CN104802874A - Four-foot rescue robot - Google Patents
Four-foot rescue robot Download PDFInfo
- Publication number
- CN104802874A CN104802874A CN201410038254.2A CN201410038254A CN104802874A CN 104802874 A CN104802874 A CN 104802874A CN 201410038254 A CN201410038254 A CN 201410038254A CN 104802874 A CN104802874 A CN 104802874A
- Authority
- CN
- China
- Prior art keywords
- gear
- power input
- special shape
- leg link
- shape gear
- 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.)
- Granted
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
Abstract
The invention discloses a four-foot rescue robot. The four-foot rescue robot comprises a mechanism main body, a power input device and four leg connecting rod mechanisms, wherein the power input device is arranged inside the mechanism main body; four leg connecting rod mechanisms are uniformly distributed at the left and right sides of the external part of the mechanism main body; each leg connecting rod mechanism is connected with the power input device which is manually driven to realize motions of the four leg connecting rod mechanisms. The whole frame is boat-shipped, thus the robot has good adaptability in a deep-water region; the supporting for legs in a shallow-water region is finished through the connecting rod mechanisms; gears rotate to drive connecting rods to move and walk; meanwhile, non-standard gears are designed to guarantee stability of a boat body in operation. A drive shaft is arranged inside the robot and the driving of the robot is finished by utilizing force of legs; an auxiliary handle is arranged on the robot; when the drive shaft is damaged, the robot can be driven by manually rocking the auxiliary handle; therefore, the four-foot rescue robot has good adaptability in different environments.
Description
Technical field
The present invention relates to Robot Design technical field, particularly, relate to a kind of single degree of freedom manually driven four-footed rescue robot.
Background technology
Rescue robot is used to a kind of robot carrying out rescue work after disaster occurs.
In the face of different disasters, rescue robot needs to have the extensive comformability that can adapt to varying environment.But under the wet environment after flood, general robot, owing to adopting driven by power, be easy to short circuit, and manner of walking is often not suitable for muddy road surface environment complicated and changeable.
Warp is to literature search, find that most of rescue robot focuses on the ability entering small space, the ability that Long-distance Control carries out rescuing is developed, such as: " multifunction hydraulic rescue robot " (application number: 201320056282.8) or for rescue robot " underwater intelligent the rescue robot system " (application number: 201320100059.9) rare precedent of carrying out rescuing for the disaster area after flood under deepwater environment.
The most complicated operation of these existing systems, need certain expertise to operate, but trapped person not necessarily has operator perforniance, and this just increases the limitation of rescue greatly.
Summary of the invention
The present invention is directed to above shortcomings in prior art, provide a kind of four-footed rescue robot, this robot has adaptation flood environment, single degree of freedom inputs, and load carrying ability is large, is convenient to install, feature simple to operate, disaster area can be entered by modes such as air-drops, and have trapped person's Self-operating, greatly increase the possibility that it is got rid of poverty.
The present invention is achieved by the following technical solutions.
A kind of four-footed rescue robot, comprise mechanism body, power input device and four leg link mechanisms, described power input device is arranged at mechanism body inside, described four leg link mechanisms are distributed in the left and right sides of mechanism body outside, wherein, each leg link mechanism is all connected with power input device axle, and described power input device drives the motion realizing four leg link mechanisms by manpower.
Preferably, described power input device comprises: center power input shaft and gear cluster, described center power input shaft radial direction is arranged at the central authorities of mechanism body inside, described gear cluster is two, be respectively left gear group and right gear group, described left gear group and right gear group are connected to the two ends of center power input shaft, and four leg link mechanisms connect with the gear cluster axle of corresponding side respectively.
Preferably, described left gear group and right gear group include: the first special shape gear, the second special shape gear and the 3rd special shape gear, ordinary gear and power input gear, and wherein, described ordinary gear and power input gear are meshed; Described first special shape gear, the second special shape gear and the 3rd special shape gear include larger diameter end and smaller diameter end, and the smaller diameter end of the first special shape gear is meshed with the larger diameter end of the second special shape gear and the 3rd special shape gear respectively; The smaller diameter end of described first special shape gear is connected with full depth tooth wheel shaft, and described second special shape gear is connected with corresponding leg link mechanism shaft respectively with the smaller diameter end of the 3rd special shape gear, and described power input gear is connected with center power input shaft.
