CN107414794A - A kind of three-shaft linkage motion structure of robot - Google Patents
A kind of three-shaft linkage motion structure of robot Download PDFInfo
- Publication number
- CN107414794A CN107414794A CN201710665203.6A CN201710665203A CN107414794A CN 107414794 A CN107414794 A CN 107414794A CN 201710665203 A CN201710665203 A CN 201710665203A CN 107414794 A CN107414794 A CN 107414794A
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- CN
- China
- Prior art keywords
- driver
- lower carriage
- cross axle
- shaft linkage
- chassis
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of three-shaft linkage motion structure of robot, including cross axle, X to driver, Y-direction driver, upper bracket, lower carriage and chassis, the upper bracket connection is arranged on the relative opposite end of the cross axle, lower carriage connection is arranged on the other both ends of the cross axle, the X drives the lower carriage to move to driver, the Y-direction driver drives the upper bracket motion, and the lower carriage is connected with the chassis；Abundant combination of actions can be realized by being acted on simultaneously by two motors on cross axle, it is possible to achieve acnemia is walked.And the design inspiration comes from penguin walking posture and swings principle, penguin swings to the left makes to the left take advantage of a situation of center of gravity lift right crus of diaphragm swing offset forward above the waist, otherwise swing makes to the right take advantage of a situation of center of gravity lift left foot swing offset forward to the right above the waist, the Q to be walked up to penguin sprouts sensation.
Description
Technical field
The invention belongs to robot field, the three-shaft linkage motion structure of especially a kind of robot.
Background technology
It is new along with emerging technologies such as internet, Artificial Intelligences with the continuous development of society and the continuous progress of technology
The development of emerging industry, all trades and professions are all occurring unprecedented great change, the particularly appearance of intelligent robot, penetrated into
, in children education field, also there is the figure of robot, instructs, educates by robot in the every aspect that we live
Children carry out the study of each side, also occur the robot of many related similar products on the market at present, but they are
Passive type, it is necessary to input certain program, set action is then completed according to program, is not had largely in use
The action of effect coordinates voice, and it is difficult the hobby and learning enthusiasm for provoking children to cause existing robot, and using effect is not
It is preferable, it is difficult to be promoted popularization and use, if can have a kind of motion of robot that ball shape robot can be realized in nothing
Leg state is realized by centre-of gravity shift and walked, and is nodded, is shaken the head, and the action such as turn-take, above mentioned problem can be readily solved.
The content of the invention
The present invention proposes a kind of three-shaft linkage motion structure of robot, realizes ball shape robot in acnemia state by weight
Heart skew realization is walked, and is nodded, is shaken the head, and the action such as turn-take, the present invention adopts the following technical scheme that：
The present invention provides a kind of three-shaft linkage motion structure of robot, including cross axle, X to driver, Y-direction driver, on
Support, lower carriage and chassis, the upper bracket connection are arranged on the relative opposite end of the cross axle, lower carriage connection
The other both ends of the cross axle are arranged on, the X drives the lower carriage to move to driver, the Y-direction driver driving
The upper bracket motion, the lower carriage are connected with the chassis.
As improvement of the present invention, in addition to Z-direction driver, the Z-direction driver is connected with the chassis.
As a further refinement of the present invention, the chassis is rolling chassis.
As a further refinement of the present invention, the lower carriage relative to the X to one end of driver be provided with X to
Gravity center shift inductor, the upper bracket are provided with Y-direction gravity center shift inductor relative to the other end of the Y-direction driver.
As a further refinement of the present invention, the cross axle and the X are to driver, Y-direction driver, X to center of gravity
Connected between variation sensing device and Y-direction gravity center shift inductor by bearing.
As a further refinement of the present invention, connected between the Z-direction driver and chassis by big bearing.
As a further refinement of the present invention, the X to driver, Y-direction driver, Z-direction driver be motor.
As a further refinement of the present invention, the X to gravity center shift inductor, Y-direction gravity center shift inductor be angle
Spend sensor or gyro sensor.
As a further refinement of the present invention, the upper bracket and lower carriage are made up of metal material.
The beneficial effects of the present invention are：Abundant action can be realized by being acted on simultaneously by two motors on cross axle
Combination, it is possible to achieve acnemia is walked.And the design inspiration comes from penguin walking posture and swings principle, penguin swings above the waist to the left
To the left take advantage of a situation of center of gravity is lifted right crus of diaphragm swing offset forward, on the contrary to the right swing above the waist make center of gravity it is to the right take advantage of a situation lift left foot to
Preceding swing offset, the Q to be walked up to penguin sprout sensation.
