CN202920974U - Turnable quadruped robot - Google Patents
Turnable quadruped robot Download PDFInfo
- Publication number
- CN202920974U CN202920974U CN 201220330740 CN201220330740U CN202920974U CN 202920974 U CN202920974 U CN 202920974U CN 201220330740 CN201220330740 CN 201220330740 CN 201220330740 U CN201220330740 U CN 201220330740U CN 202920974 U CN202920974 U CN 202920974U
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Abstract
The utility model discloses a turnable quadruped robot. The head portion, the front body, the middle body, the rear body and the tail portion of the robot are connected through rotation pairs, parallel vertical lateral plates are fixed on two sides of the head portion, three sections of the bodies and the tail portion, shoulders are fixed on two sides of the front body and the rear body and are connected with four legs of the same structure, a servo motor can control all components to generate deflection motion, the outer edges of the arc lateral plates of all components are in tangent states, and the robot is wholly of a round structure and can roll along the longitudinal direction of the body. The upper sides of the shoulders and the outer sides of the thighs and the cruses are in arc shapes, the robot is wholly of a similar round structure, and the robot can laterally roll along the body. The turnable quadruped robot combines the characteristics of a foot type walking robot and a spherical rolling robot so as to have the advantages of being strong in adaptability like the foot type walking robot and being stable in running and quick in speed like the spherical rolling robot.
Description
Technical field
The utility model relates to a kind of legged type robot with multistage trunk structure of circular arc profile, specifically, relates to a kind of four-footed walking robot with rolling ability.
Background technology
Disclose a kind of ball shape robot that can independently roll among the patent of invention CN1295907A, this robot has the profile of ball shape, can be under the driving of built-in motor rolling flip.And it is fast to have movement velocity, the characteristics that running status is steady and energy consumption is little.But compare with sufficient formula walking robot, this robot can only move on the ground of opposed flattened, for the adaptability of different terrain a little less than.
Existing disclosed document, in " for the roller biped quasistatic of circular robot roll control " (" 2008 IEEE robot and automation international conference " paper), a kind of disc type rolling robot is disclosed, this rolling robot can fold all parts joint of health, form a disc-shape and roll, also can carry out the biped walking.But this robot compares with quadruped robot, locomotor activity a little less than.
At present, most legged type robot adopts the body structure of rigidity, and whole trunk is rigid unitary; Such robot motion's very flexible, the scope of activities of health each several part is also less.
The utility model content
For fear of the deficiency that prior art exists, overcome legged type robot in the body structure motion very flexible that adopts rigidity, the little problem of scope of activities in each parts joint of body.The utility model proposes a kind of quadruped robot that rolls, its objective is that the feature with sufficient formula walking robot and spherical rolling robot combines, both had the legged type robot strong adaptability, had again stable, the fireballing double dominant of spherical rolling robot.
The technical scheme that its technical problem that solves the utility model adopts is: comprise head, front trunk, middle trunk, rear trunk, afterbody, shoulder, thigh, shank;
The both sides of head, front trunk, middle trunk, rear trunk and afterbody are provided with the upright side plate that is parallel to each other separately, and outer rim is circular arc on the side plate; Shoulder is fixed on the both sides of front trunk and rear trunk, and the shank identical with four structures connects; Produce yaw motion between each parts of driven by servomotor, each parts circular arc side plate outer rim is in tangent state;
The upright side plate of described head is fixed on the rectangular box both sides, and two upright side plate rear end lower are provided with symmetrical axis hole, and head and front trunk are connected;
Described front trunk is two identical parts of structure with described rear trunk, the upright side plate of front trunk, rear trunk is separately fixed at two rectangular box both sides, the front end of two rectangular box is provided with the square boss fixed rotating shaft, the cuboid of the rear end of rectangular box for protruding, the front portion is provided with fixed rotating shaft; The upright side plate of described middle trunk is fixed on the interior lining panel of H shape, and the rear and front end is provided with symmetrical axis hole; Front trunk and rear trunk are connected with the two ends of middle trunk respectively;
The upright side plate of described afterbody is fixed on the interior lining panel of spill, and front end is provided with symmetrical axis hole, the solid company of the front end of afterbody and rear quarters;
Described shoulder is rectangular box, and the outside of top ends is provided with the circular arc side plate, and the lower end is provided with rotating shaft and the thigh upper end is connected;
Described thigh is H shape plate, and two ends are provided with symmetrical axis hole, and a side of thigh is provided with the circular arc side plate; Thigh upper end and shoulder are connected, and the thigh bottom is connected with the shank upper end;
Fixed installation servomotor in the rectangular box of front trunk and rear trunk and both sides shoulder drives rotating shaft by gear drive and rotates.
Robot at first folds shank, is prostrate state; And control servomotor, make between head, front trunk, middle trunk, rear trunk and each parts of afterbody and produce yaw motion, make each parts circular arc side plate outer rim be in tangent state, the integral body of robot forms a complete circular configuration, realizes rolling longitudinally along health.The outside of shoulder upside, thigh and shank is arc-shaped structure, and the integral body of robot is a sub-circular structure, realizes that robot is along the side rolling of health.