Preferably, the neutral angle of the larger diameter end of the first special shape gear, the second special shape gear and the 3rd special shape gear is respectively 90 degree, the neutral angle of the smaller diameter end of the first special shape gear, the second special shape gear and the 3rd special shape gear is respectively 270 degree, the diameter ratio of larger diameter end and smaller diameter end is 3: 1, when the second special shape gear and the 3rd special shape gear are meshed, the larger diameter end of the first special shape gear is 1: 1 with smaller diameter end rotation time ratio.
Preferably, the center shaft of the first special shape gear, the second special shape gear and the 3rd special shape gear forms the equicrural triangle that drift angle is 120 degree.
Preferably, described center power input shaft comprises: multiple crank mechanism and stretcher, and described stretcher is connected between adjacent two crank mechanisms; The crank mechanism being positioned at two ends is connected with the power input gear of left gear group with right gear group respectively.
Preferably, four leg link mechanisms are fixedly connected with mechanism body respectively, wherein, each leg link mechanism includes: Duo Gen leg link mechanism's rod member and a power input rod member, described Duo Gen leg link mechanism rod member is spliced to form the main body of leg link mechanism each other, one end of described power input rod member is connected with the main body of leg link mechanism, and the other end of described power input rod member is connected with power input device.
Preferably, each root leg link mechanism rod member all adopts middle smooth screw rod, and the two ends of screw rod are respectively helicitic texture, are fixed between adjacent screw rod by bolt and pad.
Preferably, described mechanism body adopts ship type structure.
Preferably, also comprise following any one or appoint multiple parts:
-auxiliary handle, described auxiliary handle is arranged at left side and/or the right side of mechanism body, and is connected with corresponding power input gear;
-seat, described chair mounted is in the front end of mechanism body inside and/or rear end;
-left gear case and right gear case, described left gear case and right gear case are arranged at the left and right sides of mechanism body inside respectively, and left gear group and right gear group are arranged in left gear case and right gear case respectively.
Compared with prior art, four-footed rescue robot provided by the invention, mechanism body is ship shape, robot is made to have good comformability to deepwater regions, leg link mechanism is then utilized to complete thigh support at shallow water area, and utilize gear cluster to rotate to drive link work, walking, steady when simultaneously the design of nonstandard gear is to ensure that hull runs.Built-in axle drive shaft, utilizes foot's strength can complete machine and drives; With handles outward, can driven by shaking be utilized when axle drive shaft damages, have good applicability under various circumstances.The present invention has structural stability, is driven by manpower, can the enterprising every trade of muddy road surface after flood walk, and by the impact of wet environment, can not have the comformability to environment.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is front elevation of the present invention;
Fig. 2 is left view of the present invention;
Fig. 3 is birds-eye view of the present invention;
Fig. 4 is the present invention 45 degree of angle of depression integral structure figure;
Fig. 5 is center power input shaft schematic diagram of the present invention, and wherein, (a), (b), (c) are respectively three-view diagram, and (d) is block diagram;
Fig. 6 is gear cluster schematic diagram of the present invention, and wherein, (a), (b), (c) are respectively three-view diagram;
Fig. 7 is leg structure schematic diagram of the present invention, and wherein, (a), (b), (c) are respectively three-view diagram;
Fig. 8 is leg link mechanism end periodic motion curve of the present invention;
In figure: 1 is 90 degree of right-angle connectors, 2 is auxiliary handle, 3 is seat, 4 is miter angle attaching parts, 5 is 135 degree of angle connectors, 6 is rear leg link mechanism, 7 is leg link mechanism central fixed shaft, 8 is foreleg connecting rod mechanism, 9 is leg link mechanism power input rod member, 10 is left gear case, 11 is right gear case, 12 is leg power rod member center shaft, 13 is right gear group, 14 is left gear group, 15 is stretcher, power input shaft centered by 16, 17 is the second special shape gear, 18 is the first special shape gear, 19 is the 3rd special shape gear, 20 is ordinary gear, 21 is power input gear, 22 is the first leg link mechanism rod member, 23 is the second leg link mechanism rod member, 24 is the 3rd leg link mechanism rod member, 25 is power input rod member, 26 is the 4th leg link mechanism rod member, 27 is the 5th leg link mechanism rod member, 28 is the 6th leg link mechanism rod member, 29 is the 7th leg link mechanism rod member, 30 is the 8th leg link mechanism rod member, 31 is the 9th leg link mechanism rod member, 32 is the tenth leg link mechanism rod member.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Please refer to Fig. 1 to Fig. 8.