Brief description of the drawings
Fig. 1 is the stereogram of three-shaft linkage motion structure of the present invention；
Fig. 2 is the top view of three-shaft linkage motion structure cross axle of the present invention；
Fig. 3 is the action schematic diagram of three-shaft linkage motion structure of the present invention control walking.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Refer to Fig. 1, Fig. 2, a kind of three-shaft linkage motion structure for robot that the present embodiment provides, including cross axle 1,
To driver 2, Y-direction driver 3, Z-direction driver 4, upper bracket 5, lower carriage 6 and chassis 7, cross axle 1 is horizontal to be set X
Put, wherein motor or other power sources can be selected in driver, as long as can provide power source can all meet requirement,
It is not limited in motor this selection, upper bracket 5 is fixed on the relative opposite both ends of cross axle 1, and lower carriage 6 is fixed on cross axle
1 other both ends, upper bracket 5 can stationary machines human bodies（In order to embody the internal structure, therefore robot body not shown）；X
Lower carriage 6 is connected to driver 2, and in the other end of lower carriage 6 setting X to gravity center shift inductor 8, Y-direction motor 3 is connected and propped up
Frame 5, and Y-direction gravity center shift inductor 9, the wherein connecting base plate 7 of Z-direction driver 4, gravity center shift are set in the other end of upper bracket 5
Angular transducer or gyro sensor can be selected in inductor, as long as it can sense that its gravity center shift is all possible, not
It is only limitted to both；And become in cross axle 1 and X to driver 2, Y-direction driver 3, X to gravity center shift inductor 8 and Y-direction center of gravity
Connected by bearing 10 between change inductor 3, connected between Z-direction driver 4 and chassis 7 by big bearing 11.
The operation principle of this structure is as follows：X drives lower carriage 6 to act to driver 2 by cross axle 1, and then with motivation
Device human body moves forward and backward, and realizes the action nodded；Y-direction driver 3 drives upper bracket 5 to act by cross axle 1, and then band
Mobile robot side-to-side motion, realize the action shaken the head；By driving chassis 7 to move, realization rotates in place Z-direction driver 4
Action.And X is respectively positioned on cross axle 1 to gravity center shift inductor 8 and Y-direction gravity center shift inductor 9, accurately control
X is to driver 2 and the movement angle of Y-direction driver 3, and then the direction of control machine people motion and amplitude.
During using upper type as single motor self-movement, can be achieved single action, in the following manner be two or two with
Upper motor linkage, realizes composite move：Vacillated now to the left, now to the right as shown in figure 3, the control machine people of Y-direction driver 3 realizes, so as to produce weight
Heart skew tilts chassis, when X links to driver 2, Y-direction driver 3, controls the velocity of rotation and amplitude of corresponding motor,
It can be achieved that robot is drunk or the action such as tremble；When Z-direction driver 4, Y-direction driver 3 link, because of the left/right rotation of Z-direction driver 4
Move so as to realize movement forward, backward, to the left, to the right, realize effect on foot；When X is to driver 2, Y-direction driver 3 and Z
When being linked to driver 4, the action to move forward and backward of robot can be achieved.
The three-shaft linkage structure of the present invention, two motors act on simultaneously can realize abundant action group on cross axle
Close, it is possible to achieve acnemia is walked.And the design inspiration comes from penguin walking posture and swings principle, penguin swings to the left to be made above the waist
To the left take advantage of a situation of center of gravity lifts right crus of diaphragm swing offset forward, otherwise swing makes to the right take advantage of a situation of center of gravity lift left foot forward to the right above the waist
Swing offset, the Q to be walked up to penguin sprout sensation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (9)
- A kind of 1. three-shaft linkage motion structure of robot, it is characterised in that：Including cross axle（1）, X is to driver（2）, Y-direction Driver（3）, upper bracket（5）, lower carriage（6）And chassis（7）, the upper bracket（5）Connection is arranged on the cross axle（1）Phase To opposite end, the lower carriage（6）Connection is arranged on the cross axle（1）Other both ends, the X is to driver（2） Drive the lower carriage（6）Motion, the Y-direction driver（3）Drive the upper bracket（5）Motion, the lower carriage（6）With institute State chassis（7）Connection.
- A kind of 2. three-shaft linkage motion structure of robot according to claim 1, it is characterised in that：Also include Z-direction to drive Dynamic device（4）, the Z-direction driver（4）With the chassis（7）Connection.
