CN104527832B - The narrow biped robot of biped - Google Patents
The narrow biped robot of biped Download PDFInfo
- Publication number
- CN104527832B CN104527832B CN201410829412.6A CN201410829412A CN104527832B CN 104527832 B CN104527832 B CN 104527832B CN 201410829412 A CN201410829412 A CN 201410829412A CN 104527832 B CN104527832 B CN 104527832B
- Authority
- CN
- China
- Prior art keywords
- shaped
- shaped connector
- connector
- piece
- biped
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotics, particularly a kind of narrow biped robot of biped.The present invention includes top board, panel, copper post, U-shaped connector, steering wheel and sole, described copper post includes the first bronze medal post and the second bronze medal post, described U-shaped connector includes the first U-shaped connector, the second U-shaped connector, the 3rd U-shaped connector, the 4th U-shaped connector and the 5th U-shaped connector, described steering wheel includes the first steering wheel, the second steering wheel and the 3rd steering wheel, it is connected by some first bronze medal posts are fixing between described top board and panel, and mutual keeping parallelism between top board and panel；Described panel lower surface is corresponding with the base of two piece of first U-shaped connector respectively by fixing connector to be connected.Beneficial effects of the present invention: add the walking stability of the narrow biped robot of biped；Increase the single step paces length during walking of the narrow biped robot of biped.
Description
[technical field]
The present invention relates to robotics, particularly a kind of narrow biped robot of biped.
[background technology]
The narrow biped robot of biped is one of event of robot of China contest.On the premise of software program is consistent, biped
Can the quality of the frame for movement of narrow biped robot determines biped narrow biped robot stabilized walking and the walking of stabilized walking
Speed.The hip joint of the narrow biped robot of biped of at present match application is little to the distance before knee joint, causes robot ambulation
Single step paces distance the least.
The present invention designs for the problems referred to above, designs a kind of narrow biped robot of novel biped.For interested in robot or
Person is intended to the classmate taken part in game, and needs this kind of robot for being controlled the design of device and grinding of robot gait planning
Study carefully.
[summary of the invention]
The purpose of the present invention solves the problems of the prior art exactly, proposes a kind of narrow biped robot of biped.
For achieving the above object, the present invention proposes a kind of narrow biped robot of biped, including top board, panel, copper post, U
Shape connector, steering wheel and sole, it is characterised in that described copper post includes the first bronze medal post and the second bronze medal post, described U-shaped connects
Part includes the first U-shaped connector, the second U-shaped connector, the 3rd U-shaped connector, the 4th U-shaped connector and the 5th U-shaped
Connector, described steering wheel includes the first steering wheel, the second steering wheel and the 3rd steering wheel, by some between described top board and panel
First bronze medal post is fixing to be connected, and mutual keeping parallelism between top board and panel；Described panel lower surface is by fixing connector
Connection corresponding with the base of two piece of first U-shaped connector respectively, two the first steering wheels of described panel lower end are located in respectively
In the U-shaped mouth of two piece of first U-shaped connector, and the U-shaped mouth of described two piece of first U-shaped connector is respectively by motor pad
Flexible connection corresponding with the upper end of two the first steering wheels；The lower end of said two the first steering wheel is respectively by motor pad and two pieces the
The U-shaped mouth correspondence of two U-shaped connectors is flexibly connected, and the base of described two piece of second U-shaped connector is respectively by two second
Copper post is corresponding with the base of two piece of the 3rd U-shaped connector to be connected, and said two the second steering wheel is located in two piece of the 3rd U-shaped respectively
In the U-shaped mouth of connector, and the U-shaped mouth of described two piece of the 3rd U-shaped connector is respectively by motor pad and two the second rudders
The upper end correspondence of machine is flexibly connected；The lower end of said two the second steering wheel is connected by motor pad and two piece of the 4th U-shaped respectively
The U-shaped mouth correspondence of part is flexibly connected, and the base of described two piece of the 4th U-shaped connector is respectively by fixing connector and two pieces the
The base correspondence of five U-shaped connectors connects；The U-shaped mouth of described two piece of the 5th U-shaped connector is by motor pad and two the
Three steering wheel correspondences are flexibly connected；Said two the 3rd steering wheel is respectively and fixedly installed on two soles；
Wherein, the first U-shaped connector, the 3rd U-shaped connector, the U-shaped mouth length of the 5th U-shaped connector are less than the 2nd U
Shape connector, the U-shaped mouth length of the 4th U-shaped connector, " hip joint " is by the first U-shaped connector, the first steering wheel
Connect corresponding with the second U-shaped connector forms, and " knee joint " is by the 3rd U-shaped connector, the second steering wheel and the 4th U-shaped
Connector correspondence connects composition, and " ankle joint " is made up of the 5th U-shaped connector, the connection corresponding with sole of the 3rd steering wheel,
And connected by the second bronze medal post between " hip joint " and " knee joint ", correspondingly increase " hip joint " and " knee joint
Joint " between distance, add the single step paces distance of robot ambulation；Simultaneously by panel to " hip joint ", the
Two bronze medal posts, " knee joint " and " ankle joint " corresponding operating, the movement to robot center of gravity realizes the walking of robot, turns over
Somersault and handstand function.