Present embodiments provide a kind of four-footed rescue robot, comprise mechanism body, power input device and four leg link mechanisms, described power input device is arranged at mechanism body inside, described four leg link mechanisms are distributed in the left and right sides of mechanism body outside, wherein, each leg link mechanism is all connected with power input device axle, and described power input device drives the motion realizing four leg link mechanisms by manpower.
Further, described power input device comprises: center power input shaft and gear cluster, described center power input shaft radial direction is arranged at the central authorities of mechanism body inside, described gear cluster is two, be respectively left gear group and right gear group, described left gear group and right gear group are connected to the two ends of center power input shaft, and four leg link mechanisms connect with the gear cluster axle of corresponding side respectively.
Further, described left gear group and right gear group include: the first special shape gear, the second special shape gear and the 3rd special shape gear, ordinary gear and power input gear, and wherein, described ordinary gear and power input gear are meshed; Described first special shape gear, the second special shape gear and the 3rd special shape gear include larger diameter end and smaller diameter end, and the smaller diameter end of the first special shape gear is meshed with the larger diameter end of the second special shape gear and the 3rd special shape gear respectively; The smaller diameter end of described first special shape gear is connected with full depth tooth wheel shaft, and described second special shape gear is connected with corresponding leg link mechanism shaft respectively with the smaller diameter end of the 3rd special shape gear, and described power input gear is connected with center power input shaft.
Further, the neutral angle of the larger diameter end of the first special shape gear, the second special shape gear and the 3rd special shape gear is respectively 90 degree, the neutral angle of the smaller diameter end of the first special shape gear, the second special shape gear and the 3rd special shape gear is respectively 270 degree, the diameter ratio of larger diameter end and smaller diameter end is 3: 1, when the second special shape gear and the 3rd special shape gear are meshed, the larger diameter end of the first special shape gear is 1: 1 with smaller diameter end rotation time ratio.
Further, the center shaft of the first special shape gear, the second special shape gear and the 3rd special shape gear forms the equicrural triangle that drift angle is 120 degree.
Further, described center power input shaft comprises: multiple crank mechanism and stretcher, and described stretcher is connected between adjacent two crank mechanisms; The crank mechanism being positioned at two ends is connected with the power input gear of left gear group with right gear group respectively.
Further, each leg link mechanism includes: Duo Gen leg link mechanism's rod member and a power input rod member, described Duo Gen leg link mechanism rod member is spliced to form the main body of leg link mechanism each other, one end of described power input rod member is connected with the main body of leg link mechanism, and the other end of described power input rod member is connected with power input device.
Further, each root leg link mechanism rod member all adopts middle smooth screw rod, and the two ends of screw rod are respectively helicitic texture, are fixed between adjacent screw rod by bolt and pad.
Further, described mechanism body adopts ship type structure.
Further, also comprise following any one or appoint multiple parts:
-auxiliary handle, described auxiliary handle is arranged at left side and/or the right side of mechanism body, and is connected with corresponding power input gear;
-seat, described chair mounted is in the front end of mechanism body inside and/or rear end;
-left gear case and right gear case, described left gear case and right gear case are arranged at the left and right sides of mechanism body inside respectively, and left gear group and right gear group are arranged in left gear case and right gear case respectively.
In the present embodiment, respectively leg link mechanism, center shaft power input device, special shape gear parts, gear cluster, walking machine inner structure layout, mechanism body are designed; Center shaft power input device can be inputted by manpower, or the subtest handle on rotation casing inputs as power, center power input shaft rotates and is converted to the power input lever rotation of leg link mechanism via gear cluster, thus drives leg link mechanism to rotate, and body is moved forwards or backwards.
Four-footed traveling gear is the input of single degree of freedom power;
Four-footed traveling gear with the crank mechanism on center shaft for power input device;
Four-footed traveling gear is using four groups of leg link mechanisms as moving-member;
Four-footed traveling gear has gear cluster based on special shape gear as power switching device;
Be spliced by organizing rod member more, when power input rod member around its center shaft do contiguous circumferential rotate time, leg link whole mechanism can complete to be lifted, take a step, falls, a series of continuous motion such as to slide backward, and curve movement continuously smooth.
