CN108860358A - Based on link mechanism to dividing walking device - Google Patents
Based on link mechanism to dividing walking device Download PDFInfo
- Publication number
- CN108860358A CN108860358A CN201710336316.1A CN201710336316A CN108860358A CN 108860358 A CN108860358 A CN 108860358A CN 201710336316 A CN201710336316 A CN 201710336316A CN 108860358 A CN108860358 A CN 108860358A
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- Prior art keywords
- thigh
- connecting rod
- shaft
- link mechanism
- leg
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of biped connecting rods to dividing walking device, including hip, leg；Hip includes balance plate, and the lower end of balance plate is equipped with spherical joint；Leg includes thigh and shank, and shank and thigh are articulated and connected and form knee-joint mechanism between thigh and shank, and thigh is connected with corresponding spherical joint；Link mechanism is equipped between thigh；The leg walking mechanism of driving thigh swing and the leg stretching mechanism that drive link is flexible are equipped between hip balance plate and link mechanism；It is equipped between thigh and knee-joint mechanism for driving knee-joint mechanism to do the knee joint actuating mechanism of bending and unbending movement.
Description
Technical field
The invention belongs to robot field, particularly it is a kind of based on link mechanism to dividing walking device.
Background technique
Walking is the basic problem of anthropomorphic robot research.Currently, most of machines pass through drive in real time per capita in the world
To imitate in the form of mankind's walking, therefore it will lead to that robot ambulation is slow in one's movements, and the shortcomings that energy consumption exceeds ten times of people, this is tight
The continuation of the journey, operation, load-carrying ability of robot are constrained again.Have both sides excellent based on passive dynamic (dynamical) biped robot
Point：On the one hand, there is intrinsic stability, period walking step state can be realized by not needing any control；On the other hand, it walks
Energy consumption it is very small, such as the walking energy efficiency (Cost of Transport, COT) of robot Ranger is
0.255, it is very close with the walking COT (0.2) of the mankind.
Although existing can satisfy to a certain extent based on passive dynamic (dynamical) two leg walking robot imitates the mankind
The technical purpose of walking, but there are still deficiencies in the control of walking balance.The China of Publication No. CN201410766404.1
Patent application discloses a kind of gear drive to a point upper body energy conservation passive walking device, realizes using gear drive, but
It is the big problem of control difficulty in the presence of structure is complicated.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of based on link mechanism to walking device is divided, can protect always
Upper body is held to point, walking stability can be improved.
In order to achieve the above objectives, the present invention provides the following technical solutions：
It is a kind of based on link mechanism to dividing walking device, including hip, leg, it is characterised in that：The hip includes balance plate,
The lower end of the balance plate is equipped with spherical joint；The leg includes thigh and shank, and the shank and thigh are articulated and connected simultaneously
Knee-joint mechanism is formed between the thigh and shank, the thigh is connected with corresponding spherical joint, between the thigh
Equipped with link mechanism；The link mechanism includes connecting rod A and connecting rod B.
The leg walking mechanism to stretch for drive link, and driving are equipped between the hip balance plate and link mechanism
The flexible leg stretching mechanism of connecting rod；It is equipped between thigh and knee-joint mechanism for driving knee-joint mechanism to be bent and stretch
The knee joint actuating mechanism of movement.
Further, the leg walking mechanism includes the movement motor A being fixedly mounted on balance plate, and passes through shaft coupling
The movement motor B that device is connect with the connecting rod B；Between the balance plate and the connecting rod A be equipped with shaft, the shaft with it is described
Connecting rod A is fixedly connected, and is connect with the balance plate rotatable engagement；It is equipped between the movement motor A and the shaft for driving
Move the tape handler I of the shaft rotation.
Further, the connecting rod A and connecting rod B rotation connects, and the connecting rod A is fixedly connected with the shaft.
Further, the leg stretching mechanism includes the movement motor A, the movement motor B and the V belt translation
Mechanism I.
Further, the movement motor B output shaft is vertical with the connecting rod B.
Further, the knee joint actuating mechanism includes the knee joint movement motor being fixedly mounted on the thigh, institute
It states and is equipped with knee joint shaft between thigh and the shank, the thigh rotatable engagement is sleeved in the knee joint shaft, institute
It states shank and the knee joint shaft rotates synchronously；It is equipped with and is used between the knee joint movement motor and the knee joint shaft
Drive the tape handler II of the knee joint shaft rotation.
