CN108001562A - A kind of road walking robot of improvement - Google Patents
A kind of road walking robot of improvement Download PDFInfo
- Publication number
- CN108001562A CN108001562A CN201711426780.6A CN201711426780A CN108001562A CN 108001562 A CN108001562 A CN 108001562A CN 201711426780 A CN201711426780 A CN 201711426780A CN 108001562 A CN108001562 A CN 108001562A
- Authority
- CN
- China
- Prior art keywords
- crank
- rack
- strut
- supporting rod
- crushing
- 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.)
- Withdrawn
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 kind of road walking robot of improvement, including rack, the frame front rotates and is equipped with front support sole, the rack posterior rotation is equipped with rear support sole, the central rack is equipped with supporting rod straight down, the first crank and the second crank are interval with the vertical direction of the supporting rod, the length and rotation initial angle of first crank and the second crank are all identical, the outer end of first crank and the second crank is connected with the first strut, first strut is parallel to supporting rod, the first strut lower part extends downwardly and is vertically equipped with driving sole in its bottom, driving motor is additionally provided with the supporting rod.The robot of the present invention can realize walking function by the output of single motor, reasonable in design.Displaying device drives showing stand to realize comprehensive dynamic bandwagon effect by single main motor, has and becomes illusion effect, bandwagon effect is good, has practicality.
Description
Technical field
The present invention relates to robotic technology field, a kind of road walking robot of improvement is particularly related to.
Background technology
The walking mechanism complex structural designs of the prior art could drive robot to advance, it is necessary to which multiple motors coordinate, into
This height；In addition show that apparatus structure design is unreasonable, lack dynamic effect, it is necessary to improve.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of road walking robot of improvement, to solve existing skill
Walking mechanism complex structural designs in art could drive robot to advance, it is necessary to which multiple motors coordinate, of high cost；In addition displaying dress
It is unreasonable to put structure design, lacks dynamic effect, it is necessary to improved technical problem.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of road walking robot of improvement, including
Rack, the frame front, which rotates, is equipped with front support sole, and the rack posterior rotation is equipped with rear support sole, in the rack
Portion is equipped with supporting rod straight down, and the first crank and the second crank are interval with the vertical direction of the supporting rod, described
The length and rotation initial angle of first crank and the second crank are all identical, and the outer end of first crank and the second crank connects
The first strut is connected to, first strut is extended downwardly and hung down in its bottom parallel to supporting rod, the first strut lower part
Straight to be equipped with driving sole, the first crank, the second crank, supporting rod, the first strut constitute a parallelogram mechanism, described
Driving motor is additionally provided with supporting rod, the output shaft of the driving motor drives the first crank to rotate, and first crank rotates
Afterwards by the first strut drive driving sole periodically land with it is liftoff so that rack moves ahead, when the first crank handle turns first
When strut moves to highest point, driving sole is liftoff state, and front support sole and rear support sole are the state that lands, when first
When the first strut of crank handle turns moves to lowest point, driving sole to land state, front support sole and rear support sole be from
Ground state；
Displaying device is provided with by supporting rack in the rack, the displaying device includes the bottom of an equilateral triangle
Seat, the base are equipped with orbit portion, and the orbit portion includes triangle track and circuit orbit, and the circuit orbit is inscribed within
Triangle track, so as to be separated out disk area and three angle point areas on the base, each angle point area includes proximate base
Edge in two straight flanges of 60 ° of angles and an arc-shaped side in adjacent disk area, the center in the disk area is equipped with circular
First gear, the first gear are driven by main motor to rotate, and the orbit portion is equipped with showing stand, outside the showing stand
Circle is equipped with the second gear being meshed with the first gear, and the outer contour of the second gear is oval, the showing stand
Two bottom sides are respectively equipped with a slider guide so that the showing stand is slided along orbit portion, are set on every lateral edges of the base
There is a mounting groove, be equipped with mask device in the mounting groove, the mask device includes the first catch and the second catch, and described first
The front end of catch is equipped with arc head, and the medium position of the mask device is rotationally connected with the mounting groove, the mounting groove
Compression spring is equipped between the second catch so that the second catch is resisted against on angle point area side wall, when the showing stand is driven by first gear
Dynamic to be moved along triangle track, during by a wherein angle point area, the wherein slider guide on the showing stand oppresses the second catch
