CN108216417B - A C-shaped outrigger and walking robot for walking - Google Patents

Abstract

The invention discloses a C-shaped supporting leg for walking and a walking robot, wherein the C-shaped supporting leg comprises: the C-shaped leg is provided with a step adjusting section, a guide slide way is formed on the first surface of the step adjusting section, and a rack is formed on the second surface of the step adjusting section; a walking frame including first and second pulleys disposed on a first surface of the step adjusting section and engaged with the guide chute, and a first gear disposed on a second surface of the step adjusting section and engaged with the rack; and the driving mechanism comprises a transmission shaft for driving the first gear and a driving sleeve sleeved on the periphery of the transmission shaft, wherein the driving sleeve is fixedly connected with the support. Through mutual cooperation between the C-shaped supporting legs, the robot can have two degrees of freedom and three gaits in the traveling process, can adapt to most terrains, can change the walking gaits at any time according to different terrains, and has strong adaptive capacity to the environment.

Description

A C-shaped outrigger and walking robot for walking

technical field

The invention relates to the field of walking robots, in particular to a walking robot with two degrees of freedom and three walking gaits and a C-shaped outrigger for walking.

Background technique

At present, walking robots are an important branch of the robot family, which not only have strong carrying capacity, but also easily adapt to uneven terrain. It can both walk slowly and smoothly using a statically stable gait and run with a dynamically stable gait. Compared with wheeled and tracked mobile robots, walking robots have unique and superior performance on rough roads. Under this background, the research of walking robots has flourished.

The walking robot mainly sends the ground condition back to the computer through the gravity sensor of its body and the tactile sensor on the sole of the foot. It can take not only flat roads, but also steps and inclined roads. It stands stably, cannot be pushed down, and can maintain an upright posture even if the soles of its feet are uneven, but it is more difficult to walk on different terrains.

Therefore, it is necessary to design a walking robot to meet the walking problem in different environments and different terrains.

SUMMARY OF THE INVENTION

The object of the present invention is to provide a C-shaped outrigger for walking.

Another object of the present invention is to provide a walking robot with C-shaped outriggers, which has two degrees of freedom and three walking gaits.

To this end, one aspect of the present invention provides a C-shaped support leg for walking, comprising: a C-shaped leg with a step adjustment section, a guide slide is formed on the first surface of the step adjustment section, and the A rack is formed on the second surface of the step adjustment section; a walking support includes a first pulley and a second pulley, and a first gear, wherein the first pulley and the second pulley are arranged on the first and second pulleys of the step adjustment section. a surface and cooperate with the guide slide, the first gear is arranged on the second surface of the step adjustment section and meshes with the rack; and a driving mechanism, including a transmission shaft for driving the first gear and a drive sleeve sleeved on the outer circumference of the transmission shaft, wherein the drive sleeve is fixedly connected with the bracket.

Further, the above-mentioned bracket includes an inner fixing plate, an outer fixing plate, and an upper cross column and a lower cross column located therebetween.

Further, the above-mentioned driving mechanism includes a first motor and a second motor, wherein the first motor is drivingly connected to the transmission shaft, and the second motor is drivingly connected to the driving sleeve through a transmission gear.

Further, the first motor and the second motor are arranged side by side.

Further, the above-mentioned C-shaped outrigger for walking further comprises a base and a first bearing bracket, a second bearing bracket, a first motor bracket and a second motor bracket fixedly connected to the base, wherein the first bearing The bracket and the second bearing bracket are arranged side by side along the axial direction of the driving sleeve.

According to another aspect of the present invention, a walking robot is provided, comprising a robot body and a pair of front C-shaped legs and a pair of rear C-shaped legs disposed on the robot body, wherein the C-shaped legs The legs are C-legs for walking as described above.

The walking robot according to the present invention includes a C-shaped outrigger and a robot body. Using the above technical solutions, through the cooperation between the C-shaped legs, the robot can have two degrees of freedom and three gaits in the process of traveling, which can adapt to most terrains. According to the different terrains, the walking gait can be changed at any time. Strong ability to adapt to the environment.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail below with reference to the drawings.

