangsu County special visual Polytron Technologies Inc Address before: 530105 Guangxi Nanning Guangxi-ASEAN Economic and Technological Development Zone No.98 Qiaoguang Road Da Mingzhu Residential Quarter 2 1 Unit 1001 Rooms Applicant before: NANNING SUICONG FUYU TECHNOLOGY DEVELOPMENT CO., LTD. |
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