CN201291928Y - Six-foot walking robot device - Google Patents

Abstract

The utility model relates to a hexapod walking robot device, which solves the problems of gait planning and multi-leg coordination of a six-leg walking robot. The device includes a frame, three transmission shafts and a crank-rocker mechanism. The three transmission shafts are arranged in parallel on the frame, and a short shaft is respectively arranged in parallel on the front frames on both sides. The three transmission shafts are respectively separated by two The two extended ends of the three transmission shafts are respectively connected to one end of the crank; the other end of each crank is hinged to the lower end of the connecting rod, and the upper end of the connecting rod is hinged to the upper end of the walking foot bar. The middle part of the rod is hinged to the upper end of the rocker, and the lower end of the rocker is fixedly connected to the short shaft on the corresponding side frame; the crank, connecting rod, rocker and walking foot rod form the crank rocker mechanism, and one of the three transmission shafts One is connected to the motor output shaft. The walking robot device has the advantages of a stable center of gravity, a single motor drive, a reasonable gait, low design and manufacturing costs, and high reliability.

Description

A hexapod walking robot device

technical field

The utility model relates to a robot device.

Background technique

In order to improve the passing ability of vehicles on bad roads or without roads, and to avoid harm to the human body in harsh working environments, mobile robots are often used to meet special functional requirements or to engage in some tasks that are difficult for the human body to complete. The foot type walking method is attracting the attention of scientific researchers day by day because of the advantages that the wheel type and the crawler type do not have. Robot mechanical calculations show that the energy consumption of legged walking robots is usually lower than that of wheeled and crawler-type robots; the legged walking mechanism can adapt to various ground conditions and has a high ability to overcome obstacles, and can easily go up and down steps and through unevenness , Irregular or narrow road surface, its mobile "blind zone" is very small. At present, in walking robots, hydraulic pressure, single-chip microcomputer and other control methods are mostly used to realize single-foot gait planning (that is, to make the foot have a gait similar to human beings) and multi-foot coordinated movement, which increases design, manufacturing and even maintenance costs.

Utility model content

In order to avoid high design and manufacturing costs caused by the use of hydraulic pressure, single-chip microcomputer and other control methods to realize single-legged gait planning and multi-legged coordinated movement, the utility model provides a hexapod walking robot device.

The specific structural design scheme is as follows:

A hexapod walking robot device includes a frame, three transmission shafts and a crank-rocker mechanism, the frame is in the shape of a rectangular frame, and the crank-rocker mechanism includes a crank, a connecting rod, a rocker and a walking foot bar;

Three transmission shafts, front shaft 3, intermediate shaft 5 and rear shaft 8, are arranged in parallel on the frame. ;

A chain transmission mechanism is provided between the front shaft 3 and the intermediate shaft 5, and a chain transmission mechanism is provided between the intermediate shaft 5 and the rear shaft 8;

Front shaft 3, intermediate shaft 5 and rear shaft 8 are provided with a short shaft in parallel on the front racks on both sides of the three transmission shafts, and the distance between the short shaft and the adjacent transmission shafts is equal;

The other end of each crank is hingedly connected to the lower end of the connecting rod, the upper end of the connecting rod is hinged to the upper end of the walking foot bar, the middle part of the connecting rod is hinged to the upper end of the rocker, and the lower end of the rocker is fixedly connected to the corresponding stub shaft on side frame;

One of the three transmission shafts is connected to the motor output shaft.

The length of the rocker is 1/2 of the length of the connecting rod,

The length of the rocker: the distance between the short axis and the adjacent transmission shaft: the length of the crank = 1:0.78:0.35.

The front and rear cranks on one side of the frame and the middle crank on the other side of the rack are one set, and the front and rear cranks on the other side of the rack and the middle crank on one side of the rack are another set. The cranks of the same set are parallel to each other, and the cranks of different sets correspond to The angle between the space vectors of is always 180 degrees.

The utility model adopts 6 completely identical crank rocker mechanisms as the single-foot walking mechanism, and the given rod length ratio of each single-foot walking mechanism can ensure that its walking gait is similar to that of a person, and the six single-foot walking mechanisms The active cranks of the foot walking mechanism are respectively installed on the front axle, the middle axle and the rear axle and realize their linkage with a chain drive, so that the walking robot device can be driven by an electric motor. The 6 unipedal walking mechanisms are divided into 2 groups in groups of 3, and the movement between each group of feet can be coordinated with the proper installation position of the active crank relative to the front axle, intermediate axle and rear axle, which can ensure the The hexapod walking robot has one group of three legs landing on the ground at each moment of motion, and at the same time, another group of three legs lifts its legs together with the frame to walk.

Compared with the prior art, the utility model has advantages and positive effects:

(1) It only needs to be driven by a single motor. After the rod length ratio of each single-foot walking mechanism is selected according to a given value, it will have a gait similar to human walking. No additional control device is needed to realize the gait planning, saving energy Design and manufacturing costs are reduced, and reliability is improved.

(2) When the installation positions of the active crank, the front axle, the intermediate axle and the rear axle meet the given conditions, the coordinated walking motion of six legs can be realized, and the coordinated motion of multi-legged walking can be realized without additional control devices.