Power input rod member is when rotating clockwise or rotate counterclockwise, leg rod member can according to lifting, take a step, fall, slide backward or lift, take a step, fall, the mode of motion of forward slip, carry out motion forward or backward.
Under the adjustment of heteromorphic teeth wheels, the phase place of four legs differs an angle of 90 degrees successively.
Under the drive of power input lever, the time that the curve movement of leg rod member end contacts to earth is three times of liftoff time.
In the motion process that four-footed traveling gear completes forward or backward, four groups of traveling geaies always can be kept to have three groups and earth surface, make fuselage keep stable.
Be made up of crank mechanism and stretcher, people sits and center power input shaft can be driven to rotate via the mode of trampling on the seat.
Center power input shaft can be stepped on by a people, also can be stepped on by two people.Personnel on positive and negative two seats all can carry out power input to four-footed traveling gear.
Have the topology layout of novelty, the gear case of both sides can prevent operating personal from being accidentally injured by driving device, and member 4 people is carried in front seats and back seats design, and front and back ship type neutral can be used to prevent life-saving equipment.
Can be driven by leg rod member at water shallow place four-footed traveling gear and advance, cross depths at water and agent structure can be utilized to float on the water surface, make to be departed from the water surface by rescuer's health.
Larger diameter end neutral angle is 90 degree, and smaller diameter end neutral angle is 270 degree, and major diameter is 3: 1 with the ratio of minor diameter, and when two identical special shape gears are meshed, can make by driven wheel major diameter part and small diameter portion rotation time ratio is 1: 1.
Below in conjunction with accompanying drawing, the present embodiment technical scheme is described further.
Leg link mechanism design
As shown in Figure 7, leg link whole mechanism is made up of many rod members, is threaded between rod member by both sides, and middle smooth screw rod connects, and screw rod both sides are fixed by pad and bolt.
Leg link mechanism inputs rod member 25 by power and drives, when power input rod member 25 does contiguous circumferential rotation around its center shaft, leg link whole mechanism can complete to be lifted, take a step, falls, a series of continuous motion such as to slide backward, and curve movement continuously smooth.Power input rod member is when rotating clockwise or rotate counterclockwise, leg rod member can according to lifting, take a step, fall, slide backward or lift, take a step, fall, the mode of motion of forward slip, carry out motion forward or backward.
Under the adjustment of the special shape gear of gear cluster, the phase place of four legs differs an angle of 90 degrees successively.Therefore, under the drive of power input lever, the time that the curve movement of leg rod member end contacts to earth is three times of liftoff time.
Be specially, first, second, the 5th, the 7th, the 8th, the length of the 9th leg link mechanism rod member 22,23,27,29,30,31 is 420mm, three, the length of the 4th leg link mechanism rod member 24,26 is 480mm, the length of the 6th leg link mechanism rod member 28 is 513mm, the length of the tenth leg link mechanism rod member 32 is 700mm, and the length of power input rod member 25 is 200mm.First to the tenth leg link mechanism rod member 22,23,24,26,27,28,29,30,31,32 is the main body of structure composition leg link mechanism.
Power input one end of rod member 25 is connected with a center shaft of gear cluster, and the other end is connected with other rod member.Leg link mechanism rod member 23,27,29 intersects end points and is connected with leg rod member central fixed shaft 7, and leg rod member central fixed shaft 7 is fixed on mechanism body side plate.
When power input rod member 25 around its center shaft do contiguous circumferential rotate time, leg link whole mechanism can complete to be lifted, take a step, falls, a series of continuous motion such as to slide backward, and curve movement continuously smooth.Power input rod member is when rotating clockwise or rotate counterclockwise, leg rod member can according to lifting, take a step, fall, slide backward or lift, take a step, fall, the mode of motion of forward slip, carry out motion forward or backward.
Under the adjustment of heteromorphic teeth wheels, the phase place of four legs differs an angle of 90 degrees successively.Therefore, under the drive of power input lever, the time that the curve movement of leg rod member end contacts to earth is three times of liftoff time.
Center power input shaft designs
As shown in Figure 5, center power input shaft is primarily of crank mechanism and stretcher composition.
Operating personal, by trampling stretcher, can give center power input shaft along the moment of torsion in mechanical drive direction.This moment of torsion can make center power input shaft rotate.Thus completing the process of power input, the changes mechanical energy that namely human body exports is the mechanical energy of four feet walk machinery structure.
