CN104986245A - Stable mobile robot - Google Patents
Stable mobile robot Download PDFInfo
- Publication number
- CN104986245A CN104986245A CN201510445814.0A CN201510445814A CN104986245A CN 104986245 A CN104986245 A CN 104986245A CN 201510445814 A CN201510445814 A CN 201510445814A CN 104986245 A CN104986245 A CN 104986245A
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- CN
- China
- Prior art keywords
- leg
- main frame
- hinged
- driven gear
- mobile robot
- 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.)
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Classifications
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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
Abstract
The invention discloses a stable mobile robot. The construction of the stable mobile robot comprises a main frame (14) and four leg structures disposed on the main frame (14), and a driving mechanism connected with the four leg structures are disposed in the main frame (14). The driving mechanism comprises a driving gear transmission shaft (12), a driving gear (11) fixed on the main frame (14), two sides of the driving gear (11) are respectively engaged with a driven gear (7), each driven gear (7) is disposed in the main frame (14) through a driven gear rotating shaft (9), two ends of each driven gear rotating shaft (9) are respectively connected with a leg structure. The stable mobile robot stably and continuously move on uneven pavement, and the movement is reliable.
Description
Technical field
the present invention relates to a kind of robot device, the robot of particularly a kind of simple and stable movement.
Background technology
at present, most of mobile apparatus adopts crawler type per capita, ratcheting mechanism realizes displacement movement, and this kind of robot is easy to control, and moving velocity is adjustable, and moving direction can free adjustment.But when running into pavement roughness, when road conditions are poor, this kind of robot often cannot realize stable motion and persistent movement.
Summary of the invention
the object of the invention is to, provide a kind of and stablize mobile robot.The present invention can realize stable motion and persistent movement at roughness pavement, and walking is reliable.
technical scheme of the present invention: one stablizes mobile robot, it is characterized in that: comprise main frame and be arranged on four leg structures on main frame, be provided with the drive configuration of connection four leg structures in main frame; Described drive configuration comprises the power gear be fixed on through power gear turning cylinder on main frame, the both sides of power gear are engaged with driven gear respectively, driven gear is arranged in main frame through driven gear turning cylinder, and driven gear turning cylinder two ends are connected legs structure respectively; Described leg structure comprising ground supporting leg, leg stock, leg quarter butt, leg crank and leg pipe link, described in land one end of supporting leg one end and leg pipe link hinged, the one end that supports midleg and leg stock of landing is hinged; The other end of described leg pipe link is hinged on main frame; The middle part of described leg stock and one end of leg quarter butt hinged, the other end of leg stock and one end of leg crank hinged, the other end of leg crank is connected with the end of driven gear turning cylinder; The other end of described leg quarter butt is hinged on main frame.
in aforesaid stable mobile robot, described main frame comprises left side board and right side board, is provided with pair of support rods and a pair fixed connecting rod between left side board and right side board; Described leg pipe link the other end be hinged on the end of fixed connecting rod, the other end of described leg quarter butt is hinged on the end of strut bar.
compared with prior art, the leg mechanism that the present invention drives four structures identical by driver train is walked, run trace attitude and animal similar, make to realize stable motion and persistent movement in smooth-riding surface and roughness pavement, walk reliable and stable, be specially adapted to complex road condition walking.The present invention also has the feature that volume is little, structure is simple, easy and simple to handle.The transmission device that the present invention adopts and leg mechanism can be stable, sound construction.
Accompanying drawing explanation
fig. 1 is structural representation of the present invention.
being labeled as in accompanying drawing: 1-lands supporting leg, 2-leg stock, 3-leg quarter butt, 4-leg crank, 5-leg pipe link, 6-strut bar; 7-driven gear; 8-right side board, 9-driven gear turning cylinder, 10-fixed connecting rod, 11-power gear, 12-power gear turning cylinder axle, 13-left side board, 14-main frame.