Further, the transverse axis of the support plate is vertical with the shaft, and hands over the connecting rod A and connecting rod B
Point is overlapped.
It is of the invention based on link mechanism to dividing walking device, with succinct link mechanism realize it is a kind of it is completely new to point
Upper body structure.By the way that link mechanism is arranged between two thighs, starts leg stretching mechanism, make connecting rod A and connecting rod B with transverse axis
For symmetrical center line symmetrical rotary equal angular, walking leg lateral movement is driven, realizes laterally walking.Start leg walking mechanism
Drive link A, connecting rod B are using transverse axis as reference line different rotation angle, before and after so that link mechanism swing is driven thigh
It swings, to walking before realization leg.Meanwhile this to dividing walking device to devise knee joint, knee joint passes through knee joint actuating mechanism
The swing for realizing shank, can be accurately controlled the swing angle of shank, avoid step in the process of walking and wipe
The case where ground, while can realize to advance across barrier and walk.It is to sum up known, it is moving ahead in lateral walking process, the upper bodies such as hip are tied
Structure remains symmetry status, to realize to walking in lines, improves the stability of walking.
Detailed description of the invention
Fig. 1 is that the present invention is based on link mechanisms to the structural schematic diagram for dividing walking device.
Fig. 2 is that the present invention is based on link mechanisms to dividing the structural schematic diagram of walking device embodiment when laterally walking.
Fig. 3 is before link mechanism of the present invention to walking schematic diagram in lines.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It better understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, for the present invention is based on link mechanisms to the structural schematic diagram for dividing walking device.The present embodiment based on
Link mechanism to walking device, including hip, leg is divided, hip includes balance plate 1, and the lower end of balance plate 1 is equipped with spherical joint
2；Leg includes thigh 3 and shank 4, and shank and thigh are articulated and connected and form knee joint machine between the thigh and shank
Structure, thigh 3 are connected with corresponding spherical joint 2, and link mechanism 6 is equipped between thigh；Link mechanism 6 includes connecting rod A（6-1）,
Connecting rod B（6-2）.
The leg walking mechanism of driving thigh swing is equipped between hip balance plate and the link mechanism.The present embodiment
Leg walking mechanism include the movement motor A9 for being fixedly mounted on balance plate 1, pass through shaft coupling and connecting rod B（6-2）Connection
Movement motor B10, balance plate 1 and connecting rod A（6-1）Between be equipped with shaft 7, connecting rod A and shaft 7 rotate synchronously, and act motor
The tape handler I rotated for drive shaft 7 is equipped between A9 and shaft 7.As shown in figure 3, connecting rod A rotational angle is, even
Bar B rotational angle, then angle is between connecting rod A, B,；Swing angle,；Thigh is to forward swing
It is dynamic to advance.
Link mechanism is equipped with the leg stretching mechanism to stretch for drive link.The leg stretching mechanism packet of the present embodiment
It includes through shaft coupling and connecting rod B（6-2）The movement motor B10 of connection, and the movement motor A9 being mounted on balance plate 1, band
Transmission mechanism I.In this way, respectively driving connecting rod A using movement motor B10, movement motor A9 and tape handler I（6-1）With
Connecting rod B（6-2）Using transverse axis as symmetrical center line symmetrical rotary equal angular, kept while lateral walking can be realized
Body to point.
The knee joint being equipped between thigh 3 and knee-joint mechanism for driving knee-joint mechanism to do bending and unbending movement is dynamic
Make mechanism.The knee joint actuating mechanism of the present embodiment includes the knee joint movement motor 9 being fixedly mounted on thigh 3,3 He of thigh
It is equipped with knee joint shaft 5 between shank 4, is equipped between knee joint movement motor 8 and knee joint shaft 5 for driving knee joint to turn
The tape handler II that axis 5 rotates, in this way, shank 4 can be driven relatively using knee joint movement motor 8, tape handler II
It is rotated in thigh, leg curvature and unbending movement can be realized.
