CN202669950U - Universal shifter of four-leg robot - Google Patents
Universal shifter of four-leg robot Download PDFInfo
- Publication number
- CN202669950U CN202669950U CN 201220360756 CN201220360756U CN202669950U CN 202669950 U CN202669950 U CN 202669950U CN 201220360756 CN201220360756 CN 201220360756 CN 201220360756 U CN201220360756 U CN 201220360756U CN 202669950 U CN202669950 U CN 202669950U
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- steering wheel
- vertical
- robot
- frame
- lateral rotation
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Abstract
The utility model discloses a universal shifter of a four-leg robot, and is characterized in that four transverse steering engines are arranged on a mounting base, tillers of the transverse steering engines are connected with transverse rotating frames, each of the transverse rotating frames is provided with a vertical rotating frame, steering engines of vertical steering engines on vertical steering engine mounting frames are connected with the vertical rotating frames, and four transverse steering engines and four vertical steering engines are connected with a controller of a robot through leads. By adopting the structure, the universal shifter of the four-leg robot is rotated at a large angle and is moved to all directions without turning, and the universal shifter, provided by the utility model, has the advantages of reasonable design, simple structure, good flexibility, good stability, and the like, and can be popularized and applied on the robot.
Description
Technical field
The utility model belongs to the Robotics field, is specifically related to the device that quadruped robot can move to any direction.
Background technology
Robot has been widely used in the productive life, the attendant that is arranged on hotel, dining room is arranged, the machine operation people in inflammable blast, dangerous operation place, is family's cleaning robot, toy robot etc.In the series of products of robot, quadruped robot is subjected to numerous scholars' great attention deeply with its unique advantage, but quadruped robot in the process of walking, and stability is wayward, is difficult to realize the gaits such as flexibly turning, does not therefore also deeply use.Therefore, the urgent technical matters that solves of the current need of quadruped robot is to design preferably direction movement device of a kind of alerting ability, stability.
Summary of the invention
Technical problem to be solved in the utility model is to overcome above-mentioned quadruped robot stability and the relatively poor shortcoming of alerting ability, provide a kind of reasonable in design, simple in structure, alerting ability is good, the direction movement device of the quadruped robot of good stability.
Solving the problems of the technologies described above the technical scheme that adopts is: be provided with 4 horizontal steering wheels at mount pad, laterally the steering wheel of steering wheel connects with the lateral rotation frame, on each lateral rotation frame the vertical rotating frame is set, the steering wheel that is arranged on the vertical steering wheel on the vertical steering wheel erecting frame connects with the vertical rotating frame, and 4 horizontal steering wheels link to each other with the controller of robot by wire with 4 vertical steering wheels.
The line of centers of horizontal steering wheel output shaft of the present utility model is positioned on the same circumference and evenly distributes.
Vertical rotating frame of the present utility model is perpendicular in different planes from the lateral rotation frame, and the output shaft line of centers of vertical steering wheel is mutually vertical in Different Plane with the output shaft line of centers of horizontal steering wheel.
The rectangular frame structure that is shaped as opening of the shape of lateral rotation frame of the present utility model and vertical rotating frame.
The utility model employing equal section in the Transverse plane of mount pad arranges 4 horizontal steering wheels, with on the vertical rotating frame that the lateral rotation frame connects vertical steering wheel is set, the output shaft of vertical steering wheel is mutually vertical in Different Plane with the output shaft of horizontal steering wheel, laterally steering wheel links to each other with the controller of robot by wire with vertical steering wheel, controller is according to the program of prior setting, control horizontal steering wheel and vertical steering wheel rotation, so that robot can move to any direction, solved the shortcoming of existing quadruped robot poor stability, very flexible.The utlity model has reasonable in design, simple in structure, the advantages such as alerting ability is good, good stability, can promote the use of at robot.
Description of drawings
Fig. 1 is the structural representation of an embodiment of the utility model.
Among the figure, 1 is that mount pad, 2 is that horizontal steering wheel, 3 is that lateral rotation frame, 4 is that vertical rotating frame, 5 is that vertical steering wheel, 6 is vertical steering wheel erecting frame.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further described, but the utility model is not limited to these embodiment.
In Fig. 1, the direction movement device of the quadruped robot of the present embodiment is made of mount pad 1, horizontal steering wheel 2, lateral rotation frame 3, vertical rotating frame 4, vertical steering wheel 5,6 connections of vertical steering wheel erecting frame.