Give up the throne to mounting groove, so that the arc head of first catch is embedded at the disconnecting of triangle track and circuit orbit, make
Circuit orbit is in closed, so that another slider guide on the showing stand is moved along circuit orbit；
Reducing mechanism is additionally provided with the rack, the reducing mechanism includes the bottom plate being arranged in rack, the bottom plate
Upside is equipped with motor supporting table, and the upper end of the motor supporting table is provided with crushing motor, if being additionally provided with the upside of the bottom plate
Heavenly Stems and Earthly Branches column, the upper end of the pillar are equipped with crush box, and the downside of the crush box is equipped with discharge port, and the inside of the discharge port is left
Right both sides are equipped with ultraviolet lamp, and the lower end of the discharge port is equipped with material storing box, and the upper and lower part of the crush box is equipped with a powder
Broken shaft, described crushing shaft one end of lower part are connected with crushing the output terminal of motor, and the crushing shaft on top passes through biography
Band is sent to be connected with crushing motor, two described crush are equipped with some crushing knife tools on the outside of shaft, the crushing on top turns
The crushing knife tool of axis and the crushing knife tool of the crushing shaft of lower part shift to install, and the top of the crush box is equipped with charging
Pipe, the upper end of the feed pipe are equipped with feed hopper.
The 3rd crank being connected with the first crank, the branch are equipped with the supporting rod relative to the opposite side of the first crank
The 4th crank being connected with the second crank, the 3rd crank and the 4th song are equipped with strut relative to the opposite side of the second crank
The length and rotation initial angle of handle are all identical, and the outer end of the 3rd crank and the 4th crank is connected with the second strut.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, robot of the invention can realize walking function, structure design by the output of single motor
Rationally.Displaying device drives showing stand to realize comprehensive dynamic bandwagon effect by single main motor, has and becomes illusion effect,
Bandwagon effect is good, has practicality.
Brief description of the drawings
Fig. 1 is the layout of the present invention.
Fig. 2 is the stereogram of the rack section of the present invention.
Fig. 3 is the rearview of the rack section of the present invention.
Fig. 4 is the state diagram one of the rack section of the present invention.
Fig. 5 is the state diagram two of the rack section of the present invention.
Fig. 6 is the top view of the displaying device of the present invention.
Fig. 7 is the part-structure schematic diagram of the displaying device of the present invention.
Fig. 8 is the stereogram of the displaying device of the present invention.
Fig. 9 is the structure chart of the showing stand of the displaying device of the present invention.
Figure 10 is the view one of the displaying device of the present invention.
Figure 11 is the view two of the displaying device of the present invention.
Figure 12 is the structure chart of the reducing mechanism of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before left side is in Fig. 1, after right side is.
As shown in Figures 1 to 5, the embodiment of the present invention provides a kind of road walking robot of improvement, including rack
100, anterior rotate of the rack 100 is equipped with front support sole 31, and 100 posterior rotation of rack is equipped with rear support sole 32,
The middle part of rack 100 is equipped with supporting rod 33 straight down, and it is bent to be interval with first on the vertical direction of the supporting rod 33
34 and second crank 35 of handle, the length of 34 and second crank 35 of the first crank and to rotate initial angle all identical, described the
The outer end of one crank 34 and the second crank 35 is connected with the first strut 36, and first strut 36 is parallel to supporting rod 33, institute
State 36 lower part of the first strut extend downwardly and its bottom vertically be equipped with driving sole 37, the first crank 34, the second crank 35,
Supporting rod 33, the first strut 36 constitute a parallelogram mechanism, and driving motor is additionally provided with the supporting rod 33 and (is not schemed
Show), the output shaft of the driving motor drives the first crank 34 to rotate, and first crank 34 passes through the first strut 36 after rotating
Drive driving sole periodically land with it is liftoff so that rack 100 move ahead, when the first crank 34 drive the first strut 36 move
During to highest point, driving sole 37 is liftoff state, and front support sole 31 and rear support sole 32 are the state that lands, when the first song
When the first strut 36 of drive of handle 34 moves to lowest point, driving sole 37 is land state, front support sole 31 and rear support foot
Plate 32 is liftoff state；The to be connected with the first crank 34 is equipped with the supporting rod 33 relative to the opposite side of the first crank 34
Three cranks 38, the 4th crank being connected with the second crank 35 is equipped with the supporting rod 33 relative to the opposite side of the second crank 35
39, the length and rotation initial angle of the 3rd crank 38 and the 4th crank 39 are all identical, the 3rd crank 38 and the 4th
The outer end of crank 39 is connected with the second strut 40.
Shown in Fig. 1, the state that lands is at the same time for back and front supporting sole, the first crank and the second crank turn counterclockwise
Dynamic, driving sole just starts to contact to earth；With continued reference to Fig. 4, drive motor to drive the first crank to rotate counterclockwise at this time, drive sole
After contacting to earth completely, whole rack is jacked up, makes front support sole and rear support sole liftoff at the same time, drives sole to jack up at this time
Rack has driven forward a distance obliquely upward；With continued reference to Fig. 5, driving motor drives the first crank to continue rotation counterclockwise
Turn, after driving sole is in same level with front support sole, rear support sole, front support sole, rear support sole
Ground, rack start transfixion；When the first crank handle turns driving sole moves to Fig. 1 states, the dynamic of next circulation is carried out
Make.First crank rotates the complete periodically movement of formation in one week one, can the whole rack of used single driving motor drive
Travel forward.
As shown in Fig. 1, Fig. 6 to Fig. 9, displaying device 10, the exhibition are provided with by supporting rack 111 in the rack 100
Showing device 10 includes the base 11 of an equilateral triangle, and the base 11 is equipped with orbit portion 12, and the orbit portion 12 includes three
Angular track 121 and circuit orbit 122, triangle track 121 make arc transition, the circuit orbit 122 in its corner location
Triangle track 121 is inscribed within, so as to disk area 13 and three angle point areas 14 are separated out on the base 11, each angle point
Area 14 include proximate base edge in two straight flanges 141 of 60 ° of angles and an arc-shaped side 142 in adjacent disk area, two
Portion is connected and makees arc transition straight flange 141 at one end, the both ends of arc-shaped side 142 the other end phase with two straight flanges 141 respectively
Even, the center in the disk area 13 is equipped with circular first gear 15, and the first gear 15 is driven by main motor 16 to turn
Dynamic, the orbit portion 12 is equipped with showing stand 17, and 17 outer ring of showing stand is equipped with the to be meshed with the first gear 15
Two gears 18, the outer contour of the second gear 18 is ellipse, and 17 two bottom sides of showing stand are respectively equipped with a slide guide
Block 19 is so that the showing stand 17 is slided along orbit portion, and every lateral edges of the base 11 are equipped with mounting groove 20, such as Fig. 6 institutes
Show, when first gear 15 rotates counterclockwise, first gear 15 drives showing stand 17 counterclockwise to move, the mounting groove 20
Position be located at after showing stand 17 driven by first gear 15, that side in angle point area 14 is initially entered, in the mounting groove 20
Equipped with mask device 21, the mask device 21 is included in 211 He of the first catch for being posted by triangle track outer rim under normal conditions
The second catch 212 on angle point area side wall is posted by under normal conditions, the front end of first catch 211 are equipped with arc first 2111,
The medium position of the mask device 21 is rotationally connected with the mounting groove 20,20 and second catch 212 of mounting groove it
Between be equipped with compression spring 22 so that the second catch 212 on 14 side wall of angle point area is resisted against under normal conditions, when the showing stand 17 is by first
15 drives edge triangle track 121 of gear moves, during by a wherein angle point area 14, the wherein slide guide on the showing stand 17
Block 19 oppresses the second catch 212 and gives up the throne to mounting groove 20, so that the arc first 2111 of first catch 211 is embedded in triangle
At the disconnecting of shape track 121 and circuit orbit 122, it is in closed to make circuit orbit 122, so that another on the showing stand 17
Slider guide 19 is moved along circuit orbit 122.Display board 23 is equipped with showing stand 17 vertically.
As shown in Figure 10, the tow sides on three display boards are all represented with different letters, when first gear drives
After showing stand orbital motion, state as shown in figure 11 is can transform to, so circulation, which is gone down, can reach the effect of conversion displaying.
Its principle is, for showing stand when being moved on orbit portion, the slider guide on front side of direction of advance on showing stand is along periphery
Triangle track movement, the second catch of compressing makes it give up the throne to mounting groove, and the action of giving up the throne of the second catch at this time drives the
The arc head of one catch is embedded at the disconnecting of triangle track and circuit orbit, and it is in closed to make circuit orbit, so that described
Another slider guide on showing stand is moved along circuit orbit, and when showing stand is behind angle point area, another slider guide first passes through angle point
Area, therefore just there occurs 180 ° of upset, the display board established on showing stand will be realized to be transformed to by the displaying of positive content
The displaying of back side content, the billboard of dynamic mapping can more attract the notice of other people, reach the effect publicized widely.
As shown in figs. 1 and 12, reducing mechanism 7 is additionally provided with the rack 100, the reducing mechanism 7 includes being arranged on machine
Bottom plate 71 on frame 100, the upside of the bottom plate 71 are equipped with motor supporting table 72, and the upper end of the motor supporting table 72 is provided with
Motor 73 is crushed, the upside of the bottom plate 71 is additionally provided with some pillars 74, and the upper end of the pillar 74 is equipped with crush box 75, described
The downside of crush box 75 is equipped with discharge port 76, and ultraviolet lamp 77, the discharge port are equipped with left and right sides of the inside of the discharge port 76
76 lower end is equipped with material storing box 78, and the upper and lower part of the crush box 75 is equipped with a crushing shaft 79, the powder of lower part
Broken 79 one end of shaft is connected with crushing the output terminal of motor 73, and the crushing shaft 79 on top is electric with crushing by conveyer belt 80
Machine 73 connects, and two outsides for crushing shaft 79 are equipped with some crushing knife tools 81, the crushing shaft 79 on top
Crushing knife tool 81 and the crushing knife tool 81 of the crushing shaft 79 of lower part shift to install, the top of the crush box 75 be equipped with into
Expects pipe 82, the upper end of the feed pipe 82 are equipped with feed hopper 83.The crushing knife tool shifted to install can crush more thoroughly, carry
High crush efficiency.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of road walking robot of improvement, including rack, it is characterised in that the frame front, which rotates, is equipped with preceding branch
Spike plate, the rack posterior rotation are equipped with rear support sole, and the central rack is equipped with supporting rod straight down, the branch
The first crank and the second crank, length and the rotation of first crank and the second crank are interval with the vertical direction of strut
Initial angle is all identical, and the outer end of first crank and the second crank is connected with the first strut, and first strut is parallel
In supporting rod, the first strut lower part extends downwardly and driving sole is vertically equipped with its bottom, on the supporting rod also
Equipped with driving motor, the output shaft of the driving motor drives the first crank to rotate, and first crank passes through first after rotating
Strut drive driving sole periodically land with it is liftoff so that rack moves ahead；
Displaying device is provided with by supporting rack in the rack, the displaying device includes the base of an equilateral triangle, institute
State base and be equipped with orbit portion, the orbit portion includes triangle track and circuit orbit, and the circuit orbit is inscribed within triangle
Shape track, so as to be separated out disk area and three angle point areas on the base, each angle point area includes proximate base edge
Be equipped with circular first in two straight flanges of 60 ° of angles and an arc-shaped side in adjacent disk area, the center in the disk area
Gear, the first gear are driven by main motor to rotate, and the orbit portion is equipped with showing stand, and the showing stand outer ring is set
There is the second gear being meshed with the first gear, the outer contour of the second gear is oval, the showing stand bottom
Both sides are respectively equipped with a slider guide so that the showing stand is slided along orbit portion, and every lateral edges of the base are equipped with peace