Detailed description of the invention
below in conjunction with drawings and Examples, the present invention is further illustrated, but not as the foundation limited the present invention.
embodiment.One stablizes mobile robot, form as shown in Figure 1, (four leg structure is separately positioned on front left, front right, rear left and right four positions of main frame with four leg structures be arranged on main frame 14 to comprise main frame 14, and structure is identical), be provided with the drive configuration of connection four leg structures in main frame 14; Described drive configuration comprises the power gear 11 be fixed on through power gear turning cylinder 12 on main frame 14, described power gear turning cylinder 12 and then moved by motor straight tape splicing, the both sides of power gear 11 are engaged with driven gear 7 respectively, driven gear 7 is arranged in main frame 14 through driven gear turning cylinder 9, and driven gear turning cylinder 9 two ends are connected legs structure respectively; Described leg structure is comprising ground supporting leg 1, leg stock 2, leg quarter butt 3, leg crank 4 and leg pipe link 5, one end of described land supporting leg 1 one end and leg pipe link 5 is hinged, described supporting leg 1 other end that lands lands, the middle part of the supporting leg 1 that lands and one end of leg stock 2 hinged; The other end of described leg pipe link 5 is hinged on main frame 14; The middle part of described leg stock 2 and one end of leg quarter butt 3 hinged, the other end of leg stock 2 and one end of leg crank 4 hinged, the other end of leg crank 4 is connected with the end of driven gear turning cylinder 9; The other end of described leg quarter butt 3 is hinged on main frame 14.
described main frame 14 comprises left side board 13 and right side board 8, is provided with pair of support rods 6 and a pair fixed connecting rod 10 between left side board 13 and right side board 8; Described leg pipe link 5 the other end be hinged on the end of fixed connecting rod 10, the other end of described leg quarter butt 3 is hinged on the end of strut bar 6.
the leg mechanism that the present invention drives four structures identical by driver train is walked, run trace attitude and animal similar, make to realize stable motion and persistent movement in smooth-riding surface and roughness pavement, walk reliable and stable, be specially adapted to complex road condition walking.The present invention also has the feature that volume is little, structure is simple, easy and simple to handle.The transmission device that the present invention adopts and leg mechanism can be stable, sound construction.
Claims (2)
1. a stable mobile robot, is characterized in that: comprise main frame (14) and be arranged on four leg structures on main frame (14), be provided with the drive configuration of connection four leg structures in main frame (14); Described drive configuration comprises the power gear (11) be fixed on through power gear turning cylinder (12) on main frame (14), the both sides of power gear (11) are engaged with driven gear (7) respectively, driven gear (7) is arranged in main frame (14) through driven gear turning cylinder (9), and driven gear turning cylinder (9) two ends are connected legs structure respectively; Described leg structure is comprising ground supporting leg (1), leg stock (2), leg quarter butt (3), leg crank (4) and leg pipe link (5), one end of the described supporting leg that lands (1) one end and leg pipe link (5) is hinged, the middle part of the supporting leg that lands (1) and one end of leg stock (2) hinged; The other end of described leg pipe link (5) is hinged on main frame (14); The middle part of described leg stock (2) and one end of leg quarter butt (3) hinged, the other end of leg stock (2) and one end of leg crank (4) hinged, the other end of leg crank (4) is connected with the end of driven gear turning cylinder (9); The other end of described leg quarter butt (3) is hinged on main frame (14).
