CN202463963U - Riding type four-footed walking robot - Google Patents
Riding type four-footed walking robot Download PDFInfo
- Publication number
- CN202463963U CN202463963U CN2012200761085U CN201220076108U CN202463963U CN 202463963 U CN202463963 U CN 202463963U CN 2012200761085 U CN2012200761085 U CN 2012200761085U CN 201220076108 U CN201220076108 U CN 201220076108U CN 202463963 U CN202463963 U CN 202463963U
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- crank
- feet
- frame
- robot
- driven
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- Expired - Fee Related
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Abstract
The utility model discloses a riding type four-footed walking robot, which comprises a frame (1), four feet (2), upper swinging rods (3), lower swinging rods (4), a pedal (5) and a crank (6), wherein the frame is the main body of the robot, and is used for sitting; the four feet (2) are hinged on four joints of the frame (1) respectively; the upper swinging rods (3) and the lower swinging rods (4) are led out of the upper parts and the lower parts of two feet; the swinging rods on the same side are hinged on the crank (6) on the same side; the crank (6) is driven by the pedal (5) which is driven by labor force; and the joints of each rod are connected by hinging. A person sitting on the frame (1) grips the upper swinging rods on both sides of the front side respectively with double hands, so that balance is maintained and the gravity center of the robot is adjusted. The crank (6) is driven to rotate in a revolving way by stepping on the pedal (5), so that the four feet are driven to swing forwards and backwards like walking, and the track is approximate to a forward oval. The moving ways of two feet on a diagonal line are the same, and two pairs of feet on two diagonal lines walk forward alternatively.
Description
Technical field
The utility model relates to a kind of riding type four feet walking robot, and specifically a kind of dependence manpower is trampled, and drives four-footed and does the robot of taking a step forward to move and advancing.
Background technology
Common robot mostly is the sufficient formula of wheel, the less appearance of robot of imitation animal walking attitude, and effect neither be very desirable, the four feet walking robot of a kind of riding type that the utility model proposes, and it is blank to have filled up part.
Summary of the invention
The riding type four feet walking robot that the utility model provides comprises frame (1), four-footed (2), last rocking bar (3), following rocking bar (4), pedal (5), crank (6), it is characterized in that; Frame is the main body of robot, supplies the people to take a seat, and four-footed (2) is articulated in four junctions of frame (1) respectively; Every leg is from two draw rocking bar (3) and following rocking bar (4) up and down again; The rocking bar of homonymy is hinged on the crank (6) of this side, and crank (6) is through being driven by manually driven pedal (5), and each junction, joint of bar is adopted hinged; Realized the action of taking a step of robot through six-bar mechanism; The diagonal line two legs unanimity of taking a step, two pairs of legs on two diagonal lines are alternately taken a step, and realize advancing.
The utility model is as relying on motor-driven, and center of gravity can't be adjusted, and desires to make it to steer a steady course, and paces are little, and it is high that frequency is wanted, but will reduce the stability of advancing like this.So the utility model adopts manpower to drive; Through the connection of pedals and pedal/crank drive system, only need think the same by bike pushes pedals, just can make that cornerwise two legs is in identical state of kinematic motion; So; Two pairs of cornerwise legs alternately take a step to advance, and in conjunction with artificial auxiliary adjustment center, can realize stable the advancing under the low-speed conditions.
Description of drawings
Fig. 1 is the utility model integral structure audio-visual picture.
Fig. 2 is the driving figure of the one-sided front and back of the utility model two legs.
Fig. 3 is the utility model birds-eye view.
The specific embodiment
As shown in Figure 1, a kind of riding type four feet walking robot comprises frame 1, four-footed 2, last rocking bar 3, following rocking bar 4, pedal 5, crank 6.Frame is the main body of robot; Supply the people to take a seat; Four-footed 2 is articulated in four junctions of frame 1 respectively, and every leg is from two draw rocking bar 3 and following rocking bar 4 up and down again, and the rocking bar of homonymy is hinged on the crank 6 of this side; Crank 6 is through being driven by manually driven pedal 5, and each junction, joint of bar is adopted hinged.
The preferred forms of the utility model is, the people is seated on the frame 1, and both hands are caught the last rocking bar on both sides, front side respectively, to keep self balance and to regulate the robot center of gravity.Through pin pushes pedals 5, drive crank 6 and do circumnutation, drive the action of taking a step that four-footed moves back and forth, its track is approximate ellipse forward.
The motion characteristics of combination of the utility model four-footed: for the front and back two legs of homonymy, owing to driven by same crank 6, so state of kinematic motion is opposite.According to design, the crank of the right and left just differs 180 ° towards on the contrary; So just make that two legs state of kinematic motion in front is opposite; For the two legs in the back also is so, and so, the motion of the two legs on the diagonal line is just fully synchronous.Therefore the utility model mode of advancing is that two cornerwise two pairs of legs are done alternately and taken a step, and is one-period for 360 ° with the pedal rotation, and the robot one-period stepped for two steps forward.
Claims (1)
1. a riding type four feet walking robot comprises frame (1), four-footed (2), last rocking bar (3), following rocking bar (4), pedal (5), crank (6), it is characterized in that; Frame is the main body of robot, supplies the people to take a seat, and four-footed (2) is articulated in four junctions of frame (1) respectively; Every leg is from two draw rocking bar (3) and following rocking bar (4) up and down again; The rocking bar of homonymy is hinged on the crank (6) of this side, and crank (6) is through being driven by manually driven pedal (5), and each junction, joint of bar is adopted hinged; Realized the action of taking a step of robot through six-bar mechanism; The diagonal line two legs unanimity of taking a step, two pairs of legs on two diagonal lines are alternately taken a step, and realize advancing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200761085U CN202463963U (en) | 2012-03-03 | 2012-03-03 | Riding type four-footed walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200761085U CN202463963U (en) | 2012-03-03 | 2012-03-03 | Riding type four-footed walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202463963U true CN202463963U (en) | 2012-10-03 |
Family
ID=46912147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200761085U Expired - Fee Related CN202463963U (en) | 2012-03-03 | 2012-03-03 | Riding type four-footed walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202463963U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802874A (en) * | 2014-01-26 | 2015-07-29 | 上海交通大学 | Four-foot rescue robot |
| CN104960590A (en) * | 2015-06-30 | 2015-10-07 | 湖州市千金宝云机械铸件有限公司 | Four-foot walking robot |
| CN104973162A (en) * | 2015-07-10 | 2015-10-14 | 陕西九立机器人制造有限公司 | Leg structure of leg robot |
-
2012
- 2012-03-03 CN CN2012200761085U patent/CN202463963U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802874A (en) * | 2014-01-26 | 2015-07-29 | 上海交通大学 | Four-foot rescue robot |
| CN104802874B (en) * | 2014-01-26 | 2017-03-15 | 上海交通大学 | Four-footed rescue robot |
| CN104960590A (en) * | 2015-06-30 | 2015-10-07 | 湖州市千金宝云机械铸件有限公司 | Four-foot walking robot |
| CN104973162A (en) * | 2015-07-10 | 2015-10-14 | 陕西九立机器人制造有限公司 | Leg structure of leg robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121003 Termination date: 20130303 |