When trampling stretcher to walking mechanism sense of motion, can to walking machine input power forward.When oppositely trampling stretcher to walking mechanism sense of motion, can to walking machine input power backward, thus machinery be moved backward.
This crank mechanism is made up of group stretcher of two side by side, and this design makes machinery can by one man operation, also can by operated by two people.
Be specially, stretcher is long 100mm, wide 60mm, the hollow out cuboid of thick 20mm.This center power input shaft overall length is 1200mm, and two ends are erected at respectively is fixed on left gear case 10 with on the bearing on right gear case 11.
Operating personal, by stepping on center shaft stretcher 15, can give center shaft along the moment of torsion in mechanical drive direction.This moment of torsion can make central axis.Thus completing the process of power input, the changes mechanical energy that namely human body exports is the mechanical energy of four feet walk machinery structure.
When trampling stretcher to walking mechanism sense of motion, can to walking machine input power forward.When oppositely trampling stretcher to walking mechanism sense of motion, can to walking machine input power backward, thus machinery be moved backward.
This center power input shaft comprises two groups of stretchers side by side, and this design makes machinery can by one man operation, also can by operated by two people.
Mechanism body structure design
As shown in Figure 4, the long 2000mm of mechanism body, wide 1200mm, high 300mm.Left gear group is arranged in left gear case 10, and right gear group is arranged in right gear case 11, is two long 700mm, wide 300mm, the casing of high 800mm in left gear case 10 and right gear case 11.
Mechanism body structure is ship type, and it act as and can drive advance by leg rod member at water shallow place four-footed traveling gear, and current can flow through below hull, can not pour in down a chimney phenomenon.Crossing depths at water can utilize agent structure to float on the water surface, makes to be departed from the water surface by rescuer's health.
Gear case act as by operator and hull driving device isolated, to prevent by the accidental injury accident caused with maloperation.
Gear cluster designs
As shown in Figure 6, gear cluster totally two groups, respectively has one group in left gear case 10 and right gear case 11.Comprise in each gear cluster special shape gear 18,19,20, ordinary gear 20 and power 21.
Angle, special shape gear large-diameter portion branch center is 90 degree, small diameter portion neutral angle is 270 degree, major diameter is 3: 1 with the ratio of minor diameter, major diameter is 420mm, minor diameter is 140mm, when two identical special shape gears are meshed, can make by driven wheel major diameter part and small diameter portion rotation time ratio is 1: 1.In each gear cluster, three special shape gear center shafts become drift angle to be the equicrural triangle of 120 degree.
The diameter of ordinary gear 20 is set to 400mm, and the diameter of power input gear 21 is set to 300mm.Ordinary gear 20 is fixed on identical center shaft with the first special shape gear 18.Power input gear 21 is fixed on crank mechanism two ends.Ordinary gear 20 mainly increases transmitting ratio with the effect of power input gear 21.
Mechanical operation principle
When mechanical actuating person steps on stretcher 15, center power input shaft 16 rotates thereupon, thus drives the power input gear 21 connected thereon, and because power input gear 21 is meshed with ordinary gear 20, ordinary gear 20 rotates thereupon.Because ordinary gear 20 is connected on identical axle with the first special shape gear 18, the first special shape gear 18 rotates thereupon, is meshed with second, third special shape gear 17,19 by the first special shape gear 18, and second, third special shape gear 17,19 rotates thereupon.Drive the central axis of its special shape gear, thus drive the power input rod member 25 be fixed on coaxially to rotate.
Power input gear 21 and ordinary gear 20 all adopt cylindrical wheel.
The rotation of power input rod member 25, cause the leg link mechanism execution cycle to operate, run curve as shown in Figure 8.
Thus relying on the single degree of freedom input of manpower, we can complete the power input to overall machinery.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. a four-footed rescue robot, it is characterized in that, comprise mechanism body, power input device and four leg link mechanisms, described power input device is arranged at mechanism body inside, described four leg link mechanisms are distributed in the left and right sides of mechanism body outside, wherein, each leg link mechanism is all connected with power input device axle, and described power input device drives the motion realizing four leg link mechanisms by manpower.
2. four-footed rescue robot according to claim 1, it is characterized in that, described power input device comprises: center power input shaft and gear cluster, described center power input shaft radial direction is arranged at the central authorities of mechanism body inside, described gear cluster is two, be respectively left gear group and right gear group, described left gear group and right gear group are connected to the two ends of center power input shaft, and four leg link mechanisms connect with the gear cluster axle of corresponding side respectively.