2. stable mobile robot according to claim 1, it is characterized in that: described main frame (14) comprises left side board (13) and right side board (8), between left side board (13) and right side board (8), be provided with pair of support rods (6) and a pair fixed connecting rod (10); Described leg pipe link (5) the other end be hinged on the end of fixed connecting rod (10), the other end of described leg quarter butt (3) is hinged on the end of strut bar (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510445814.0A CN104986245A (en) | 2015-07-27 | 2015-07-27 | Stable mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510445814.0A CN104986245A (en) | 2015-07-27 | 2015-07-27 | Stable mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104986245A true CN104986245A (en) | 2015-10-21 |
Family
ID=54298181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510445814.0A Pending CN104986245A (en) | 2015-07-27 | 2015-07-27 | Stable mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104986245A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476348A (en) * | 2015-12-23 | 2016-04-13 | 华尓嘉（泉州）机械制造有限公司 | Running model |
| CN105857434A (en) * | 2016-04-27 | 2016-08-17 | 浙江腾荣环保科技有限公司 | Four-legged walking robot |
| CN106515875A (en) * | 2016-10-09 | 2017-03-22 | 深圳市安思科电子科技有限公司 | Intelligent transportation equipment for oil exploration |
| CN108158483A (en) * | 2016-01-30 | 2018-06-15 | 李沁心 | A kind of cleaning equipment of glass curtain wall |
| CN108464776A (en) * | 2016-03-16 | 2018-08-31 | 烟台民望机电技术有限公司 | A kind of workshop automatic cleaning equipment |
| CN108556954A (en) * | 2018-04-16 | 2018-09-21 | 刘展 | A kind of robot running gear |
| CN108639184A (en) * | 2018-06-13 | 2018-10-12 | 辽宁石油化工大学 | A kind of novel bionic joint pedipulator |
| CN109484511A (en) * | 2018-10-29 | 2019-03-19 | 国家电网有限公司 | A kind of Weight upstairs climbing machine |
| CN110500478A (en) * | 2019-07-15 | 2019-11-26 | 湘南学院 | A kind of supervision equipment adjusted using image frame light and shade |
| CN114572322A (en) * | 2021-12-15 | 2022-06-03 | 常州机电职业技术学院 | Bionic sea crab robot |
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| JP2005118938A (en) * | 2003-10-16 | 2005-05-12 | Sanyo Electric Co Ltd | Leg part mechanism for robot device |
| CN103171696A (en) * | 2013-04-12 | 2013-06-26 | 何志波 | Electronic spider buggy and infant vehicle |
| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
| CN104129449A (en) * | 2014-07-15 | 2014-11-05 | 昆明理工大学 | Hybrid-power all-terrain walking device |
| CN104354785A (en) * | 2014-10-27 | 2015-02-18 | 中北大学 | Bionic crab robot |
| CN204895642U (en) * | 2015-07-27 | 2015-12-23 | 湖州市千金宝云机械铸件有限公司 | Stable mobile robot |
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2015
- 2015-07-27 CN CN201510445814.0A patent/CN104986245A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005118938A (en) * | 2003-10-16 | 2005-05-12 | Sanyo Electric Co Ltd | Leg part mechanism for robot device |
| CN103171696A (en) * | 2013-04-12 | 2013-06-26 | 何志波 | Electronic spider buggy and infant vehicle |
| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
| CN104129449A (en) * | 2014-07-15 | 2014-11-05 | 昆明理工大学 | Hybrid-power all-terrain walking device |
| CN104354785A (en) * | 2014-10-27 | 2015-02-18 | 中北大学 | Bionic crab robot |
| CN204895642U (en) * | 2015-07-27 | 2015-12-23 | 湖州市千金宝云机械铸件有限公司 | Stable mobile robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476348A (en) * | 2015-12-23 | 2016-04-13 | 华尓嘉（泉州）机械制造有限公司 | Running model |
| CN108158483A (en) * | 2016-01-30 | 2018-06-15 | 李沁心 | A kind of cleaning equipment of glass curtain wall |
| CN108464776A (en) * | 2016-03-16 | 2018-08-31 | 烟台民望机电技术有限公司 | A kind of workshop automatic cleaning equipment |
| CN105857434A (en) * | 2016-04-27 | 2016-08-17 | 浙江腾荣环保科技有限公司 | Four-legged walking robot |
| CN106515875A (en) * | 2016-10-09 | 2017-03-22 | 深圳市安思科电子科技有限公司 | Intelligent transportation equipment for oil exploration |
| CN106515875B (en) * | 2016-10-09 | 2018-10-26 | 泉州台商投资区华林设计有限公司 | A kind of intelligent transport equipment for oil exploration |
| CN108556954A (en) * | 2018-04-16 | 2018-09-21 | 刘展 | A kind of robot running gear |
| CN108639184A (en) * | 2018-06-13 | 2018-10-12 | 辽宁石油化工大学 | A kind of novel bionic joint pedipulator |
| CN108639184B (en) * | 2018-06-13 | 2023-04-25 | 辽宁石油化工大学 | Novel bionic joint mechanical leg |
| CN109484511A (en) * | 2018-10-29 | 2019-03-19 | 国家电网有限公司 | A kind of Weight upstairs climbing machine |
| CN110500478A (en) * | 2019-07-15 | 2019-11-26 | 湘南学院 | A kind of supervision equipment adjusted using image frame light and shade |
| CN114572322A (en) * | 2021-12-15 | 2022-06-03 | 常州机电职业技术学院 | Bionic sea crab robot |
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Application publication date: 20151021 |