- A kind of 3. three-shaft linkage motion structure of robot according to claim 1, it is characterised in that：The chassis（7） To roll chassis.
- A kind of 4. three-shaft linkage motion structure of robot according to claim 1, it is characterised in that：The lower carriage （6）Relative to the X to driver（2）One end be provided with X to gravity center shift inductor（8）, the upper bracket（5）Relative to The Y-direction driver（3）The other end be provided with Y-direction gravity center shift inductor（9）.
- A kind of 5. three-shaft linkage motion structure of robot according to claim 1, it is characterised in that：The cross axle （1）With the X to driver（2）, Y-direction driver（3）, X is to gravity center shift inductor（8）With Y-direction gravity center shift inductor（9） Between pass through bearing（10）Connection.
- A kind of 6. three-shaft linkage motion structure of robot according to claim 1, it is characterised in that：The Z-direction driving Device（4）With chassis（7）Between connected by big bearing.
- A kind of 7. three-shaft linkage motion structure of robot according to claim 1, it is characterised in that：The X is to driving Device（2）, Y-direction driver（3）, Z-direction driver（4）It is motor.
- A kind of 8. three-shaft linkage motion structure of robot according to claim 1, it is characterised in that：The X is to center of gravity Variation sensing device（8）, Y-direction gravity center shift inductor（9）For angular transducer or gyro sensor.
- A kind of 9. three-shaft linkage motion structure of robot according to claim 1, it is characterised in that：The upper bracket （5）And lower carriage（6）It is made up of metal material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710665203.6A CN107414794A (en) | 2017-08-07 | 2017-08-07 | A kind of three-shaft linkage motion structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710665203.6A CN107414794A (en) | 2017-08-07 | 2017-08-07 | A kind of three-shaft linkage motion structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107414794A true CN107414794A (en) | 2017-12-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710665203.6A Pending CN107414794A (en) | 2017-08-07 | 2017-08-07 | A kind of three-shaft linkage motion structure of robot |
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| Country | Link |
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| CN (1) | CN107414794A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894874A (en) * | 2021-01-25 | 2021-06-04 | 江西炫智教育科技有限公司 | Device for improving flexibility of intelligent robot manipulator |
| CN115123414A (en) * | 2022-06-22 | 2022-09-30 | 中国民航大学 | Hybrid drive mode spherical robot based on gyro stabilization principle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU422580A2 (en) * | 1972-05-04 | 1974-04-05 | В. Д. Абезгауз | MECHANISM OF THE HINGE OF MANIPULATORS P TB |
| US20100218626A1 (en) * | 2009-02-27 | 2010-09-02 | Love Lonnie J | Hydraulic Involute Cam Actuator |
| CN102009413A (en) * | 2010-11-02 | 2011-04-13 | 北京航空航天大学 | TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to ball motor |
| CN103112014A (en) * | 2013-02-22 | 2013-05-22 | 浙江工业大学 | Industrial robot joint |
| CN104760054A (en) * | 2015-04-10 | 2015-07-08 | 华北水利水电大学 | Orthorhombic three-freedom joint driven by pneumatic artificial muscles |
-
2017
- 2017-08-07 CN CN201710665203.6A patent/CN107414794A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU422580A2 (en) * | 1972-05-04 | 1974-04-05 | В. Д. Абезгауз | MECHANISM OF THE HINGE OF MANIPULATORS P TB |
| US20100218626A1 (en) * | 2009-02-27 | 2010-09-02 | Love Lonnie J | Hydraulic Involute Cam Actuator |
| CN102009413A (en) * | 2010-11-02 | 2011-04-13 | 北京航空航天大学 | TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to ball motor |
| CN103112014A (en) * | 2013-02-22 | 2013-05-22 | 浙江工业大学 | Industrial robot joint |
| CN104760054A (en) * | 2015-04-10 | 2015-07-08 | 华北水利水电大学 | Orthorhombic three-freedom joint driven by pneumatic artificial muscles |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894874A (en) * | 2021-01-25 | 2021-06-04 | 江西炫智教育科技有限公司 | Device for improving flexibility of intelligent robot manipulator |
| CN112894874B (en) * | 2021-01-25 | 2022-04-05 | 江西炫智教育科技有限公司 | Device for improving flexibility of intelligent robot manipulator |
| CN115123414A (en) * | 2022-06-22 | 2022-09-30 | 中国民航大学 | Hybrid drive mode spherical robot based on gyro stabilization principle |
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Application publication date: 20171201 |
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