Description of drawings

The accompanying drawings forming a part of the present application are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

1 is a schematic diagram of a walking robot according to the present invention;

Fig. 2 is the structural representation of the C-shaped outrigger for walking according to the present invention;

3 is a cross-sectional view of a C-shaped leg for walking according to the present invention;

4 is a gait diagram of the walking robot according to the present invention when passing through a low obstacle;

FIG. 5 is a gait diagram of the walking robot according to the present invention when passing a tall obstacle; and

FIG. 6 is a gait diagram of the walking robot according to the present invention when traveling on a relatively flat road surface.

Description of reference numerals

A1, C-shaped legs; A2, base;

A3, the first bearing bracket; A4, the second bearing bracket;

A5, left gear; A6, coupling;

A7, the first motor bracket; A8, the first motor;

A9, the second motor; A10, the second motor bracket;

A11, right gear; A12, drive sleeve;

A13, inner fixing plate; A14, second pulley;

A15, upper horizontal column; A16, right axis;

A17, left shaft; A18, first pulley;

A19, external fixing plate; A20, lower horizontal column.

A21, gear pressing; A22, transmission shaft;

A23, inner large bearing; A24, outer large bearing;

A25, inner small bearing; A26, first gear;

A26, small outer bearing.

Detailed ways

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

As shown in FIG. 2, the C-shaped leg A for walking of the present invention includes a C-shaped leg A1, a walking support, and a driving mechanism.

The C-shaped legs can greatly improve the smoothness of the robot's travel, and can also play a good shock absorption effect while protecting the foot end. The end of the C-shaped leg A1 is provided with a step adjustment section, the step adjustment section is in the shape of a straight bar, the upper surface of which forms a guide sliding guide, and the lower surface forms a rack.

Among them, the C-shaped legs are made of nylon material, which can reduce the weight of the legs, make walking more smoothly, and can deform when the robot legs are in contact with the ground, reducing the impact on the ground. The characteristics of nylon are high mechanical strength, good toughness, high tensile and compressive strength, outstanding fatigue resistance, smooth surface, small friction coefficient and wear resistance.

The walking bracket is used to maintain the C-shaped leg A1 and adjust the walking posture of the C-shaped leg A1. The walking bracket is provided with a first pulley A18, a second pulley A14, and a first gear A26. The first pulley and the second pulley are arranged on the first surface of the step adjustment section and cooperate with the guide slideway, and the first gear is arranged on the second surface of the step adjustment section and cooperates with the rack. mesh. The C-leg A1 is allowed to slide along the path defined by the first pulley and the second pulley when the first gear is rotated.

Wherein, the driving mechanism includes a transmission shaft A22 for driving the first gear A26 and a driving sleeve A12 sleeved on the transmission shaft A22 and capable of relatively free rotation, wherein the driving sleeve A12 is fixedly connected with the walking support .

Wherein, the output shaft of the first motor A8 is connected with the transmission shaft A22 through the coupling A6, and the rotation of the first motor A8 drives the rotation of the transmission shaft A22; the first motor A8 is connected with the first motor bracket A7, A motor bracket A7 is fixedly connected to the base A2 through screws.

The gear pressing piece A21 fixes the left gear A5 on the shaft, and the gear pressing piece A21 plays the role of fixing the left gear A5; the transmission shaft A22 is fixedly connected with the first gear A26, and the transmission shaft A22 rotates to drive the first gear A26 Rotation; the inner small bearing A25 and the outer small bearing A27 are matched with the transmission shaft A22, the inner small bearing A25 and the outer small bearing A27 fix the transmission shaft A22 and allow the transmission shaft A22 to rotate in the middle; the first bearing bracket A3 The second bearing bracket A4 is fixedly connected to the base A2 through screws respectively.

The first gear A26 is matched with the teeth on the C-shaped leg A1, and the rotation of the first gear A26 drives the C-shaped leg A1 to rotate back and forth; the second motor A9 is connected with the second motor bracket A10, and the second motor bracket A10 is fixedly connected to the base A2 through screws.

The output shaft of the second motor A9 is fixedly connected to the right gear A11, and the rotation of the second motor A9 drives the right gear A11 to rotate; the right gear A11 is matched with the left gear A5, and the rotation of the second motor A9 drives the left gear A11 turns.

