CN203473046U - Human-simulated rolling robot - Google Patents
Human-simulated rolling robot Download PDFInfo
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- CN203473046U CN203473046U CN201320639013.4U CN201320639013U CN203473046U CN 203473046 U CN203473046 U CN 203473046U CN 201320639013 U CN201320639013 U CN 201320639013U CN 203473046 U CN203473046 U CN 203473046U
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Abstract
The utility model relates to a rolling robot, in particular to a human-simulated rolling robot. The problems that the rolling motion of an existing robot is generally difficult to achieve, rolling failures are prone to being caused by unstable supporting, over-large swinging or over-high gravity centers in the rolling process, and the rolling robot cannot roll due to the blocking in the midway of rolling are solved. The head of the rolling robot is arranged at the upper end of the body, the left arm and the right arm are arranged on the left side and the right side of the upper portion of the body respectively in a rotatable mode, the left leg and the right leg are respectively arranged on the lower end face of the body, the left foot and the right foot are arranged on the lower end face of the left leg and the lower end face of the right leg respectively, the shoulders, the big arms, the small arms and the hands are sequentially connected from top to bottom in a rotatable mode, the hands comprise horizontal plates and slant plates, the horizontal plates are arranged at one ends of the slant plates, the other ends of the slant plates are connected with the small arms, and the total length of the left arm and the total length of the right arm are both 14.6cm. The human-simulated rolling robot belongs to the human-simulated robot field.
Description
Technical field
The utility model relates to a kind of robot, is specifically related to a kind of apery rolling robot.
Background technology
Tumbling motion is a more difficult action for robot, robot need to have both hands to support the ability that ground can also maintain balance, existing robot is difficult to realize tumbling motion conventionally, in the process of rolling, owing to supporting, unstablely rocks that excessive or center of gravity is too high to be prone to problem and the rolling that rolling is failed and to block the problem of turning over midway.
Utility model content
The purpose of this utility model is to be conventionally difficult to realize tumbling motion in order to solve existing robot, in the process of rolling, owing to supporting, unstablely rocks that excessive or center of gravity is too high to be prone to problem and the rolling that rolling is failed and to block the problem of turning over midway.And then provide a kind of apery rolling robot.
The technical solution of the utility model is: a kind of apery rolling robot, it comprises head, trunk, left arm, right arm, left leg, right leg, left foot and right crus of diaphragm, head is arranged on the upper end of trunk, left arm and right arm are rotatably arranged on respectively the left and right sides, top of trunk, left leg and right leg are separately positioned on the lower surface of trunk, left foot and right crus of diaphragm are separately positioned on the lower surface of left leg and right leg, described left arm and right arm include shoulder, large arm, forearm and hand, shoulder, large arm, forearm and hand are from top to bottom rotatably connected successively, described hand comprises horizontal plate and hang plate, horizontal plate is arranged on one end of hang plate, the other end of hang plate is connected with forearm, the total length of described left arm and right arm is 14.6cm.
The utility model compared with prior art has following effect:
1. the utility model has solved robot in the past and when carrying out tumbling motion, can not well grasp the problem of blocking in the problem of balance and rolling process.The design of hand can make robot more stable when supporting, horizontal plate can meet the stability of robot when rolling, the stability of the center of gravity that especially can meet robot when moving forward and backward, even if center of gravity has certain moving forward and backward when rolling, but center of gravity can drop on the contact level on hand and ground, guaranteed like this stable of robot, and the moderate length of arm design, both avoided the long too high problem of robot centre of body weight causing of arm, avoided again the too short robot of arm easily to block and turn over the problem of not passing by when rolling, make robot can be smooth stable realize tumbling motion.
2. the utility model is provided with a plurality of steering wheels, each steering wheel is responsible for different members power is provided, and actv. has avoided robot to block and turn over the problem of not passing by rolling midway.
3. the utility model is simple in structure, is easy to realize.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model; Fig. 2 is the birds-eye view of Fig. 1; Fig. 3 is the lateral plan of Fig. 1.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1-Fig. 3, present embodiment comprises head 1, trunk 2, left arm 3, right arm 4, left leg 5, right leg 6, left foot 7 and right crus of diaphragm 8, head 1 is arranged on the upper end of trunk 2, left arm 3 and right arm 4 are rotatably arranged on respectively the left and right sides, top of trunk 2, left leg 5 and right leg 6 are separately positioned on the lower surface of trunk 2, left foot 7 and right crus of diaphragm 8 are separately positioned on the lower surface of left leg 5 and right leg 6, described left arm 3 and right arm 4 include shoulder 17, large arm 18, forearm 19 and hand 20, shoulder 17, large arm 18, forearm 19 and hand 20 are from top to bottom rotatably connected successively, described hand 20 comprises horizontal plate and hang plate, horizontal plate is arranged on one end of hang plate, the other end of hang plate is connected with forearm 19, the total length of described left arm 3 and right arm 4 is 14.6cm.