The present embodiment based on link mechanism to dividing walking device, a kind of completely new pair is realized with succinct link mechanism
Divide upper body structure.By the way that link mechanism is arranged between two thighs, starts leg stretching mechanism, make connecting rod A and connecting rod B with lateral shaft
Line is symmetrical center line symmetrical rotary equal angular, drives walking leg lateral movement, realizes laterally walking.Start leg traveling machine
Structure drive link A, connecting rod B are using transverse axis as reference line different rotation angle, before so that link mechanism swing is driven thigh
After swing, realize before leg to walking.Meanwhile this to dividing walking device to devise knee joint, knee joint acts machine by knee joint
Structure realizes the swing of shank, can be accurately controlled the swing angle of shank, avoids step appearance in the process of walking
The case where wiping ground, while can realize to advance across barrier and walk.It is to sum up known, in forward and lateral walking process, the upper bodies such as hip
Structure remains symmetry status, to realize to walking in lines, improves the stability of walking.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent replacement or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (8)
1. it is a kind of based on link mechanism to dividing walking device, including hip, leg, it is characterised in that：The hip includes balance
The lower end of plate, the balance plate is equipped with spherical joint；The leg includes thigh and shank, and the shank and thigh are articulated and connected
And knee-joint mechanism is formed between the thigh and shank, the thigh is connected with corresponding spherical joint, the thigh it
Between be equipped with link mechanism；The link mechanism includes connecting rod A and connecting rod B.
2. being equipped with the leg walking mechanism to stretch for drive link between the hip balance plate and link mechanism, and driving connects
The flexible leg stretching mechanism of bar；It is equipped between thigh and knee-joint mechanism for driving knee-joint mechanism to do bending and stretching fortune
Dynamic knee joint actuating mechanism.
3. it is according to claim 1 based on link mechanism to dividing walking device, it is characterised in that：The leg walking mechanism
Including the movement motor A being fixedly mounted on balance plate, and the movement motor B being connect by shaft coupling with the connecting rod B;Institute
It states and is equipped with shaft between balance plate and the connecting rod, the shaft is fixedly connected with the connecting rod A, is matched with balance plate rotation
Close connection；The tape handler I for driving the shaft rotation is equipped between the movement motor and the shaft.
4. it is according to claim 1 based on link mechanism to dividing walking device, it is characterised in that：The connecting rod A with it is described
Connecting rod B rotation connection, the connecting rod A are fixedly connected with the shaft.
5. according to claim 1, described in 2 based on link mechanism to dividing walking device, it is characterised in that：Open machine in the leg
Structure includes the movement motor A, the movement motor B and tape handler I.
6. it is according to claim 2 based on link mechanism to dividing walking device, it is characterised in that：The movement motor B is defeated
Shaft is vertical with the connecting rod B.
7. it is according to claim 1 based on link mechanism to dividing walking device, it is characterised in that：The knee joint acts machine
Structure includes the knee joint movement motor being fixedly mounted on the thigh, and knee joint shaft is equipped between the thigh and shank,
The thigh rotatable engagement is sleeved in the knee joint shaft, and the shank and the knee joint shaft rotate synchronously；It is described
The tape handler for driving the knee joint shaft rotation is equipped between knee joint movement motor and the knee joint shaft
II。
8. it is according to claim 1 based on link mechanism to dividing walking device, it is characterised in that：The transverse direction of the support plate
Axis is vertical with the shaft, and is overlapped with the connecting rod A with the connecting rod B intersection point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710336316.1A CN108860358A (en) | 2017-05-13 | 2017-05-13 | Based on link mechanism to dividing walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710336316.1A CN108860358A (en) | 2017-05-13 | 2017-05-13 | Based on link mechanism to dividing walking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108860358A true CN108860358A (en) | 2018-11-23 |
Family
ID=64320086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710336316.1A Pending CN108860358A (en) | 2017-05-13 | 2017-05-13 | Based on link mechanism to dividing walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108860358A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114348140A (en) * | 2021-12-31 | 2022-04-15 | 德清县浙工大莫干山研究院 | Double-mode mobile robot capable of realizing pose stable operation |
| CN116118894A (en) * | 2021-11-15 | 2023-05-16 | 腾讯科技（深圳）有限公司 | Hip joint assembly and robot |
-
2017
- 2017-05-13 CN CN201710336316.1A patent/CN108860358A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116118894A (en) * | 2021-11-15 | 2023-05-16 | 腾讯科技（深圳）有限公司 | Hip joint assembly and robot |
| CN116118894B (en) * | 2021-11-15 | 2024-06-07 | 腾讯科技（深圳）有限公司 | Hip joint assembly and robot |
| CN114348140A (en) * | 2021-12-31 | 2022-04-15 | 德清县浙工大莫干山研究院 | Double-mode mobile robot capable of realizing pose stable operation |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181123 |
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| WD01 | Invention patent application deemed withdrawn after publication |