The drive sleeve A12 is connected with the first bearing bracket A3 through the outer large bearing A24, and the outer large bearing A24 plays the role of fixing the driving sleeve A12, while allowing the driving sleeve A12 to rotate; similarly, the driving sleeve A12 and the second The bearing bracket A4 is connected by the inner large bearing A23, and the inner large bearing A23 plays the role of fixing the driving sleeve A12, and at the same time makes the driving sleeve A12 rotate; the driving sleeve A12 is fixedly connected with the fixing bracket A13, and the rotation of the driving sleeve A12 drives the driving sleeve A12. Rotation of the inner fixing plate A13; the inner fixing plate A13 and the outer fixing plate A19 are connected to the lower transverse column A20 through the upper cross column A15.

The inner fixing plate A13, the outer fixing plate A19 and the second pulley A14 are connected through the right shaft A16, and can realize the free sliding of the second pulley A14 on the C-shaped leg A1; similarly, the inner fixing plate A13, The outer fixing plate A19 is connected with the first pulley A18 through the left shaft A17, and can realize the free sliding of the first pulley A18 on the C-shaped leg A1.

As shown in FIG. 1 , a walking robot of the present invention mainly includes a robot C-type outrigger A, a robot body B, and four C-type outriggers A realize four-limb walking. Using the above technical solutions, through mutual cooperation, the robot can realize that each leg has two degrees of freedom, three gaits, and four legs have eight degrees of freedom in the process of traveling, and the robot can move through two motors. It can adapt to most terrains, and can change the walking gait at any time according to the different terrains, and has a strong ability to adapt to the environment.

As shown in Figure 4, when passing through low obstacles, each leg of the robot rotates counterclockwise, and the front and rear legs alternately land, which can easily cross roads such as small stones or gravel.

As shown in Figure 5, when passing through higher obstacles, such as continuous steps, wooden stakes, etc., the robot's legs are extended by a corresponding length, rotated counterclockwise, and the legs alternately land, and the higher obstacles can be successfully passed.

As shown in Figure 6, on a relatively flat road surface, there are fewer obstacles, and the robot's travel trajectory is shown in the figure, and the entire travel process is relatively easy.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (6)

1. a C-type outrigger for walking, is characterized in that, comprises: The end of the C-shaped leg is provided with a step adjustment section, the step adjustment section is in the shape of a straight bar, a guide slide is formed on the first surface of the step adjustment section, and a second surface of the step adjustment section is formed rack; A walking support includes a first pulley, a second pulley, and a first gear, wherein the first pulley and the second pulley are arranged on the first surface of the step adjustment section and cooperate with the guide slideway, the a first gear is disposed on the second surface of the stance adjustment segment and meshes with the rack; and a drive mechanism, comprising a drive shaft for driving the first gear and a drive sleeve sleeved on the outer circumference of the drive shaft, wherein the drive sleeve is fixedly connected with the bracket, Among them, the C-shaped legs are made of nylon material, which deforms when the robot legs are in contact with the ground, reducing the impact on the ground. 2 . The C-shaped outrigger according to claim 1 , wherein the walking support comprises an inner fixing plate, an outer fixing plate, and an upper cross column and a lower cross column located therebetween. 3 . 3 . The C-shaped outrigger for walking according to claim 1 , wherein the driving mechanism comprises a first motor and a second motor, wherein the first motor is drivingly connected with the transmission shaft, 3 . The second motor is in driving connection with the driving sleeve through a transmission gear. 4. The C-shaped outrigger for walking according to claim 3, wherein the first motor and the second motor are arranged side by side. 5 . The C-shaped outrigger for walking according to claim 4 , further comprising a base and a first bearing bracket, a second bearing bracket, a first motor bracket and a second bearing bracket fixedly connected to the base. 6 . A motor support, wherein the first bearing support and the second bearing support are arranged side by side along the axial direction of the drive sleeve. 6. A walking robot, comprising a robot body and a pair of front C-shaped legs and a pair of rear C-shaped legs disposed on the robot body, wherein the C-shaped legs are according to claims 1 to 5 The C-shaped outriggers for walking according to any one of them.

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