As preferably, mutually opposing interconnection between described 4th U-shaped connector and the 5th U-shaped connector.
As preferably, described fixing connector is to be formed by connecting with the nut matched by bolt.
Compared with prior art, beneficial effects of the present invention:
In the present invention, bilateral symmetry design adds the walking stability of the narrow biped robot of biped；By by the first U-shaped
Connector, the first steering wheel and the second U-shaped connector correspondence connect " hip joint " of composition, by the 3rd U-shaped connector, the
Two steering wheels and the 4th U-shaped connector correspondence connect " knee joint " of composition, and between " hip joint " and " knee joint "
Connected by copper post, therefore, correspondingly increase the distance between " hip joint " and " knee joint ", thus add machine
The single step paces length of people's walking.
[accompanying drawing explanation]
Fig. 1 is the structural representation of the narrow biped robot of biped of the present invention；
Reference: 1. top board；2. the first bronze medal post；3. panel；4. the first U-shaped connector；5. the first steering wheel；6. second
U-shaped connector；7. the second bronze medal post；8. the 3rd U-shaped connector；9. the second steering wheel；10. the 4th U-shaped connector；11.
Five U-shaped connectors；12. the 3rd steering wheels；13. soles
[detailed description of the invention]
As it is shown in figure 1, the present invention proposes the specific embodiment of the narrow biped robot of a kind of biped, including top board 1, panel
3, copper post, U-shaped connector, steering wheel and sole 13, described copper post includes the first bronze medal post 2 and the second bronze medal post 7, described U-shaped
Connector includes first U-shaped connector the 4, second U-shaped connector the 6, the 3rd U-shaped connector the 8, the 4th U-shaped connector
10 and the 5th U-shaped connector 11, described steering wheel includes the first steering wheel the 5, second steering wheel 9 and the 3rd steering wheel 12, described top board
Fixed by some first bronze medal posts 2 between 1 with panel 3 and be connected, and mutually keep flat between top board 1 and panel 3
OK；Described panel 3 lower surface is corresponding with the base of two piece of first U-shaped connector 4 respectively by fixing connector to be connected,
Two the first steering wheels 5 of described panel 3 lower end are located in the U-shaped mouth of two piece of first U-shaped connector 4 respectively, and institute
The U-shaped mouth stating two piece of first U-shaped connector 4 is connected by the corresponding activity in upper end of motor pad with two the first steering wheels 5 respectively
Connect；The lower end of said two the first steering wheel 5 is corresponding with the U-shaped mouth of two piece of second U-shaped connector 6 by motor pad respectively
Being flexibly connected, the base of described two piece of second U-shaped connector 6 is connected by two second bronze medal posts 7 and two piece of the 3rd U-shaped respectively
The base correspondence of fitting 8 connects, and said two the second steering wheel 9 is located in the U-shaped mouth of two piece of the 3rd U-shaped connector 8 respectively
In, and the U-shaped mouth of described two piece of the 3rd U-shaped connector 8 is respectively by motor pad and the upper end pair of two the second steering wheels 9
Should be flexibly connected；The lower end of said two the second steering wheel 9 is respectively by motor pad and the U of two piece of the 4th U-shaped connector 10
Shape mouth correspondence is flexibly connected, and the base of described two piece of the 4th U-shaped connector 10 is respectively by fixing connector and two piece of the 5th U
The base correspondence of shape connector 11 connects；The U-shaped mouth of described two piece of the 5th U-shaped connector 11 is by motor pad and two
3rd steering wheel 12 is corresponding to be flexibly connected；Said two the 3rd steering wheel 12 is respectively and fixedly installed on two soles 13.
