CN112278105B - Six-rod mechanism for foot type robot - Google Patents

Abstract

The invention discloses a six-rod mechanism for a legged robot, which comprises a hip rod, a thigh rod, a shank rod, an upper driven rod, a lower driven rod, a first rotary slide block mechanism, an elastic piece and a second rotary slide block mechanism, wherein the hip rod is connected with the thigh rod through the upper driven rod; one end of the hip rod is rotatably connected with one end of the thigh rod, the other end of the thigh rod is rotatably connected with one end of the shank rod, and one end of the first rotary slide block mechanism is movably connected with the other end of the shank rod; the other end of the hip bar is movably connected with one end of the upper driven bar, and the second rotary slide block mechanism is movably connected with the other end of the upper driven bar; the lower driven rod is respectively and movably connected with the second rotary sliding block mechanism and the first rotary sliding block mechanism, one end of the elastic piece is fixedly connected with the upper driven rod, and the other end of the elastic piece is fixedly connected with one end of the lower driven rod close to the second rotary sliding block mechanism. The six-rod mechanism achieves the purpose that the robot can be elastically landed when being adapted to complex terrains and being converted from a double-foot form to a four-wheel form.

Description

A six-bar mechanism for a footed robot

technical field

The invention relates to the field of robots, in particular to a six-bar mechanism for a legged robot.

Background technique

In nature and human society, there are places that humans cannot reach and special occasions that may endanger human life, such as planetary surfaces, construction sites, mines, disaster prevention and rescue, and anti-terrorism struggles. The feasible way to solve the problem has become the need of the development of science and technology and the progress of human society. Irregular and uneven terrains are common features of these environments, which limit the application of wheeled and tracked robots. In this context, research on legged robots has flourished.

Compared with wheeled robots, footed robots have significant advantages in terrain adaptability, and have the ability to walk on complex ground and avoid obstacles, but they are disadvantaged in terms of movement speed and energy efficiency. Wheeled robots have the highest movement speed, but cannot adapt to complex terrain environments.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the present invention proposes a six-bar mechanism for a footed robot by combining the advantages of the existing footed and wheeled robots. The six-bar mechanism can be used for a robot between a footed robot and a wheeled robot. morphological transformation.

In order to achieve the above purpose of the invention, the present invention adopts the following technical solutions: a six-bar mechanism for a footed robot, including a hip bar, a thigh bar, a calf bar, an upper passive bar, a lower passive bar, and a first rotating slider mechanism , an elastic member and a second rotating slider mechanism; one end of the hip rod is rotatably connected with one end of the thigh rod, the other end of the thigh rod is rotatably connected with one end of the calf rod, and one end of the first rotating slider mechanism It is movably connected with the other end of the calf rod; the other end of the hip rod is movably connected with one end of the upper passive rod, and the second rotating slider mechanism is movably connected with the other end of the upper passive rod; the lower passive rod is respectively connected with The second rotating slider mechanism is movably connected to the first rotating slider mechanism, one end of the elastic member is fixedly connected to the upper passive rod, and the other end of the elastic member is connected to one end of the lower passive rod close to the second rotating slider mechanism Fixed connection.

Further, it also includes a driving wheel, a driven wheel, a mechanical foot and a driving device, the driving wheel is movably connected with one end of the lower passive rod close to the first rotating slider mechanism, and the mechanical foot is movably connected with the lower end of the calf rod, The driven wheel is movably connected with the mechanical foot, the driving device is fixedly connected with the upper driven rod, the driving device includes a motor, a synchronous wheel and a synchronous belt, the motor and the synchronous wheel are all arranged on the upper driven rod, the A synchronous belt is arranged on the synchronous wheel and the driving wheel.

Further, the movable connections are all movable connections using a rotating shaft.