(3) When the rack moves, there are always 3 feet on the ground, and the center of gravity is stable.

Description of drawings

Fig. 1 is a structural representation of the utility model (when the utility model stood on the ground, a three-dimensional figure observed from the left side),

Fig. 2 is a schematic diagram of each single-foot walking mechanism,

Fig. 3 is the projection diagram in the plane parallel with the front, back and middle rotary axis of the present utility model,

Fig. 4 is a three-dimensional view obtained from the right side when the utility model stands on the ground.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described by embodiment.

Example:

Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a kind of hexapod walking robot device comprises frame 1, three transmission shafts and crank-rocker mechanism, described frame is rectangular frame shape, and crank-rocker mechanism comprises crank, Connecting rods, rockers and walking foot bars;

Three transmission shafts, front shaft 3, intermediate shaft 5 and rear shaft 8, are installed in parallel on the frame 1 through bearings. One end of the crank; that is, the front left crank 13A and the front right crank 13D are respectively fixedly connected on the two extended ends of the front axle 3, and the middle left crank 13B and the middle right crank 13E are respectively fixedly connected on the two extended ends of the intermediate shaft 5. Rear left crank 13C and rear right crank 13F are respectively fixedly connected to the two extended ends of the shaft 8;

Between the front shaft 3 and the intermediate shaft 5, the chain transmission mechanism consisting of the front shaft sprocket 10C, the transmission chain 10B and the intermediate sprocket 10A is connected; between the intermediate shaft 5 and the rear shaft 8, the transition sprocket 6A, the transmission chain 6B is connected with the chain transmission mechanism composed of rear axle sprocket 6C;

A short shaft is installed in parallel on the front racks on both sides of the front shaft 3, the intermediate shaft 5 and the rear shaft 8. The distance between the short shaft and the adjacent transmission shafts is equal; Front left short shaft 12 and front right short shaft 2 are respectively installed in parallel on the frame, middle left short shaft 11 and middle right short shaft 4 are respectively installed in parallel on the frame at the intermediate shaft 5 front portion, rear shaft 8 front portion The rear left minor axis 9 and the rear right minor axis 7 are respectively installed in parallel on the frame;

The other end of each crank is hinged to the lower end of the connecting rod, the upper end of the connecting rod is hinged to the upper end of the walking foot bar, the middle of the connecting rod is hinged to the upper end of the rocker, and the lower end of the rocker is fixedly connected to the corresponding side machine. short shaft on the frame;

That is, the other end of the front left crank 13A is hinged to the lower end of the front left link 14A respectively, the upper end of the front left link 14A is hinged to the upper end of the front left walking foot bar 16A, and the middle part of the front left link 14A is hinged to the front. The upper end of the left rocker 15A and the lower end of the front left rocker 15A are fixedly connected to the front left short shaft 12 on the corresponding side frame; the front left crank 13A, the front left connecting rod 14A, the front left rocker 15A and the front left walking foot Rod 16A forms front left foot monopedal walking mechanism;

The other end of front right crank 13D is hingedly connected with the lower end of front right connecting rod 14D respectively, and the upper end of front right connecting rod 14D is hinged with the upper end of front right walking foot bar 16D, and the middle part hinge of front right connecting rod 14D is connected with front right The upper end of the rocker 15D and the lower end of the front right rocker 15D are fixedly connected to the front right short shaft 2 on the corresponding side frame; the front right crank 13D, the front right connecting rod 14D, the front right rocker 15D and the front right walking foot bar 16D forms the front right foot single foot walking mechanism;

The other end of the middle left crank 13B is hingedly connected to the lower end of the middle left connecting rod 14B respectively, and the upper end of the middle left connecting rod 14B is hingedly connected to the upper end of the middle left walking foot bar 16B, and the middle part of the middle left connecting rod 14B is hinged to the middle left The upper end of the rocker 15B and the lower end of the middle left rocker 15B are fixedly connected to the middle left short shaft 11 on the corresponding side frame; the middle left crank 13B, the middle left connecting rod 14B, the middle left rocker 15B and the middle left walking foot bar 16B forms the middle left foot single foot walking mechanism;

The other end of the middle right crank 13E is hinged to the lower end of the middle right connecting rod 14E respectively, the upper end of the middle right connecting rod 14E is hinged to the upper end of the middle right walking foot bar 16E, and the middle part of the middle right connecting rod 14E is hinged to the middle right The upper end of the rocker 15E and the lower end of the middle right rocker 15E are fixedly connected to the middle right minor shaft 4 on the corresponding side frame; the middle right crank 13E, the middle right connecting rod 14E, the middle right rocker 15E and the middle right walking foot bar 16E constitutes the single-foot walking mechanism of the middle right foot;

The other end of rear left crank 13C is hingedly connected the lower end of rear left connecting rod 14C respectively, and the upper end of rear left connecting rod 14C is hingedly connected the upper end of rear left walking foot bar 16C, and the middle part hinge of rear left connecting rod 14C is connected rear left The upper end of the rocker 15C and the lower end of the rear left rocker 15C are fixedly connected to the rear left short shaft 9 on the corresponding side frame; the rear left crank 13C, the rear left connecting rod 14C, the rear left rocker 15C and the rear left walking foot rod 16C forms the rear left foot single foot walking mechanism;