Wherein, described fixing connector is to be formed by connecting with the nut matched by bolt, described 4th U-shaped connector 10
And mutually opposing interconnection between the 5th U-shaped connector 11；First U-shaped connector 4, the 3rd U-shaped connector 8,
The U-shaped mouth length of five U-shaped connectors is less than the U-shaped mouth length of the second U-shaped connector the 6, the 4th U-shaped connector 10,
" hip joint " was made up of first U-shaped connector the 4, first steering wheel 5 and the second U-shaped connector 6 corresponding connection, " knee joint
Joint " it is made up of the 3rd U-shaped connector the 8, second steering wheel 9 and the 4th U-shaped connector 10 corresponding connection, " ankle closes
Joint " be made up of the 5th U-shaped connector, the 3rd steering wheel 12 and sole 13 corresponding connection, and at " hip joint " and
Connected by the second bronze medal post 7 between " knee joint ", correspondingly increase between " hip joint " and " knee joint " away from
From, add the single step paces distance of robot ambulation；Simultaneously by panel 3 to " hip joint ", the second bronze medal post 7,
" knee joint " and " ankle joint " corresponding operating, the movement to robot center of gravity realizes the walking of robot, turns a somersault and fall
Render meritorious service energy.
Above-described embodiment only for technology design and the feature of the present invention are described, its object is to make person skilled in the art's energy much of that
Solve present disclosure and be carried out, can not limit the scope of the invention with this, all according to spirit of the invention institute
The equivalence change made or modification, all should contain within the scope of the present invention.
Claims (3)
1. the narrow biped robot of biped, including top board (1), panel (3), copper post, U-shaped connector, steering wheel and sole
(13), it is characterised in that described copper post includes the first bronze medal post (2) and the second bronze medal post (7), and described U-shaped connector includes a U
Shape connector (4), the second U-shaped connector (6), the 3rd U-shaped connector (8), the 4th U-shaped connector (10) and the 5th U-shaped
Connector (11), described steering wheel includes the first steering wheel (5), the second steering wheel (9) and the 3rd steering wheel (12), described top board (1) and control
Connect by some first bronze medal posts (2) are fixing between plate (3), and mutual keeping parallelism between top board (1) and panel (3)；Institute
State panel (3) lower surface to be connected by fixing connector is fixing with the base of accordingly two piece of first U-shaped connector (4) respectively,
Two the first steering wheels (5) of described panel (3) lower end are located in the U-shaped mouth of two piece of first U-shaped connector (4) respectively, and
The U-shaped mouth of two piece of first U-shaped connector (4) is connected by the corresponding activity in upper end of motor pad with two the first steering wheels (5) respectively
Connect；
The lower end of two the first steering wheels (5) is connected by the corresponding activity of U-shaped mouth of motor pad with two piece of second U-shaped connector (6) respectively
Connecing, the base of two piece of second U-shaped connector (6) is respectively by two second bronze medal posts (7) and two piece of the 3rd U-shaped connector (8)
Base correspondence connects, and two the second steering wheels (9) are located in the U-shaped mouth of two piece of the 3rd U-shaped connector (8) respectively, and two pieces the
The U-shaped mouth of three U-shaped connectors (8) is flexibly connected by motor pad is corresponding with the upper end of two the second steering wheels (9) respectively；
The lower end of two the second steering wheels (9) is connected by the corresponding activity of U-shaped mouth of motor pad with two piece of the 4th U-shaped connector (10) respectively
Connecing, the base of two piece of the 4th U-shaped connector (10) is respectively by fixing connector and the base of two piece of the 5th U-shaped connector (11)
Corresponding connection；The U-shaped mouth of two piece of the 5th U-shaped connector (11) is corresponding movable with two the 3rd steering wheels (12) by motor pad
Connect；Two the 3rd steering wheels (12) are respectively and fixedly installed on two soles (13)；Wherein, the first U-shaped connector (4),
Three U-shaped connectors (8), the U-shaped mouth length of the 5th U-shaped connector (11) are less than the second U-shaped connector (6), the 4th U-shaped
The U-shaped mouth length of connector (10).