The specific embodiment two: in conjunction with Fig. 1-Fig. 3, present embodiment is described, the horizontal plate of present embodiment and the angle between hang plate are 95 °-120 °.So arrange, be convenient to the stability of robot.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: present embodiment is described in conjunction with Fig. 1-Fig. 3, the rolling robot of present embodiment lifts and puts down steering wheel 9 before and after also comprising two groups of arms, two groups of arms lift and put down steering wheel 10, two groups of shanks lift and put down steering wheel 11, two groups of forearm curvilinear movement steering wheels 12, before and after two groups of shanks, lift and put down steering wheel 13, two groups of motion steering wheels 14 of squatting down, two groups of shank swing steering wheel 15He Liangzu foot swing steering engines 16, before and after two groups of arms, lift and the left and right sides, top of putting down steering wheel 9 and be separately positioned on trunk 2, two groups of arms lift and put down steering wheel 10 and two groups of forearm curvilinear movement steering wheels 12 are arranged on respectively on left arm 3 and right arm 4 from top to bottom, two groups of shanks lift and the left and right sides, bottom of putting down steering wheel 11 and be arranged on trunk 2, before and after two groups of shanks, lift and put down steering wheel 13, two groups of squat down motion steering wheel 14 and two groups of shank swing steering wheels 15 are from top to bottom successively set on left leg 5 and right leg 6, Liang Zu foot swing steering engine 16 is separately positioned on left foot 7 and right crus of diaphragm 8.So arrange, be convenient to robot and complete apery tumbling action.Other composition and annexation are identical with the specific embodiment two.
Robot rolling of the present utility model is achieved in that
First, the coordination of robot leg steering wheel, squats down robot, reaches forward afterwards, and arm steering wheel drives arm to protract, until kiss the earth has so far completed the warming-up exercise rolling.Afterwards, robot arm keeps supporting, and shank steering wheel quick action simultaneously, realizes leg thrust, each several part steering wheel coordination simultaneously, maintain center of gravity as far as possible low, and move forward fast, after center of gravity surpasses the contact surface on arm and ground, shank steering wheel drive shank swings fast, make first kiss the earth of foot, the action of shank steering wheel continuation afterwards makes robot center of gravity continue reach until recover squatting motion, stands erectly afterwards, has so far completed tumbling motion one time.
Claims (3)
1. apery rolling robot, it comprises head (1), trunk (2), left arm (3), right arm (4), left leg (5), right leg (6), left foot (7) and right crus of diaphragm (8), head (1) is arranged on the upper end of trunk (2), left arm (3) and right arm (4) are rotatably arranged on respectively the left and right sides, top of trunk (2), left leg (5) and right leg (6) are separately positioned on the lower surface of trunk (2), left foot (7) and right crus of diaphragm (8) are separately positioned on the lower surface of left leg (5) and right leg (6), it is characterized in that: described left arm (3) and right arm (4) include shoulder (17), large arm (18), forearm (19) and hand (20), shoulder (17), large arm (18), forearm (19) and hand (20) are from top to bottom rotatably connected successively, described hand (20) comprises horizontal plate and hang plate, horizontal plate is arranged on one end of hang plate, the other end of hang plate is connected with forearm (19), the total length of described left arm (3) and right arm (4) is 14.6cm.
2. a kind of apery rolling robot according to claim 1, is characterized in that: the angle between described horizontal plate and hang plate is 95 °-120 °.
3. a kind of apery rolling robot according to claim 2, it is characterized in that: described rolling robot lifts and puts down steering wheel (9) before and after also comprising two groups of arms, two groups of arms lift and put down steering wheel (10), two groups of shanks lift and put down steering wheel (11), two groups of forearm curvilinear movement steering wheels (12), before and after two groups of shanks, lift and put down steering wheel (13), two groups of motion steering wheels (14) of squatting down, two groups of shank swing steering wheels (15) He Liangzu foot swing steering engines (16), before and after two groups of arms, lift and the left and right sides, top of putting down steering wheel (9) and be separately positioned on trunk (2), two groups of arms lift and put down steering wheel (10) and two groups of forearm curvilinear movement steering wheels (12) and be from top to bottom arranged on respectively on left arm (3) and right arm (4), two groups of shanks lift and the left and right sides, bottom of putting down steering wheel (11) and be arranged on trunk (2), before and after two groups of shanks, lift and put down steering wheel (13), two groups of squat down motion steering wheel (14) and two groups of shank swing steering wheels (15) are from top to bottom successively set on left leg (5) and right leg (6), Liang Zu foot swing steering engine (16) is separately positioned on left foot (7) and right crus of diaphragm (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320639013.4U CN203473046U (en) | 2013-10-16 | 2013-10-16 | Human-simulated rolling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320639013.4U CN203473046U (en) | 2013-10-16 | 2013-10-16 | Human-simulated rolling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203473046U true CN203473046U (en) | 2014-03-12 |
Family
ID=50221429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320639013.4U Expired - Fee Related CN203473046U (en) | 2013-10-16 | 2013-10-16 | Human-simulated rolling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203473046U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962957A (en) * | 2019-11-26 | 2020-04-07 | 山东大学 | Double-leg double-wheel compound motion robot |
| CN114083516A (en) * | 2021-11-16 | 2022-02-25 | 东北大学 | Primate-simulated multi-motion-mode robot with jumping capability |
-
2013
- 2013-10-16 CN CN201320639013.4U patent/CN203473046U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962957A (en) * | 2019-11-26 | 2020-04-07 | 山东大学 | Double-leg double-wheel compound motion robot |
| CN114083516A (en) * | 2021-11-16 | 2022-02-25 | 东北大学 | Primate-simulated multi-motion-mode robot with jumping capability |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140312 Termination date: 20161016 |