3. four-footed rescue robot according to claim 2, it is characterized in that, described left gear group and right gear group include: the first special shape gear, the second special shape gear, the 3rd special shape gear, ordinary gear and power input gear, wherein, described ordinary gear and power input gear are meshed; Described first special shape gear, the second special shape gear and the 3rd special shape gear include larger diameter end and smaller diameter end, and the smaller diameter end of the first special shape gear is meshed with the larger diameter end of the second special shape gear and the 3rd special shape gear respectively; The smaller diameter end of described first special shape gear is connected with full depth tooth wheel shaft, and described second special shape gear is connected with corresponding leg link mechanism shaft respectively with the smaller diameter end of the 3rd special shape gear, and described power input gear is connected with center power input shaft.
4. four-footed rescue robot according to claim 3, it is characterized in that, the neutral angle of the larger diameter end of the first special shape gear, the second special shape gear and the 3rd special shape gear is respectively 90 degree, the neutral angle of the smaller diameter end of the first special shape gear, the second special shape gear and the 3rd special shape gear is respectively 270 degree, the diameter ratio of larger diameter end and smaller diameter end is 3: 1, when the second special shape gear and the 3rd special shape gear are meshed, the larger diameter end of the first special shape gear is 1: 1 with smaller diameter end rotation time ratio.
5. four-footed rescue robot according to claim 4, is characterized in that, the center shaft of the first special shape gear, the second special shape gear and the 3rd special shape gear forms the equicrural triangle that drift angle is 120 degree.
6. four-footed rescue robot according to claim 3, is characterized in that, described center power input shaft comprises: multiple crank mechanism and stretcher, and described stretcher is connected between adjacent two crank mechanisms; The crank mechanism being positioned at two ends is connected with the power input gear of left gear group with right gear group respectively.
7. four-footed rescue robot according to claim 1, it is characterized in that, each leg link mechanism includes: Duo Gen leg link mechanism's rod member and a power input rod member, described Duo Gen leg link mechanism rod member is spliced to form the main body of leg link mechanism each other, one end of described power input rod member is connected with the main body of leg link mechanism, and the other end of described power input rod member is connected with power input device.
8. four-footed rescue robot according to claim 7, is characterized in that, each root leg link mechanism rod member all adopts middle smooth screw rod, and the two ends of screw rod are respectively helicitic texture, are fixed between adjacent screw rod by bolt and pad.
9. four-footed rescue robot according to claim 1, is characterized in that, described mechanism body adopts ship type structure.
10. four-footed rescue robot according to any one of claim 1 to 9, is characterized in that, also comprise following any one or appoint multiple parts:
-auxiliary handle, described auxiliary handle is arranged at left side and/or the right side of mechanism body, and is connected with corresponding power input gear;
-seat, described chair mounted is in the front end of mechanism body inside and/or rear end;
-left gear case and right gear case, described left gear case and right gear case are arranged at the left and right sides of mechanism body inside respectively, and left gear group and right gear group are arranged in left gear case and right gear case respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410038254.2A CN104802874B (en) | 2014-01-26 | 2014-01-26 | Four-footed rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410038254.2A CN104802874B (en) | 2014-01-26 | 2014-01-26 | Four-footed rescue robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104802874A true CN104802874A (en) | 2015-07-29 |
| CN104802874B CN104802874B (en) | 2017-03-15 |
Family
ID=53688193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410038254.2A Expired - Fee Related CN104802874B (en) | 2014-01-26 | 2014-01-26 | Four-footed rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104802874B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015781A (en) * | 2017-12-19 | 2018-05-11 | 浙江工业大学 | Rehabilitation Stepped Power Assist Device device |
| CN108016525A (en) * | 2017-12-19 | 2018-05-11 | 浙江工业大学 | Four-footed conveying robot device |
| WO2018161936A1 (en) * | 2017-03-10 | 2018-09-13 | 杭州宇树科技有限公司 | Leg power system structure for electric-drive quadruped robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6422329B1 (en) * | 1999-11-12 | 2002-07-23 | Homayoon Kazerooni | Human assisted walking robot |
| CN1817719A (en) * | 2005-02-09 | 2006-08-16 | 刘忠刚 | Quadrilateral walking robot with four components and limbs and feet |
| RU2368529C1 (en) * | 2008-05-20 | 2009-09-27 | Государственное образовательное учреждение высшего профессионального образования Волгоградский государственный технический университет (ВолгГТУ) | Walking support for cross-country transport vehicles |
| CN202358215U (en) * | 2011-11-25 | 2012-08-01 | 广东岭南职业技术学院 | Mechanical leg mechanism and four-legged walker |
| CN202463963U (en) * | 2012-03-03 | 2012-10-03 | 李裕超 | Riding type four-footed walking robot |
| CN202827838U (en) * | 2012-10-29 | 2013-03-27 | 哈尔滨理工大学 | Quadruped robot with regulating and control device |
-
2014
- 2014-01-26 CN CN201410038254.2A patent/CN104802874B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6422329B1 (en) * | 1999-11-12 | 2002-07-23 | Homayoon Kazerooni | Human assisted walking robot |
| CN1817719A (en) * | 2005-02-09 | 2006-08-16 | 刘忠刚 | Quadrilateral walking robot with four components and limbs and feet |
| RU2368529C1 (en) * | 2008-05-20 | 2009-09-27 | Государственное образовательное учреждение высшего профессионального образования Волгоградский государственный технический университет (ВолгГТУ) | Walking support for cross-country transport vehicles |
| CN202358215U (en) * | 2011-11-25 | 2012-08-01 | 广东岭南职业技术学院 | Mechanical leg mechanism and four-legged walker |
| CN202463963U (en) * | 2012-03-03 | 2012-10-03 | 李裕超 | Riding type four-footed walking robot |
| CN202827838U (en) * | 2012-10-29 | 2013-03-27 | 哈尔滨理工大学 | Quadruped robot with regulating and control device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018161936A1 (en) * | 2017-03-10 | 2018-09-13 | 杭州宇树科技有限公司 | Leg power system structure for electric-drive quadruped robot |
| US10940582B2 (en) | 2017-03-10 | 2021-03-09 | Hangzhou Yushu Technology Co., Ltd. | Leg power system structure of electrically driven four-legged robot |
| CN108015781A (en) * | 2017-12-19 | 2018-05-11 | 浙江工业大学 | Rehabilitation Stepped Power Assist Device device |
| CN108016525A (en) * | 2017-12-19 | 2018-05-11 | 浙江工业大学 | Four-footed conveying robot device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104802874B (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109987167B (en) | High-adaptability robot general motion platform for nuclear-involved complex environment | |
| CN104802874A (en) | Four-foot rescue robot | |
| CN104369790A (en) | Double-foot robot walking mechanism | |
| CN104875214B (en) | A kind of Three Degree Of Freedom apery wrist device | |
| KR101363850B1 (en) | Robot for Assistance Exoskeletal Power | |
| CN103010330A (en) | Biped walking robot | |
| CN104648515B (en) | Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof | |
| CN101850797A (en) | Modularized multiped walking robot capable of realizing functional shift between hands and feet | |
| KR20160072098A (en) | Robot | |
| CN108622228B (en) | Quadruped robot with flexible waist | |
| CN109606498A (en) | A kind of robot deformation leg with the sufficient ability to transform of wheel | |
| CN104669961A (en) | Wheel leg and tail fin combined driving bionic amphibious robot | |
| CN109649095B (en) | Bionic crocodile amphibious robot | |
| CN209827471U (en) | Four-foot power-assisted walking rehabilitation robot with balancing device | |
| CN104958165A (en) | Sitting posture state limb rehabilitation trainer | |
| CN201932252U (en) | Caterpillar robot | |
| CN102795274A (en) | Mechanical joint and leg structure of bionic mechanical dinosaur | |
| CN203557925U (en) | Bionic amphibious robot under combined drive of wheel feet and tail fin | |
| CN204016653U (en) | Limb rehabilitating motion multifunctional wheelchair | |
| CN108670589B (en) | Amphibious stretcher | |
| GB2307453A (en) | "Hands free" collapsible wheelchair with motor assistance, skid steer, and seat raising ram | |
| CN111772957A (en) | Multifunctional rehabilitation wheelchair | |
| CN203122807U (en) | Wheel chair driving mechanism | |
| PL408212A1 (en) | Transport or rehabilitation vehicle for persons with motor disability | |
| CN107174421B (en) | A kind of electric bicycle that can be gone up downstairs |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170315 Termination date: 20200126 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |