CN113401245A - Four-legged running bionic robot - Google Patents
Four-legged running bionic robot Download PDFInfo
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- CN113401245A CN113401245A CN202110812967.XA CN202110812967A CN113401245A CN 113401245 A CN113401245 A CN 113401245A CN 202110812967 A CN202110812967 A CN 202110812967A CN 113401245 A CN113401245 A CN 113401245A
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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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Abstract
本发明公开了一种四足奔跑仿生机器人，属于仿生机器人技术领域。它包括矩形躯体架，装设在矩形躯体架四个角点上的左前复合腿、左后复合腿、右前复合腿和右后复合腿，平行矩形躯体架四条边装设于矩形躯体架上方的左腿驱动杆、右腿驱动杆、主动反向驱动杆和被动反向驱动杆，装设于矩形躯体架上的奔跑电机；左前复合腿与左后复合腿、右前复合腿和右后复合腿结构完全相同，均包括机械大腿、机械小腿、摩擦足、小腿复合齿轮、足部齿轮、扭转弹簧A、扭转弹簧B、同向传动链B、同向传动链A和大腿套筒。本发明是一种结构简单合理、单电机驱动两侧复合腿同步反向运动、奔跑稳定性更高、奔跑效率更好的四足奔跑仿生机器人。
The invention discloses a four-legged running bionic robot, which belongs to the technical field of bionic robots. It includes a rectangular body frame, a left front composite leg, a left rear composite leg, a right front composite leg and a right rear composite leg installed on the four corners of the rectangular body frame, and the four sides of the parallel rectangular body frame are installed above the rectangular body frame. Left leg drive rod, right leg drive rod, active reverse drive rod and passive reverse drive rod, running motors mounted on a rectangular body frame; left front compound leg and left rear compound leg, right front compound leg and right rear compound leg The structure is exactly the same, including mechanical thigh, mechanical calf, friction foot, calf compound gear, foot gear, torsion spring A, torsion spring B, co-rotation transmission chain B, co-rotation transmission chain A and thigh sleeve. The invention is a four-legged running bionic robot with simple and reasonable structure, single motor driving two side compound legs to synchronously reverse motion, higher running stability and better running efficiency.
Description
Technical Field
The invention mainly relates to the technical field of bionic robots, in particular to a four-legged running bionic robot.
Background
The bionic robot is one of hot spots in the field of intelligent robots, and can realize biological complex running actions or postures, so that rapid running is realized. The running robots in the prior art mostly roll rapidly on the ground without the feet leaving the ground during running, and therefore do not run in a true sense. Therefore, designing a running robot has a very important value.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the four-footed running bionic robot which has a simple and reasonable structure, is driven by a single motor to synchronously move in opposite directions by composite legs at two sides, and has higher running stability and better running efficiency.
In order to solve the problems, the solution proposed by the invention is as follows: the utility model provides a four-footed bionic robot that runs, includes rectangle body frame, installs compound leg, the compound leg in the back of a left side, right front and right back on four angular points of rectangle body frame are parallel rectangle body frame four limits install in left leg actuating lever, right leg actuating lever, the reverse actuating lever of initiative and the reverse actuating lever passively of rectangle body frame top, and install in the motor that runs on the rectangle body frame.
The running motor is fixedly arranged in the middle of the rear side plate of the rectangular body frame, and an output shaft of the running motor vertically penetrates through the rolling bearing arranged on the rectangular body frame upwards and is fixedly connected with the middle of the driving reverse driving rod;
the middle parts of the left side plate and the right side plate of the rectangular body frame are respectively provided with a composite winding gear in a rotating way, and the composite winding gear consists of a gear A, a gear B, a winding wheel A and a winding wheel B which rotate coaxially and synchronously; one ends of the running force application traction rope and the running soaring traction rope are respectively wound on the winding wheel A and the winding wheel B, and the winding directions are opposite; the upper ends of the force application traction rope and the running soaring traction rope on the left side plate of the rectangular body frame are connected with the middle part of the left leg driving rod, and the lower ends of the force application traction rope and the running soaring traction rope on the right side plate of the rectangular body frame are connected with the middle part of the right leg driving rod;
compound leg, right front compound leg and right back compound leg structure identical behind left front compound leg and the left back, all include: the upper middle part of the rectangular body frame is rotatably arranged on a mechanical thigh, the lower end of the mechanical thigh is rotatably arranged on a mechanical shank, the lower end of the mechanical shank is rotatably arranged on a friction foot, a shank composite gear fixedly arranged at the upper end of the mechanical shank, a foot gear fixedly arranged at the upper end of the friction foot, a torsion spring A with two ends respectively connected with the mechanical thigh and the mechanical shank, a torsion spring B with two ends respectively connected with the mechanical shank and the friction foot, a homodromous transmission chain B connected with the shank composite gear and the foot gear, a homodromous transmission chain A, and a thigh sleeve slidably sleeved on the upper part of the mechanical thigh;
two ends of the driving reverse driving rod are respectively provided with a driving rod sleeve in a sliding way, and two driving rod sleeves in the driving reverse driving rod are respectively hinged with a thigh sleeve in the left rear composite leg and a thigh sleeve in the right rear composite leg;
two ends of the driven reverse driving rod are respectively provided with a driving rod sleeve in a sliding way, and two driving rod sleeves in the driven reverse driving rod are respectively hinged with a thigh sleeve in the left front composite leg and a thigh sleeve in the right front composite leg;
a shank composite gear in the right rear composite leg is connected with a gear A on the right side plate of the rectangular body frame by adopting a homodromous transmission chain A in the right rear composite leg; a shank composite gear in the right front composite leg is connected with a gear B on the right side plate of the rectangular body frame by adopting a homodromous transmission chain A in the right front composite leg; a shank composite gear in the left rear composite leg is connected with a gear A on a left side plate of the rectangular body frame by adopting a homodromous transmission chain A in the left rear composite leg; a shank composite gear in the left front composite leg is connected with a gear B on a left side plate of the rectangular body frame by adopting a homodromous transmission chain A in the left front composite leg;
the upper end of the right rear composite leg and the upper end of the right front composite leg are hinged to the two ends of the right leg driving rod respectively, and the upper end of the left rear composite leg and the upper end of the right front composite leg are hinged to the two ends of the left leg driving rod respectively.
Further, the running motor is a steering engine.
Further, when the mechanical thigh is in the vertical direction, the mechanical shank inclines forwards.
Further, the axis of the shank compound gear is collinear with the axis of rotation of the lower end of the mechanical thigh.
Further, the axis of the foot gear is collinear with the axis of rotation of the lower end of the mechanical shank.
Further, when the running motor rotates in the forward direction, the right leg driving rod moves backwards, and the left leg driving rod moves forwards; when the running motor rotates reversely, the right leg driving rod moves forwards, and the left leg driving rod moves backwards.
Furthermore, the driving reverse driving rod and the driven reverse driving rod are in the same horizontal plane, and the left leg driving rod and the right leg driving rod are in the same horizontal plane.
Compared with the prior art, the invention has the following advantages and beneficial effects: according to the invention, the single motor is adopted to drive the left front composite leg and the left rear composite leg to synchronously rotate forwards or backwards, and the right front composite leg and the right rear composite leg synchronously rotate backwards or forwards, so that the structure is simplified, and the energy consumption is saved; when the two composite legs on the left side rotate forwards to empty, the two composite legs on the right side just realize the action of pedaling towards the ground backwards, and when the two composite legs on the left side pedal towards the ground backwards, the two composite legs on the right side just realize the rotation to empty. In addition, the torsion spring A and the torsion spring B can reduce impact force when the composite leg is vacated to fall to the ground, increase the stability when the composite leg falls to the ground, and simultaneously can store certain elastic potential energy when the composite leg is vacated to release the elastic potential energy when the composite leg is kicked backwards, increase the acting force of the kicked backwards, and further increase running efficiency. Therefore, the four-legged running bionic robot has the advantages of simple and reasonable structure, higher running stability and better running efficiency, and the composite legs on two sides are driven by the single motor to synchronously move in opposite directions.
Drawings
Fig. 1 is a schematic diagram of a principal view structure of a four-footed running bionic robot.
Fig. 2 is a schematic left view structural principle diagram of a quadruped running bionic robot.
Fig. 3 is a plan view of a four drive rod of the present invention.
Fig. 4 is a schematic view of the relative positions of four composite legs and a rectangular body frame of the present invention.
In the figure, 1 is a rectangular body frame; 11-running motor; 12-rolling bearings; 21-left anterior compound leg; 22-left rear composite leg; 23-right anterior composite leg; 24-right rear composite leg; 31-left leg drive lever; 32-right leg drive rod; 33-driving reverse driving rod; 331-a drive rod sleeve; 34-passive reverse drive rod; 41-mechanical thigh; 411 — thigh sleeve; 42-mechanical shank; 421-shank compound gear; 43-rub foot; 431-foot gear; 44-torsion spring a; 45-torsion spring B; 46-equidirectional transmission chain A; 47-equidirectional transmission chain B; 51-compound winding gear; 52-running force application traction rope; 53-run the empty haulage rope.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, 2, 3 and 4, the four-legged running bionic robot of the present invention comprises a rectangular body frame 1, a left front composite leg 21, a left rear composite leg 22, a right front composite leg 23 and a right rear composite leg 24 mounted on four corner points of the rectangular body frame 1, a left leg driving rod 31, a right leg driving rod 32, an active reverse driving rod 33 and a passive reverse driving rod 34 mounted on the rectangular body frame 1 on four sides of the parallel rectangular body frame 1, and a running motor 11 mounted on the rectangular body frame 1.
Referring to fig. 2, the running motor 11 is fixedly installed at the middle of the rear side plate of the rectangular body frame 1, and its output shaft vertically passes upward through the rolling bearing 12 installed on the rectangular body frame 1 and is fixedly connected to the middle of the driving reverse driving rod 33.
The middle parts of the left side plate and the right side plate of the rectangular body frame 1 are respectively provided with a composite winding gear 51 in a rotating way, and the composite winding gear 51 consists of a gear A, a gear B, a reel A and a reel B which rotate coaxially and synchronously; the lower ends of the running force application pull rope 52 and the running flight pull rope 53 are wound on the reel a and the reel B, respectively, and the winding directions are opposite; the upper ends of the force application pulling rope 52 and the running flight pulling rope 53 on the left side plate of the rectangular body frame 1 are connected to the middle part of the left leg driving lever 31, and the upper ends of the force application pulling rope 52 and the running flight pulling rope 53 on the right side plate of the rectangular body frame 1 are connected to the middle part of the right leg driving lever 32.
Referring to fig. 1, the left front composite leg 21 is identical in structure to the left rear composite leg 22, the right front composite leg 23 and the right rear composite leg 24, and each includes: the upper middle part is rotatably arranged on a mechanical thigh 41 on the rectangular body frame 1, a mechanical shank 42 rotatably arranged on the lower end of the mechanical thigh 41, a friction foot 43 rotatably arranged on the lower end of the mechanical shank 42, a shank composite gear 421 fixedly arranged on the upper end of the mechanical shank 42, a foot gear 431 fixedly arranged on the upper end of the friction foot 43, a torsion spring A44 with two ends respectively connected with the mechanical thigh 41 and the mechanical shank 42, a torsion spring B45 with two ends respectively connected with the mechanical shank 42 and the friction foot 43, a homodromous transmission chain B47 connected with the shank composite gear 421 and the foot gear 431, a homodromous transmission chain A46, and a thigh sleeve 411 which is slidably sleeved on the upper part of the mechanical thigh 41.
Both ends of the driving reverse driving rod 33 are slidably installed with driving rod sleeves 331, and two driving rod sleeves 331 in the driving reverse driving rod 33 are respectively hinged with the thigh sleeve 411 in the left rear composite leg 22 and the thigh sleeve 411 in the right rear composite leg 24.
Both ends of the passive reverse driving rod 34 are slidably installed with driving rod sleeves 331, and two driving rod sleeves 331 in the passive reverse driving rod 34 are respectively hinged with a thigh sleeve 411 in the left front composite leg 21 and a thigh sleeve 411 in the right front composite leg 23.
A shank composite gear 421 in the right rear composite leg 24 is connected with a gear A on the right side plate of the rectangular body frame 1 by adopting a homodromous transmission chain A46 in the right rear composite leg 24; a shank composite gear 421 in the right front composite leg 23 is connected with a gear B on the right side plate of the rectangular body frame 1 by adopting a homodromous transmission chain A46 in the right front composite leg 23; a shank composite gear 421 in the left rear composite leg 22 is connected with a gear A on the left side plate of the rectangular body frame 1 by adopting a homodromous transmission chain A46 in the left rear composite leg 22; the lower leg compound gear 421 in the left front compound leg 21 is connected with the gear B on the left side plate of the rectangular body frame 1 by adopting a homodromous transmission chain A46 in the left front compound leg 21.
The upper end of the right rear composite leg 24 and the upper end of the right front composite leg 23 are respectively hinged with the two ends of the right leg driving rod 32, and the upper end of the left rear composite leg 22 and the upper end of the right front composite leg 21 are respectively hinged with the two ends of the left leg driving rod 31.
Preferably, the running motor 11 is a steering engine. The steering engine rotates forwards and reversely to drive the driving reverse driving rod 33 to rotate forwards and reversely, further drive the mechanical thigh 41 in the left rear composite leg 22 and the mechanical thigh 41 in the right rear composite leg 22 to synchronously rotate reversely, and simultaneously drive the left front composite leg 21 and the right front composite leg 23 to move by means of the left front driving rod 31 and the right leg driving rod 32 respectively.
Preferably, the lower mechanical leg 42 is inclined forward when the upper mechanical leg 11 is in the vertical direction.
Preferably, the axis of the lower leg compound gear 421 is collinear with the axis of rotation of the lower end of the mechanical thigh 41.
Preferably, the axis of the foot gear 431 is collinear with the axis of rotation of the lower end of the mechanical shank 42.
Preferably, when the running motor 11 is rotated in the forward direction, the right leg driving lever 32 is moved backward and the left leg driving lever 31 is moved forward; when the running motor 11 rotates in the reverse direction, the right leg driving lever 32 moves forward and the left leg driving lever 31 moves backward.
Preferably, the active reverse driving lever 33 and the passive reverse driving lever 34 are in the same horizontal plane, and the left leg driving lever 31 and the right leg driving lever 32 are in the same horizontal plane.
The working principle of the invention is as follows: referring to fig. 1, the running motor 11 rotates forward, and drives the left rear composite leg 22 to rotate clockwise around the hinge axis of the left rear composite leg 22 and the rectangular frame 1 and the right rear composite leg 24 to rotate counterclockwise around the hinge axis of the right rear composite leg 24 and the rectangular frame 1 by driving the reverse driving rod 33 to rotate forward, so that the left leg driving rod 31 moves forward and the right leg driving rod 32 moves backward. The left leg driving rod 31 moves forwards, the compound winding gear 51 on the left side plate of the rectangular body frame 1 winds the running force application pulling rope 52, and simultaneously releases the running force application pulling rope 53, so that the compound winding gear 51 rotates clockwise, and the corresponding synchronous transmission chain A46 drives the shank compound gear 421 in the left rear compound leg 22 and the left front compound leg 21 to rotate clockwise, so that the mechanical shank 42 in the left rear compound leg 22 and the left front compound leg 21 rotates clockwise and backwards relative to the mechanical shank 41; the shank composite gear 421 rotates clockwise to drive the foot gear 431 to rotate clockwise, so that the friction feet 43 in the left rear composite leg 22 and the left front composite leg 21 rotate backward relative to the mechanical shank 42, a backward friction force is generated on the ground, and according to the law of acting force and reaction force, the ground gives a forward acting force to the friction feet 43 in the left rear composite leg 22 and the left front composite leg 21, so as to push the robot of the present invention to run forward. In a similar manner, the right leg drive rod 32 moves rearwardly and the compound wire gear 51 on the right side plate of the rectangular body frame 1 rotates counterclockwise, thereby causing the mechanical lower leg 42 of the right rear compound leg 24 and the right front compound leg 23 to rotate forwardly relative to the mechanical upper leg 41, and simultaneously causing the friction foot 43 of the right rear compound leg 24 and the right front compound leg 23 to rotate forwardly relative to the mechanical lower leg 42 to clear the ground.
The working process of the invention is as follows: the running motor 11 rotates forwards, so that the two composite legs on the left side of the robot pedal backwards on the ground to generate forward acting force, and meanwhile, the two composite legs on the right side rotate forwards to empty, and one running action is finished; the running motor 11 rotates in reverse direction, so that the two composite legs on the right side of the robot pedal backwards to the ground to generate a forward action, and meanwhile, the two composite legs on the left side rotate forwards to empty, and the other running action is completed. The running motor 11 is reciprocated and rotated in forward and reverse directions, and the robot of the present invention can run continuously on the ground.
The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through creative efforts should fall within the scope of the present invention.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110812967.XA CN113401245B (en) | 2021-08-04 | 2021-08-04 | Four-legged running bionic robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110812967.XA CN113401245B (en) | 2021-08-04 | 2021-08-04 | Four-legged running bionic robot |
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| CN113401245A true CN113401245A (en) | 2021-09-17 |
| CN113401245B CN113401245B (en) | 2022-03-11 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292296A (en) * | 2015-10-21 | 2016-02-03 | 山东大学 | Bionic running four-leg robot |
| CN106585761A (en) * | 2016-12-23 | 2017-04-26 | 哈尔滨工程大学 | Horse-imitating gait planar connection rod type quadruped walking robot |
| CN108556954A (en) * | 2018-04-16 | 2018-09-21 | 刘展 | A kind of robot running gear |
| CN109367643A (en) * | 2018-11-02 | 2019-02-22 | 常州大学 | A quadruped crawling bionic robot based on link structure |
| CN210653418U (en) * | 2019-06-26 | 2020-06-02 | 宜春学院 | An eight-legged bionic machine |
| CN111942496A (en) * | 2020-08-21 | 2020-11-17 | 常州大学 | Mechanical stepping leg for biped obstacle crossing robot |
-
2021
- 2021-08-04 CN CN202110812967.XA patent/CN113401245B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292296A (en) * | 2015-10-21 | 2016-02-03 | 山东大学 | Bionic running four-leg robot |
| CN106585761A (en) * | 2016-12-23 | 2017-04-26 | 哈尔滨工程大学 | Horse-imitating gait planar connection rod type quadruped walking robot |
| CN108556954A (en) * | 2018-04-16 | 2018-09-21 | 刘展 | A kind of robot running gear |
| CN109367643A (en) * | 2018-11-02 | 2019-02-22 | 常州大学 | A quadruped crawling bionic robot based on link structure |
| CN210653418U (en) * | 2019-06-26 | 2020-06-02 | 宜春学院 | An eight-legged bionic machine |
| CN111942496A (en) * | 2020-08-21 | 2020-11-17 | 常州大学 | Mechanical stepping leg for biped obstacle crossing robot |
Non-Patent Citations (1)
| Title |
|---|
| 马宗利 等: "奔跑四足机器人腿结构设计与分析", 《东北大学学报(自然科学版)》 * |
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