2. according to the narrow biped robot of the biped described in claim 1, it is characterised in that described 4th U-shaped connector (10) with
Mutually opposing interconnection between 5th U-shaped connector (11).
3. according to the narrow biped robot of the biped described in claim 1, it is characterised in that described fixing connector be by bolt with
The nut matched is formed by connecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410829412.6A CN104527832B (en) | 2014-12-26 | 2014-12-26 | The narrow biped robot of biped |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410829412.6A CN104527832B (en) | 2014-12-26 | 2014-12-26 | The narrow biped robot of biped |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104527832A CN104527832A (en) | 2015-04-22 |
| CN104527832B true CN104527832B (en) | 2016-11-23 |
Family
ID=52843543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410829412.6A Active CN104527832B (en) | 2014-12-26 | 2014-12-26 | The narrow biped robot of biped |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104527832B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8457830B2 (en) * | 2010-03-22 | 2013-06-04 | John R. Goulding | In-line legged robot vehicle and method for operating |
| CN102975784B (en) * | 2012-11-13 | 2015-08-12 | 王斌 | A kind of novel apery is competed for speed robot |
| CN203601426U (en) * | 2013-12-02 | 2014-05-21 | 西北农林科技大学 | Six-freedom-degree narrow footprint double-foot walking-racing robot |
| CN103941732A (en) * | 2014-04-18 | 2014-07-23 | 江苏物联网研究发展中心 | Bionic two-leg robot control system |
| CN204452651U (en) * | 2014-12-26 | 2015-07-08 | 浙江工业大学 | The narrow biped robot of biped |
-
2014
- 2014-12-26 CN CN201410829412.6A patent/CN104527832B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104527832A (en) | 2015-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108056898B (en) | Virtual scene interactive rehabilitation training robot based on lower limb connecting rod model and force sense information and control method thereof | |
| CN105997439A (en) | Three-freedom-degree angle joint recovery assisting device controlled by electromyographic signals and provided with sphere pairs | |
| CN106080831B (en) | It is a kind of that there is the bionical completely passive double feet walking machine away from leg, talocalcaneal articulation | |
| CN104443107B (en) | Staggered form quadruped robot | |
| CN103816029B (en) | Six degree of freedom leg recovery exercising robot | |
| CN208081848U (en) | A kind of fighter toy | |
| CN105835041A (en) | Exoskeleton robot hip joint, exoskeleton robot and control method of exoskeleton robot | |
| CN103126851A (en) | Gait training mechanical leg | |
| CN103190972B (en) | Auxiliary ankle recovering device with sphere-pin pairs | |
| CN105752189A (en) | Double-foot humanoid walking robot | |
| CN104527832B (en) | The narrow biped robot of biped | |
| CN104890757A (en) | Traveling gear of humanoid robot | |
| CN102390451B (en) | Camel foot simulated mechanical foot device | |
| CN203724422U (en) | Six-degree-of-freedom leg rehabilitation training robot | |
| CN104527833B (en) | Biped robot capable of crossing feet | |
| CN204452652U (en) | Biped intersection biped robot | |
| CN204452651U (en) | The narrow biped robot of biped | |
| CN207401077U (en) | A kind of ankle Ergometric training device | |
| CN102717846A (en) | Foot sole structure of robot | |
| CN203109948U (en) | Humanoid robot | |
| CN104161610B (en) | The ankle joint of ectoskeleton buffering power-assisted | |
| CN105620579B (en) | Anthropomorphic robot four-freedom hybrid shock resistance machinery foot | |
| CN209176805U (en) | A kind of quadruped robot | |
| CN205494941U (en) | Augmented reality developments analogue means | |
| CN204871443U (en) | Running -board for bicycle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |