CN109606499A - Miniature odex - Google Patents
Miniature odex Download PDFInfo
- Publication number
- CN109606499A CN109606499A CN201811288114.5A CN201811288114A CN109606499A CN 109606499 A CN109606499 A CN 109606499A CN 201811288114 A CN201811288114 A CN 201811288114A CN 109606499 A CN109606499 A CN 109606499A
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- China
- Prior art keywords
- odex
- crank
- motor
- fixed
- 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
- 230000005484 gravity Effects 0.000 claims abstract description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 230000007306 turnover Effects 0.000 claims description 27
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000003068 static effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 4
- 241001465754 Metazoa Species 0.000 description 2
- JWDYCNIAQWPBHD-UHFFFAOYSA-N 1-(2-methylphenyl)glycerol Chemical compound CC1=CC=CC=C1OCC(O)CO JWDYCNIAQWPBHD-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of miniature odexes, including motor, rack, crank, jackshaft, connecting rod, rocking bar, steering engine, weight.The pedestal of the steering engine is fixed on the rack, and steering engine can drive weight mobile, and weight can be the battery and other items of odex's carrying.Moving heavy object can change the position of odex's center of gravity, when odex creeps on the ground, when center of gravity is located on the left of odex's longitudinal axis, the average friction force between the leg and ground in left side is big, the leg in left side slides less on the ground, and odex bends to right；When center of gravity is located on the right side of odex's longitudinal axis, the average friction force between the leg and ground on right side is big, and the leg on right side slides less on the ground, and odex turns to the left.Climbing mechanism freedom degree of the present invention is few, and using motor six legs of drive, micromation easy to accomplish, turning implementation method is simple.
Description
Technical field
The present invention relates to robot field, specifically a kind of miniature odex.
Background technique
The development of robot technology has pushed robot in the application of every field, and in some cases, robot is
As indispensable equipment.When encountering uneven landform, the application of wheeled robot, caterpillar type robot is limited
System.The walking manner of some animals can adapt to uneven landform, and legged mobile robot is the machine using animal walking mode
People.It is developed there are many leg formula machine, such as Boston utility companies have developed " RHex " robot.
In the prior art, legged mobile robot has the following problems:
1, climbing mechanism freedom degree is more, causes power device quantity more, and robot is difficult to be miniaturized.
2, the implementation method turned is complicated.
Summary of the invention
The present invention in order to solve problems in the prior art, provides a kind of miniature odex, climbing mechanism freedom degree
Few, using motor six legs of drive, micromation easy to accomplish, turning implementation method is simple.
The present invention includes motor, rack, crank, jackshaft, connecting rod, rocking bar, steering engine, weight.
The motor is fixed on the rack, when odex it is static in the horizontal plane when, motor output shaft axis with
It odex's longitudinal axis orthogonal and is parallel to the horizontal plane, gear is fixed on motor output shaft.
The crank is connect by the first turn over pair with rack, and the first turn over secondary axis and motor output shaft axis are flat
Row；Gear is fixed on crank, the gear fixed on the crank in front is engaged with gear fixed on motor output shaft, intermediate
Fixed gear is engaged with gear fixed on motor output shaft on crank.The jackshaft passes through the second turn over pair and rack
Connection, the second turn over secondary axis are parallel with motor output shaft axis.It is fixed with gear on jackshaft, is fixed on intermediate crank
Gear is engaged with gear fixed on jackshaft, and fixed gear is engaged with gear fixed on jackshaft on the crank at rear.
Crank is connected by one end of third turn over pair and connecting rod, and third turn over secondary axis is parallel with motor output shaft axis.Connecting rod
One end extends, leg of the extended part as odex.The other end of connecting rod is connect by the first rotation pair with rocking bar, the
One rotation secondary axis is parallel with motor output shaft axis.Rocking bar is connect by the second rotation pair with rack, the second rotation secondary axis
It is parallel with motor output shaft axis.Crank, connecting rod, rocking bar, rack form crank and rocker mechanism.
Two connecting rods in front pass through a third turn over pair respectively and the crank in front connects, two intermediate connecting rods point
Not Tong Guo a third turn over pair connect with intermediate crank, two connecting rods at rear pass through respectively a third turn over pair and after
The crank connection of side.When the motor rotates, the crank in front, intermediate crank, the crank rotation direction at rear are consistent, rotation speed
Spend identical, the opposite in phase of two link motions in front, the opposite in phase of two intermediate link motions, two companies at rear
The opposite in phase of bar movement, the opposite in phase of the connecting rod in front of left side and the link motion among left side, the connecting rod in front of left side
It is identical with the phase of the link motion at left side rear.
The pedestal of the steering engine is fixed on the rack, and steering engine can drive weight mobile, and weight can be six leg machines
The battery and other items that people carries.Moving heavy object can change the position of odex's center of gravity, when odex on the ground
When creeping, when center of gravity is located on the left of odex's longitudinal axis, the average friction force between the leg and ground in left side is big, left side
Leg slides less on the ground, and odex bends to right；When center of gravity is located on the right side of odex's longitudinal axis, the leg on right side
Average friction force between ground is big, and the leg on right side slides less on the ground, and odex turns to the left.
The beneficial effects of the invention are that:
1, odex's climbing mechanism freedom degree is few, drives six legs, micromation easy to accomplish using a motor.
2, odex turning implementation method is simple.
Detailed description of the invention
Fig. 1 is axonometric drawing of the invention.
Fig. 2 is left view of the invention.
Fig. 3 is the axonometric drawing of motor of the present invention.
Fig. 4 is the axonometric drawing of the frame of the invention.
Fig. 5 is the axonometric drawing of crank of the present invention.
Fig. 6 is the axonometric drawing of jackshaft of the present invention.
Fig. 7 is the axonometric drawing of connecting rod of the present invention.
Fig. 8 is the axonometric drawing of rocking bar of the present invention.
Fig. 9 is the axonometric drawing of steering engine of the present invention.
Figure 10 is the axonometric drawing of weight of the present invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
The present invention provides a kind of miniature odexes, as shown in Figure 1 and Figure 2.The odex includes motor 1, machine
Frame 2, crank 3, jackshaft 4, connecting rod 5, rocking bar 6, steering engine 7, weight 8.The motor 1 is fixed in rack 2, when six leg machines
People it is static in the horizontal plane when, 1 output shaft axis of motor and odex's longitudinal axis orthogonal and be parallel to the horizontal plane, motor
Gear is fixed on 1 output shaft.Motor 1 is as shown in figure 3, rack 2 is as shown in Figure 4.
The crank 3 is connect by the first turn over pair with rack 2, the first turn over secondary axis and 1 output shaft axis of motor
In parallel.Crank 3 is as shown in Figure 5.Gear is fixed on crank 3, on the crank 3 in front on the gear and 1 output shaft of motor of fixation
Fixed gear engages, and fixed gear is engaged with gear fixed on 1 output shaft of motor on intermediate crank 3.In described
Between axis 4 connect with rack 2 by the second turn over pair, the second turn over secondary axis is parallel with 1 output shaft axis of motor.Jackshaft 4 is such as
Shown in Fig. 6.Gear is fixed on jackshaft 4, the gear fixed on intermediate crank 3 is engaged with gear fixed on jackshaft 4,
Fixed gear is engaged with gear fixed on jackshaft 4 on the crank 3 at rear.Crank 3 passes through third turn over pair and connecting rod 5
One end connection, third turn over secondary axis are parallel with 1 output shaft axis of motor.Connecting rod 5 is as shown in Figure 7.One end of connecting rod 5 extends,
Leg 9 of the extended part as odex.The other end of connecting rod 5 is connect by the first rotation pair with rocking bar 6, the first rotation
Secondary axis is parallel with 1 output shaft axis of motor.Rocking bar 6 is as shown in Figure 8.Rocking bar 6 is connect by the second rotation pair with rack 2, the
Two rotation secondary axis are parallel with 1 output shaft axis of motor.Crank 3, connecting rod 5, rocking bar 6, rack 2 form crank and rocker mechanism.
Two connecting rods 5 in front are connected by the crank 3 in a third turn over pair and front respectively, two intermediate connecting rods
5 are connect by a third turn over pair with intermediate crank 3 respectively, and two connecting rods 5 at rear pass through a third turn over respectively
Pair is connect with the crank 3 at rear.When motor 1 rotates, the crank 3 in front, intermediate crank 3, rear 3 rotation direction of crank
Unanimously, velocity of rotation is identical, the opposite in phase of two connecting rods 5 movement in front, the phase phase of intermediate two connecting rods 5 movement
Instead, the opposite in phase of two connecting rods 5 movement at rear, the phase phase that the connecting rod 5 in front of left side and the connecting rod 5 among left side move
Instead, the phase that the connecting rod 5 in front of left side and the connecting rod 5 at left side rear move is identical.
The pedestal of the steering engine 7 is fixed in rack 2.Steering engine 7 is as shown in Figure 9.Steering engine 7 can drive weight 8 mobile,
Weight 8 can be the battery and other items of odex's carrying.Weight 8 is as shown in Figure 10.Moving heavy object 8 can change six leg machines
The position of device people's center of gravity, it is left when center of gravity is located on the left of odex's longitudinal axis when odex creeps on the ground
Average friction force between the leg 9 of side and ground is big, and the leg 9 in left side slides less on the ground, and odex can bend to right；
When center of gravity is located on the right side of odex's longitudinal axis, the average friction force between the leg 9 on right side and ground is big, and the leg 9 on right side exists
It is slided less on ground, odex can turn to the left.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of miniature odex, it is characterised in that: including motor (1), rack (2), crank (3), jackshaft (4), connect
Bar (5), rocking bar (6), steering engine (7), weight (8)；
The motor (1) is fixed on rack (2), when odex it is static in the horizontal plane when, motor (1) output shaft axis
It line and odex's longitudinal axis orthogonal and is parallel to the horizontal plane, is fixed with gear on motor (1) output shaft；
The crank (3) is connect by the first turn over pair with rack (2), the first turn over secondary axis and motor (1) output shaft axis
Line is parallel；Gear, the tooth fixed on the gear and motor (1) output shaft fixed on the crank (3) in front are fixed on crank (3)
Wheel engages, and fixed gear is engaged with gear fixed on motor (1) output shaft on intermediate crank (3)；The jackshaft
(4) it is connect by the second turn over pair with rack (2), the second turn over secondary axis is parallel with motor (1) output shaft axis；Jackshaft
(4) gear is fixed on, the gear fixed on intermediate crank (3) is engaged with gear fixed on jackshaft (4), the song at rear
Fixed gear is engaged with gear fixed on jackshaft (4) on handle (3)；Crank (3) passes through third turn over pair and connecting rod (5)
One end connection, third turn over secondary axis are parallel with motor (1) output shaft axis；The other end of connecting rod (5) passes through the first rotation pair
It is connect with rocking bar (6), the first rotation secondary axis is parallel with motor (1) output shaft axis；Rocking bar (6) passes through the second rotation pair and machine
Frame (2) connection, the second rotation secondary axis are parallel with motor (1) output shaft axis；Crank (3), connecting rod (5), rocking bar (6), rack
(2) crank and rocker mechanism is formed；
Two connecting rods (5) in front are connected by the crank (3) in a third turn over pair and front respectively, two intermediate connecting rods
(5) it is connect respectively by third turn over pair with intermediate crank (3), two connecting rods (5) at rear pass through one the respectively
The connection of the crank (3) at three turn over pairs and rear；When motor (1) rotation, the crank (3) in front, intermediate crank (3), rear
Crank (3) rotation direction it is consistent, velocity of rotation is identical, the opposite in phase of two connecting rods (5) in front movement, intermediate two
The opposite in phase of connecting rod (5) movement, the opposite in phase of two connecting rods (5) movement at rear, connecting rod (5) and left side in front of left side
The opposite in phase of intermediate connecting rod (5) movement, the phase phase that the connecting rod (5) of connecting rod (5) and left side rear in front of left side moves
Together；
The pedestal of the steering engine (7) is fixed on rack (2)；Drive weight (8) are mobile to change six leg machines by steering engine (7)
The position of people's center of gravity, when odex creeps on the ground, when center of gravity is located on the left of odex's longitudinal axis, six legs
Robot bends to right；When center of gravity is located on the right side of odex's longitudinal axis, odex turns to the left.
2. miniature odex according to claim 1, it is characterised in that: one end of the connecting rod (5) extends, and prolongs
Leg (9) of the long part as odex.
3. miniature odex according to claim 1, it is characterised in that: the weight (8) is odex
The battery of carrying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811288114.5A CN109606499B (en) | 2018-10-31 | 2018-10-31 | Miniature six-leg robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811288114.5A CN109606499B (en) | 2018-10-31 | 2018-10-31 | Miniature six-leg robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109606499A true CN109606499A (en) | 2019-04-12 |
| CN109606499B CN109606499B (en) | 2024-07-05 |
Family
ID=66002066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811288114.5A Active CN109606499B (en) | 2018-10-31 | 2018-10-31 | Miniature six-leg robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109606499B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910030A (en) * | 2019-04-23 | 2019-06-21 | 河海大学常州校区 | A kind of robot based on planar linkage mechanism |
| CN110228546A (en) * | 2019-06-17 | 2019-09-13 | 河海大学常州校区 | A kind of simulating crawling robot |
| CN111846004A (en) * | 2020-07-21 | 2020-10-30 | 李荣仲 | Four-footed robot dog with gravity center adjustment mechanism |
| CN115649319A (en) * | 2022-11-21 | 2023-01-31 | 成都理工大学 | Bionic mechanical ant search and rescue robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006122434A (en) * | 2004-10-29 | 2006-05-18 | Tomy Co Ltd | Run toy |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN204713234U (en) * | 2015-04-13 | 2015-10-21 | 佳木斯大学 | Restructural multi-foot robot |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
| CN209080041U (en) * | 2018-10-31 | 2019-07-09 | 南京航空航天大学 | Miniature odex |
-
2018
- 2018-10-31 CN CN201811288114.5A patent/CN109606499B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006122434A (en) * | 2004-10-29 | 2006-05-18 | Tomy Co Ltd | Run toy |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN204713234U (en) * | 2015-04-13 | 2015-10-21 | 佳木斯大学 | Restructural multi-foot robot |
| CN206344902U (en) * | 2016-12-29 | 2017-07-21 | 潍坊歌尔电子有限公司 | Single-drive four feet robot mechanism |
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN209080041U (en) * | 2018-10-31 | 2019-07-09 | 南京航空航天大学 | Miniature odex |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109910030A (en) * | 2019-04-23 | 2019-06-21 | 河海大学常州校区 | A kind of robot based on planar linkage mechanism |
| CN109910030B (en) * | 2019-04-23 | 2021-05-07 | 河海大学常州校区 | Robot based on plane link mechanism |
| CN110228546A (en) * | 2019-06-17 | 2019-09-13 | 河海大学常州校区 | A kind of simulating crawling robot |
| CN111846004A (en) * | 2020-07-21 | 2020-10-30 | 李荣仲 | Four-footed robot dog with gravity center adjustment mechanism |
| CN115649319A (en) * | 2022-11-21 | 2023-01-31 | 成都理工大学 | Bionic mechanical ant search and rescue robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109606499B (en) | 2024-07-05 |
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