Compared with the prior art, the present invention has the following beneficial effects:

1. By swinging the thigh bar relative to the hip bar, and the calf bar swinging relative to the thigh bar, the upper passive bar and the lower passive bar are driven to rotate around the shafts of the upper passive bar and the hip bar, and the deformation of the six-bar mechanism can be realized. The robot with six-bar mechanism can switch between two forms, bipedal and four-wheeled, to meet the robot's adaptability to complex terrain.

2. Using the six-bar mechanism for the legged robot of the present invention, by using the elastic element, the hard landing problem when the six-bar mechanism is converted from the bipedal form to the four-wheeled form is solved by utilizing its ability to absorb shock.

Description of drawings

1 is a schematic structural diagram of a six-bar mechanism for a footed robot according to Embodiment 1;

2 is a schematic structural diagram of a six-bar mechanism for a footed robot in Embodiment 2;

3 is a schematic structural diagram of a six-bar mechanism for a footed robot according to Embodiment 3;

FIG. 4 is a schematic structural diagram of a six-bar mechanism for a footed robot deformed into a four-wheel form according to the third embodiment.

Reference numerals: 1, hip bar; 2, thigh bar; 3, calf bar; 4, upper passive bar; 5, lower passive bar; 6, first rotation slider mechanism; 7, elastic member; 8, second rotation Slider mechanism; 9, driving wheel; 10, driven wheel; 11, mechanical foot; 12, driving device; 1201, motor; 1202, synchronous wheel; 1203, synchronous belt.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and embodiments.

Example 1

1, the present invention provides a schematic structural diagram of a six-bar mechanism for a footed robot, the six-bar mechanism includes a hip rod 1, a thigh rod 2, a calf rod 3, an upper passive rod 4, a lower passive rod 5, The first rotating slider mechanism 6, the elastic member 7 and the second rotating slider mechanism 8; one end of the hip rod 1 is connected with one end of the thigh rod 2 through a rotating joint, and the other end of the thigh rod 2 is connected with the calf rod. One end of 3 is rotatably connected by a rotary joint, and the rotary joint refers to a rotary joint with a driving device, which can make the two connected parts rotate relative to each other, and realize the movement of the six-bar mechanism through the coordinated driving of the two rotary joints. One end of the first rotating slider mechanism 6 is movably connected with the other end of the calf rod 3 through a rotating shaft; the other end of the hip rod 1 is movably connected with one end of the upper passive rod 4 through a rotating shaft, and the second rotating slider The mechanism 8 is movably connected with the other end of the upper passive rod 4 through a rotating shaft; the lower passive rod 5 is movably connected with the second rotating slider mechanism 8 and the first rotating slider mechanism 6 through the rotating shaft, and one end of the elastic member 7 is movably connected. It is fixedly connected with the upper passive rod 4 , and the other end of the elastic member 7 is fixedly connected with one end of the lower passive rod 5 which is close to the second rotating slider mechanism 8 . The hip rod 1 , the thigh rod 2 , the calf rod 3 , the upper passive rod 4 , the lower passive rod 5 and the rotating slider mechanism 6 constitute a six-bar mechanism. Under the action of their respective rotating joints, the hip rod 1 and the thigh rod 2 rotate relative to each other, and the thigh rod 2 and the calf rod 3 rotate relative to each other, thereby realizing the overall movement of the six-bar mechanism; the upper passive rod 4, the lower passive rod 5 and the elastic The component 7 constitutes a set of passive link assemblies. When the two ends of the passive link assembly are stressed, the lower passive rod 7 generates a relative movement relative to the second rotating slider mechanism 8 through the moving pair of the second rotating slider mechanism 8. Then, the elastic member 7 is deformed, and at the same time, the lower passive rod 7 rotates around the rotation axis of the second rotating slider mechanism 8 .