The other end of rear right crank 13F is hingedly connected with the lower end of rear right connecting rod 14F respectively, and the upper end of rear right connecting rod 14F is hinged with the upper end of rear right walking foot bar 16F, and the middle part hinge of rear right connecting rod 14F is connected with rear right The upper end of the rocker 15F and the lower end of the rear right rocker 15F are fixedly connected to the rear right short shaft 7 on the corresponding side frame; the rear right crank 13F, the rear right connecting rod 14F, the rear right rocker 15F and the rear right walking foot rod 16F forms rear right foot single foot walking mechanism.

One of the three transmission shafts is connected to the motor output shaft.

The length of each rocker is 1/2 of the length of the connecting rod,

Rocker length: distance between short axis and adjacent transmission shaft: crank length=1:0.78:0.35.

The left front foot, the left rear foot and the right middle foot are a group of synchronous walking feet, and the front left crank 13A, the rear left crank 13C and the middle right crank 13E in this group are parallel to each other; One group of synchronous walking feet, the front right crank 13D, the rear right crank 13F and the middle left crank 13B in the other group are parallel to each other; the two groups of cranks, namely the first group of front left crank 13A and rear left crank 13C, The included angle between the middle right crank 13E and the space vectors corresponding to the second group of front right crank 13D, rear right crank 13F, and middle left crank 13B is always 180 degrees.

The walking principle of the hexapod walking robot device is as follows:

If the left front foot, left rear foot and right middle foot (i.e. 16A, 16C, 16E) of the same group are parked on the ground, then by the principle of reversibility of the low pair of motions, the frame 1 must translate forward, and because "the The front left crank 13A, the middle right crank 13E, and the rear left crank 13C are one group of active cranks, and the other group is the front right crank 13D, middle left crank 13B, and rear right crank 13F. When assembling, these two groups of active cranks meet: the same group The active cranks are parallel to each other, and the included angle between the space vectors corresponding to different groups of active cranks is always 180 degrees. "The other 3 feet in the same group are the right front foot, right rear foot and left middle foot (that is, 16D, 16F, 16B) must be in the motion state of "lifting the legs off the ground--walking in the air--dropping the legs to the ground". That is: when the left front foot, the left rear foot and the right middle foot (i.e. 16A, 16C, 16E) landed, the frame 1 must translate forward and the right front foot, the right rear foot and the left middle foot (i.e. 16D, 16F, 16B) also Lift your legs and walk at the same time. Conversely, if the right front foot, right rear foot and left middle foot (16D, 16F, 16B) are on the ground, then the frame 1 translates forward and the left front foot, left rear foot and right middle foot (i.e. 16A, 16C, 16E) also Lift your legs and walk at the same time. It can be seen that in the walking process of the hexapod walking robot device, there are always 3 feet of the same group landing on the ground (the other group of 3 feet is moving forward with the random frame and lifting the legs to walk), and the 3 feet of the same group are landing on the ground. It is not collinear but triangular, which ensures the stability of its center of gravity.

Claims (3)

1, a kind of six sufficient walking robot devices is characterized in that: comprise frame, three transmission shafts and quadric linkage, described frame is a rectangular frame shape, and quadric linkage comprises crank, connecting rod, rocking bar and walking foot bar;

Parallel front axle (3), tween drive shaft (5) and (8) three transmission shafts of rear axle of being provided with on the frame, the two ends of three transmission shafts extend respectively outside the frame, and the difference captive joint an end of crank on two overhanging ends of three transmission shafts;

Be provided with chain drive between described front axle (3) and the tween drive shaft (5), be provided with chain drive between described tween drive shaft (5) and the rear axle (8);

Parallelly respectively on the frame of front axle (3), tween drive shaft (5) and (8) three transmission shaft two forequarters of rear axle be provided with a minor axis, minor axis equates with spacing between the adjacent transmission shaft;

The other end of described every crank hinge is respectively connecting the lower end of connecting rod, and the upper end hinge of connecting rod is connecting the upper end of the sufficient bar of walking, and the middle part hinge of connecting rod is connecting the upper end of rocking bar, and the lower end captive joint of rocking bar the minor axis on the respective side frame;

One of them is connecting motor output shaft in three transmission shafts.

2, according to claim 1 a kind of six sufficient walking robot devices is characterized in that:

Described rocking bar length is 1/2nd of length of connecting rod,

Described rocking bar length: the spacing between minor axis and the adjacent transmission shaft: crank length=1: 0.78: 0.35.

3, according to claim 1 a kind of six sufficient walking robot devices is characterized in that:

Forward and backward and the frame opposite side of frame one side middle part crank is one group, and the forward and backward and frame one middle side part crank of frame opposite side be another group, and same set of bell cranks is parallel to each other, and the angle perseverance between the pairing space vector of different set of bell cranks is 180 to spend.

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