Beneficial effect
The utility model quadruped robot that can roll, the characteristics of sufficient formula walking robot and spherical rolling robot are combined, adopt revolute pair to connect between the head of robot, front trunk, middle trunk, rear trunk and the afterbody, the upright side plate that the both sides of head and three sections trunk bodies and afterbody fixedly are parallel to each other, outer rim is circular arc on the side plate; Shoulder is fixed on the both sides of front trunk and rear trunk, and the shank identical with four structures connects; Servomotor is controlled between each parts and is produced yaw motion, and each parts circular arc side plate outer rim is in tangent state; Robot adopts the mode of four-footed walking in uneven unstructuredness terrain environment; In comparatively smooth landform, adopt the method for operation of rolling.Both had the adaptable characteristics of legged type robot, had again stable, the fireballing advantage of spherical rolling robot.
Description of drawings
Below in conjunction with drawings and embodiments a kind of quadruped robot that rolls of the utility model is described in further detail.
Fig. 1 is the utility model structure quadruped robot schematic diagram that can roll.
Fig. 2 is the utility model structure quadruped robot side view that can roll.
Fig. 3 is the utility model structure quadruped robot top view that can roll.
Fig. 4 is the utility model quadruped robot rolling stereogram of bunching up the body that can roll.
Fig. 5 is the utility model quadruped robot integral body side view of bunching up the body that can roll.
Fig. 6 is the utility model whole front view of quadruped robot that can roll.
Fig. 7 is front trunk schematic diagram of the present utility model.
Fig. 8 is middle trunk schematic diagram of the present utility model.
Fig. 9 is head schematic diagram of the present utility model.
Figure 10 is afterbody schematic diagram of the present utility model.
Figure 11 is shoulder schematic diagram of the present utility model.
Figure 12 is thigh of the present utility model and shank connection diagram.
Among the figure:
1. trunk 4. rear trunk 5. afterbodys in the head 2. front trunks 3.
6. shoulder 7. thighs 8. shanks
The specific embodiment
Present embodiment is a kind of quadruped robot that rolls.
Consult Fig. 1, Fig. 2, Fig. 3, the utility model quadruped robot that can roll is comprised of head 1, front trunk 2, middle trunk 3, rear trunk 4, afterbody 5, shoulder 6, thigh 7, shank 8 and servomotor; Wherein, thigh 7 is connected with shank 8, and the structure of four legs is identical.The both sides of head 1, front trunk 2, middle trunk 3, rear trunk 4 and afterbody 5 are provided with the upright side plate that is parallel to each other separately, and outer rim is circular arc on the side plate; Shoulder 6 is fixed on the both sides of front trunk 2 and rear trunk 4, and the shank identical with four structures connects; Produce yaw motion between each parts of driven by servomotor, each parts circular arc side plate outer rim is in tangent state.
The upright side plate of head 1 is parallel to each other and is fixed on the rectangular box both sides, and the upper limb of side plate is circular shape, and the upright side plate rear end lower in the both sides of head 1 is provided with symmetrical axis hole, is connected with rotating shaft on the front trunk 2, sees Fig. 9.
Referring to Fig. 3, Fig. 7, Fig. 8, Figure 10, can the roll front trunk 2 of quadruped robot of the utility model is two identical parts of structure with rear trunk 4, the upright side plate of front trunk 2 and rear trunk 4 is separately fixed at two rectangular box both sides, the front end of two rectangular box is provided with square boss, and be fixed with the rotating shaft of perforation, the two ends of rotating shaft respectively have one section to protrude from the boss both sides; The cuboid of the rear end of rectangular box for protruding, the front portion is provided with the rotating shaft of perforation; The upright side plate of middle trunk 3 is fixed on the interior lining panel of H shape, and the rear and front end is provided with symmetrical axis hole; Front trunk 2 and rear trunk 4 are connected with the two ends of middle trunk 3 respectively, and an end and the rear trunk 4 of afterbody 5 are connected, and servomotor is installed in the cuboid of front trunk 2 and rear trunk 4, drive rotating shaft by gear drive and rotate.
Such as Figure 12 and shown in Figure 11, the shank of quadruped robot is made of thigh 7 and shank 8, adopts revolute pair to connect between thigh 7 and the shank 8, but thigh 7 and shank 8 swings.Thigh 7 is H shape plate, and the two ends of thigh 7 arrange symmetrical axis hole, and an end is fixedly connected with the rotating shaft of shoulder 6, and the other end is fixedly connected with the rotating shaft of shank 8, and a side of thigh 7 is fixed with the circular arc side plate; The part that shoulder 6 is connected with thigh 7 is the rectangular configuration part, is provided with the rotating shaft of perforation, and the two ends of rotating shaft respectively have one section outstanding axis hole with thigh 7 top H shape structural members to be connected mutually.The inside of rectangular box is equipped with servomotor, can drive rotating shaft by gear drive and rotate, and makes the certain angle of interconnective structural member deflection.
As shown in figure 10, there is the upright side plate that is parallel to each other afterbody 5 both sides, and the upper limb of side plate is circular arc.One end of afterbody 5 has symmetrical axis hole, is connected mutually with rotating shaft on the rear trunk 4.The upright side plate of described afterbody is fixed on the interior lining panel of spill, and front end is provided with symmetrical axis hole, the solid company of the front end of afterbody and rear quarters;
As shown in figure 11, shoulder is rectangular box, and the outside on top is provided with the circular arc side plate, and the lower end is provided with rotating shaft and the thigh upper end is connected; The upper end of shoulder 6 is upright side plate, and the upper limb of side plate is circular arc, the both sides that are fixed on front trunk 2 and rear trunk 4 of shoulder 6 symmetries, and shoulder 6 lower ends are equipped with the rotating shaft of perforation, and two ends each some are outstanding, and the two ends of rotating shaft are connected mutually with axis hole on the thigh 7.The inside of shoulder 6 is equipped with servomotor, can drive rotating shaft by gear drive and rotate, and makes leg structure realize deflection.Shoulder 6 structures are fixedly welded on the both sides of front trunk 2 and rear trunk 4.
Such as Fig. 4, Fig. 5, shown in Figure 6, robot at first folds shank, is prostrate state; And the control servomotor makes between each parts of head 1, front trunk 2, middle trunk 3, rear trunk 4 and afterbody 5 and deflects, make the outer rim of the circular arc side plate of parts be in tangent state, the integral body of robot forms a complete circular configuration, realizes rolling longitudinally along health.The outside of shoulder 6 upsides, thigh 7 and shank 8 is arc-shaped structure, and the integral body of robot is a sub-circular structure; Realize that robot is along the side rolling of health.When the standing on all fours of robot, from the front of robot, integral body is a sub-circular structure.Robot adopts the mode of four-footed walking in uneven unstructuredness terrain environment; In comparatively smooth landform, adopt the method for operation of rolling.
Claims (2)
1. the quadruped robot that can roll is characterized in that: comprise head, front trunk, middle trunk, rear trunk, afterbody, shoulder, thigh, shank; The both sides of head, front trunk, middle trunk, rear trunk and afterbody are provided with the upright side plate that is parallel to each other separately, and outer rim is circular arc on the side plate; Shoulder is fixed on the both sides of front trunk and rear trunk, and the shank identical with four structures connects; Produce yaw motion between each parts of driven by servomotor, each parts circular arc side plate outer rim is in tangent state;
The upright side plate of described head is fixed on the rectangular box both sides, and two upright side plate rear end lower are provided with symmetrical axis hole, and head and front trunk are connected;
Described front trunk is two identical parts of structure with described rear trunk, the upright side plate of front trunk, rear trunk is separately fixed at two rectangular box both sides, the front end of two rectangular box is provided with the square boss fixed rotating shaft, the cuboid of the rear end of rectangular box for protruding, the front portion is provided with fixed rotating shaft; The upright side plate of described middle trunk is fixed on the interior lining panel of H shape, and the rear and front end is provided with symmetrical axis hole; Front trunk and rear trunk are connected with the two ends of middle trunk respectively;
The upright side plate of described afterbody is fixed on the interior lining panel of spill, and front end is provided with symmetrical axis hole, the solid company of the front end of afterbody and rear quarters;
Described shoulder is rectangular box, and the outside of top ends is provided with the circular arc side plate, and the lower end is provided with rotating shaft and the thigh upper end is connected;
Described thigh is H shape plate, and two ends are provided with symmetrical axis hole, and a side of thigh is provided with the circular arc side plate; Thigh upper end and shoulder are connected, and the thigh bottom is connected with the shank upper end.
2. the quadruped robot that rolls according to claim 1 is characterized in that: fixedly mount servomotor in the cuboid of front trunk and rear trunk and both sides shoulder, drive rotating shaft by gear drive and rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220330740 CN202920974U (en) | 2012-07-10 | 2012-07-10 | Turnable quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220330740 CN202920974U (en) | 2012-07-10 | 2012-07-10 | Turnable quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202920974U true CN202920974U (en) | 2013-05-08 |
Family
ID=48210967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220330740 Expired - Fee Related CN202920974U (en) | 2012-07-10 | 2012-07-10 | Turnable quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202920974U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102728066A (en) * | 2012-07-10 | 2012-10-17 | 西北工业大学 | Four-footed robot capable of rolling over |
| CN113335412A (en) * | 2021-05-12 | 2021-09-03 | 上海工程技术大学 | Gorilla bionic walking robot |
-
2012
- 2012-07-10 CN CN 201220330740 patent/CN202920974U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102728066A (en) * | 2012-07-10 | 2012-10-17 | 西北工业大学 | Four-footed robot capable of rolling over |
| CN113335412A (en) * | 2021-05-12 | 2021-09-03 | 上海工程技术大学 | Gorilla bionic walking robot |
| CN113335412B (en) * | 2021-05-12 | 2022-10-14 | 上海工程技术大学 | Gorilla bionic walking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130508 Termination date: 20140710 |
|
| EXPY | Termination of patent right or utility model |