Example 2

As shown in FIG. 2 , the present invention also provides a schematic structural diagram of a six-bar mechanism for a footed robot. The six-bar mechanism further includes: a driving wheel 9 , a driven wheel 10 , a mechanical foot 11 and a driving device 12 . The wheel 9 is movably connected with one end of the lower passive rod 5 near the first rotary slider mechanism 6 through a rotating shaft, the mechanical foot 11 is movably connected with the lower end of the calf rod 3 through a rotating shaft, and the lower end of the connecting calf rod 3 and the mechanical foot 11 are movably connected. The rotating joint can make the calf rod 3 and the mechanical foot 11 produce relative rotation, the driven wheel 10 and the mechanical foot 11 are movably connected through the rotating shaft, the driving device 12 is fixedly connected with the upper passive rod 4, and the driving device 12 includes a motor 1201, synchronous wheel 1202 and synchronous belt 1203, in order to reduce the rotational inertia of the whole device, the motor 1201 and the synchronous wheel 1202 are both arranged on the upper passive rod 4, and the synchronous wheel 1202 and the driving wheel 9 are provided with a synchronous belt 1203, the axes of the driving wheel 9, the driven wheel 10, the rotating joint and the rotating shaft are all parallel, and the driving device 12 is used to drive the driving wheel 9 to rotate.

Example 3

As shown in Figures 3 and 4, the six-bar mechanism of the footed robot is used for the biped robot, including two sets of the six-bar mechanism for the footed robot and a set of connectors 13, which will be used for the six-bar mechanism of the footed robot. Being fixed on the connecting piece 13, the biped robot can be converted into two forms of bipedal and four-wheeled according to needs, which improves the adaptability of the robot. The specific process is as follows: the thigh rod 2 swings relative to the hip rod 1 to reduce the obtuse angle between the thigh rod 2 and the hip rod 1 as shown in FIG. The included obtuse angle is reduced, so that the upper passive rod 4 and the lower passive rod 5 are driven to rotate around the shafts of the upper passive rod 4 and the hip rod 1 to realize the deformation of the six-bar mechanism and the ground contact of the driving wheel 9; The rotation of the driven wheel 10 realizes the landing of the driven wheel 10, and then the driving of the driving wheel 9 can be realized, and the movement of the robot can be realized with the driven wheel.

The above are the preferred embodiments of the present invention. For those of ordinary skill in the art, without departing from the principles of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention.

Claims (2)

1. A six-bar mechanism for a legged robot, comprising: comprises a hip rod (1), a thigh rod (2), a shank rod (3), an upper driven rod (4), a lower driven rod (5), a first rotating slide block mechanism (6), an elastic piece (7) and a second rotating slide block mechanism (8); one end of the hip rod (1) is rotatably connected with one end of the thigh rod (2), the other end of the thigh rod (2) is rotatably connected with one end of the lower leg rod (3), and one end of the first rotary sliding block mechanism (6) is movably connected with the other end of the lower leg rod (3); the other end of the hip rod (1) is movably connected with one end of the upper driven rod (4), and the second rotating slide block mechanism (8) is movably connected with the other end of the upper driven rod (4); the lower driven rod (5) is movably connected with a second rotating slide block mechanism (8) and a first rotating slide block mechanism (6) respectively, one end of the elastic piece (7) is fixedly connected with the upper driven rod (4), and the other end of the elastic piece (7) is fixedly connected with one end of the lower driven rod (5) close to the second rotating slide block mechanism (8); still include action wheel (9), follow driving wheel (10), mechanical foot (11) and drive arrangement (12), action wheel (9) and the one end swing joint who is close to lower passive pole (5) of first rotatory slider mechanism (6), the lower extreme swing joint of mechanical foot (11) and shank pole (3), follow driving wheel (10) and mechanical foot (11) swing joint, drive arrangement (12) and last passive pole (4) fixed connection, drive arrangement (12) include motor (1201), synchronizing wheel (1202) and hold-in range (1203), motor (1201) and synchronizing wheel (1202) all set up on last passive pole (4), be equipped with hold-in range (1203) on synchronizing wheel (1202) and action wheel (9).

2. The six-bar mechanism for a legged robot according to claim 1, characterized in that: the movable connection is realized by adopting a rotating shaft.

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