The present embodiment mount pad 1 be shaped as four-prism, at four angles of mount pad 1 with uniform 4 the horizontal steering wheels 2 that have been fixedly connected of screw threads for fastening connector, laterally the model of steering wheel 2 is SH14-M, is sold by Beijing Sen Han Science and Technology Ltd., also can adopt the steering wheel of other model.Laterally the line of centers of steering wheel 2 output shafts is positioned on the same circumference and evenly distributes, central angle between the output shaft line of centers of a horizontal steering wheel 2 and the output shaft line of centers of an adjacent horizontal steering wheel 2 is 90 °, 4 horizontal steering wheels 2 link to each other with the controller of robot by wire, by the controller of the robot program according to prior setting, control horizontal steering wheel 2 and power connection or disconnection, realize that 4 foots any direction in Transverse plane of control rotates.With uniform being fixedly connected of screw threads for fastening connector 1 lateral rotation frame 3 is installed on the steering wheel of each horizontal steering wheel 2, the rectangular frame structure that is shaped as opening of lateral rotation frame 3, laterally steering wheel 2 lateral rotation drive lateral rotation frame 3 lateral rotation, i.e. the horizontal direction left-right rotation.On each lateral rotation frame 3 with the screw threads for fastening connector vertical rotating frame 4 that has been fixedly connected, the rectangular frame structure that is shaped as opening of vertical rotating frame 4, vertical rotating frame 4 is perpendicular in different planes from lateral rotation frame 3, vertical steering wheel 5 is installed on the vertical rotating frame 4, model is SH14M, sold by Beijing Sen Han Science and Technology Ltd., the steering wheel of vertical steering wheel 5 is fixedly connected with screw threads for fastening connector and vertical rotating frame 4, vertical steering wheel 5 usefulness screw threads for fastening connectors are fixedly connected on vertical steering wheel erecting frame 6, the output shaft line of centers of vertical steering wheel 5 is mutually vertical in Different Plane with the output shaft line of centers of horizontal steering wheel 2, vertical steering wheel 5 rotates up and down, driving vertical steering wheel erecting frame 6 rotates up and down, 4 vertical steering wheels 5 link to each other with the controller of robot by wire, by the controller of the robot program according to prior setting, control vertical steering wheel 5 and power connection or disconnection, realize that 4 foots any direction in vertical plane of control rotates.The direction movement device of the quadruped robot of this structure, solved the shortcoming of existing quadruped robot poor stability, very flexible, compare with the mobile device of existing quadruped robot, the utlity model has kind of reasonable in design, simple in structure, the advantages such as alerting ability is good, good stability, can promote the use of at robot.
Claims (4)
1. the direction movement device of a quadruped robot, be provided with 4 horizontal steering wheels (2) at mount pad (1), laterally the steering wheel of steering wheel (2) connects with lateral rotation frame (3), on each lateral rotation frame (3) vertical rotating frame (4) is set, the steering wheel that is arranged on the vertical steering wheel (5) on the vertical steering wheel erecting frame (6) connects with vertical rotating frame (4), and 4 horizontal steering wheels (2) link to each other with the controller of robot by wire with 4 vertical steering wheels (5).
2. according to claim 1 the direction movement device of quadruped robot, it is characterized in that: the line of centers of described horizontal steering wheel (2) output shaft is positioned on the same circumference and evenly distributes.
3. according to claim 1 the direction movement device of quadruped robot, it is characterized in that: described vertical rotating frame (4) is perpendicular in different planes from lateral rotation frame (3), and the output shaft line of centers of vertical steering wheel (5) is mutually vertical in Different Plane with the output shaft line of centers of horizontal steering wheel (2).
4. it is characterized in that: the rectangular frame structure that is shaped as opening of the shape of described lateral rotation frame (3) and vertical rotating frame (4) according to claim 1 or the direction movement device of 3 described quadruped robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220360756 CN202669950U (en) | 2012-07-25 | 2012-07-25 | Universal shifter of four-leg robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220360756 CN202669950U (en) | 2012-07-25 | 2012-07-25 | Universal shifter of four-leg robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202669950U true CN202669950U (en) | 2013-01-16 |
Family
ID=47490874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220360756 Expired - Fee Related CN202669950U (en) | 2012-07-25 | 2012-07-25 | Universal shifter of four-leg robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202669950U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176146A (en) * | 2014-09-17 | 2014-12-03 | 哈尔滨理工大学 | Toe-supporting type quadruped robot with climbing, grabbing and excavating functions |
| CN104443107A (en) * | 2014-12-26 | 2015-03-25 | 浙江工业大学 | Cross quadruped robot |
| CN107813323A (en) * | 2017-11-29 | 2018-03-20 | 成都大学 | A kind of bionic type ant robot |
-
2012
- 2012-07-25 CN CN 201220360756 patent/CN202669950U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176146A (en) * | 2014-09-17 | 2014-12-03 | 哈尔滨理工大学 | Toe-supporting type quadruped robot with climbing, grabbing and excavating functions |
| CN104176146B (en) * | 2014-09-17 | 2016-03-30 | 哈尔滨理工大学 | A kind of finger support type quadruped robot with climbing crawl and data mining duty |
| CN104443107A (en) * | 2014-12-26 | 2015-03-25 | 浙江工业大学 | Cross quadruped robot |
| CN107813323A (en) * | 2017-11-29 | 2018-03-20 | 成都大学 | A kind of bionic type ant robot |
| CN107813323B (en) * | 2017-11-29 | 2024-03-19 | 成都大学 | Bionic ant 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: 20130116 Termination date: 20130725 |