Tankage, the mounting groove is interior to be equipped with mask device, and the mask device includes the first catch and the second catch, first catch
Front end be equipped with arc head, the medium position of the mask device is rotationally connected with the mounting groove, the mounting groove and
Compression spring is equipped between two catch so that the second catch is resisted against on angle point area side wall, when the showing stand is by first gear drives edge
Triangle track moves, and during by a wherein angle point area, the wherein slider guide on the showing stand oppresses the second catch and gives up the throne
To mounting groove, so that the arc head of first catch is embedded at the disconnecting of triangle track and circuit orbit, make circle
Track is in closed, so that another slider guide on the showing stand is moved along circuit orbit；
Reducing mechanism is additionally provided with the rack, the reducing mechanism includes the bottom plate being arranged in rack, the upside of the bottom plate
Equipped with motor supporting table, the upper end of the motor supporting table is provided with crushing motor, is additionally provided with the upside of the bottom plate several
Column, the upper end of the pillar are equipped with crush box, and the downside of the crush box is equipped with discharge port, the inside of the discharge port or so two
Side is equipped with ultraviolet lamp, and the lower end of the discharge port is equipped with material storing box, and the upper and lower part of the crush box is equipped with a crushing and turns
Axis, described crushing shaft one end of lower part are connected with crushing the output terminal of motor, and the crushing shaft on top passes through conveyer belt
It is connected with crushing motor, two described crush are equipped with some crushing knife tools on the outside of shaft, the crushing shaft on top
The crushing knife tool of the crushing shaft of crushing knife tool and lower part shifts to install, and the top of the crush box is equipped with feed pipe, institute
The upper end for stating feed pipe is equipped with feed hopper.
2. rack according to claim 1, it is characterised in that set on the supporting rod relative to the opposite side of the first crank
There is the 3rd crank being connected with the first crank, be equipped with and the second crank phase relative to the opposite side of the second crank on the supporting rod
The 4th crank even, the length of the 3rd crank and the 4th crank and to rotate initial angle all identical, the 3rd crank and
The outer end of 4th crank is connected with the second strut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711426780.6A CN108001562A (en) | 2017-12-26 | 2017-12-26 | A kind of road walking robot of improvement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711426780.6A CN108001562A (en) | 2017-12-26 | 2017-12-26 | A kind of road walking robot of improvement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108001562A true CN108001562A (en) | 2018-05-08 |
Family
ID=62061254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711426780.6A Withdrawn CN108001562A (en) | 2017-12-26 | 2017-12-26 | A kind of road walking robot of improvement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108001562A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109602179A (en) * | 2018-11-09 | 2019-04-12 | 安徽爱就爱家具制造有限公司 | A kind of shoe chest conveniently taking shoes |
| CN109847320A (en) * | 2019-01-18 | 2019-06-07 | 焦作大学 | A kind of sports remote control prompt device based on radio-frequency technique |
| CN111302004A (en) * | 2020-03-06 | 2020-06-19 | 熊星 | Movable automatic cement pouring device based on conveyor belt |
| CN113276981A (en) * | 2020-02-19 | 2021-08-20 | 广东博智林机器人有限公司 | Crawling vehicle and steel bar binding robot |
-
2017
- 2017-12-26 CN CN201711426780.6A patent/CN108001562A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109602179A (en) * | 2018-11-09 | 2019-04-12 | 安徽爱就爱家具制造有限公司 | A kind of shoe chest conveniently taking shoes |
| CN109847320A (en) * | 2019-01-18 | 2019-06-07 | 焦作大学 | A kind of sports remote control prompt device based on radio-frequency technique |
| CN113276981A (en) * | 2020-02-19 | 2021-08-20 | 广东博智林机器人有限公司 | Crawling vehicle and steel bar binding robot |
| CN113276981B (en) * | 2020-02-19 | 2022-06-17 | 广东博智林机器人有限公司 | Crawling vehicle and steel bar binding robot |
| CN111302004A (en) * | 2020-03-06 | 2020-06-19 | 熊星 | Movable automatic cement pouring device based on conveyor belt |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180508 |
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| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Chen Demei Document name: Notification of Approving Refund |