CN203601426U - Six-freedom-degree narrow footprint double-foot walking-racing robot - Google Patents
Six-freedom-degree narrow footprint double-foot walking-racing robot Download PDFInfo
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- CN203601426U CN203601426U CN201320777219.3U CN201320777219U CN203601426U CN 203601426 U CN203601426 U CN 203601426U CN 201320777219 U CN201320777219 U CN 201320777219U CN 203601426 U CN203601426 U CN 203601426U
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Abstract
The utility model discloses a six-freedom-degree narrow footprint double-foot walking-racing robot which is characterized in that a top plate, a hip U-shaped piece, a connecting plate, a knee U-shaped piece, an ankle U-shaped piece, a right-angle fixing piece, a foot bottom plate, motors, a battery and a control plate are included, the knee U-shaped piece and the ankle U-shaped piece are the same in size and are fixedly connected in a cross mode, then the knee U-shaped piece and the ankle U-shaped piece are respectively connected with a motor torsion output shaft, the hip U-shaped piece is connected with a motor output shaft, a motor connected with the ankle U-shaped piece is fixedly connected with the foot bottom plate through the right-angle fixing piece, a torsion output shaft of the motor is parallel to the length direction of the foot bottom plate, the length direction of the foot bottom plate is parallel to the forward direction of the robot, a motor connected with the knee U-shaped piece is fixedly connected with the motor connected with the hip U-shaped piece through the connecting plate, and when the hip U-shaped piece is fixedly connected with the top plate, the output shafts of the motors which enable a left leg and a right leg to be fixedly connected with the foot bottom plate are placed on the outer sides of the left leg and the right leg. The robot can complete moving forward, standing at attention, turning front and turning back, the structure is simple, and control is convenient.
Description
Technical field
The utility model relates to a kind of six-DOF robot, particularly the competing step robot of the narrow footmark biped of a kind of six degree of freedom.
Background technology
Anthropomorphic robot is the multi-degree-of freedom system of high-order, non-linear, nonholonomic constraint, is the summit in robot field, has represented the current situation of robot science and technology, but its mechanical construction and control system relative complex.As one can complete handstand, frontly turn over, the anthropomorphic robot of rollover, split, need 10 motors control its 10 joints, guarantee stability and reliability in robot motion process, need to carry out mechanical analysis and motion control to it.Due to the complexity of its structure and action, also relative complex of its mechanical analysis and motion control, so to the interested beginner of anthropomorphic robot, need a kind of simple robot architecture, make it from the aspect such as mechanical analysis and motion control, the research of multi-angle, be familiar with robot.By physical structure and the mechanical drive of the competing step robot of the research narrow footmark biped of six degree of freedom, can make the rapid left-hand seat to the interested beginner of anthropomorphic robot, also can, by robot being carried out to gait planning and walking control, make it complete the action of various more complicated, realize amusement.
Summary of the invention
The purpose of this utility model is to provide a kind of physical construction of the narrow footmark robot of six degree of freedom with biped structure, this structure drives six joints by motor, make the center of gravity sway of robot, and then realize robot and advance, simultaneously this robot before can also completing, turn over, after stir work, thereby facilitate robot beginner study and understand the agent structure of competing step robot;
The technical solution of the utility model is: this system comprises top board, hip U-shaped part, connecting panel, knee U-shaped part, ankle U-shaped part, right angle connecting element, sole, motor, battery and control desk; After knee U-shaped part is fixedly connected with ankle U-shaped part cross, be respectively connected with a motor torsion output shaft; Hip U-shaped part is connected with a motor torsion output shaft; Ankle U-shaped motor that part connects is fixedly connected with sole by right angle connecting element, and the torsion output shaft of its motor is parallel with robot working direction with sole direction; Sole length direction is parallel with robot working direction; Knee U-shaped motor that part connects is fixedly connected with by connecting panel with hip U-shaped motor that part connects; The each parts and components connection mode of two legs is identical, and hip U-shaped part makes left and right leg motor output shaft all at left and right leg outer side while being fixedly connected with top board; Battery is fixedly connected with connecting panel; Control desk is fixed between two hip U-shaped parts; Described hip U-shaped part short transverse size is 2 times of knee U-shaped part short transverse size, and knee U-shaped part and ankle U-shaped part are measure-alike; Described top board is I shape; Described sole is rectangle; Described U-shaped part is Aluminum Alloy U part; Described connecting panel is rectangular aluminium alloy plate; The utility model robot architecture is simple, can complete advance, attention, frontly turn over, after stir work, stability and reliability to its action are analyzed, can make robot beginner understand very soon mechanical analysis and the motion control of robot, so that it sets about complex machines people's design analysis more.
Accompanying drawing explanation
Fig. 1 is the structure cutaway view of the competing step robot of the narrow footmark biped of a kind of six degree of freedom
reference numeral table
1, top board 2, controller 3, hip U-shaped part 4, motor I 5, connecting panel 6, battery
7, motor II 8, knee U-shaped part 9, ankle U-shaped part 10, sole 11, right angle connecting element
12, motor III
Below in conjunction with accompanying drawing, the utility model is described in detail.
The specific embodiment
Fig. 1 is the structure cutaway view of the competing step robot of the narrow footmark biped of a kind of six degree of freedom, and knee U-shaped part 8 is fixedly connected with ankle U-shaped part 9 crosses; Knee U-shaped part 8 is connected with motor 7 torsion output shafts; Ankle U-shaped part 9 is connected with motor 12 torsion output shafts; Hip U-shaped part 3 is connected with motor 4 torsion output shafts, and motor 12 is fixedly connected with sole 10 by right angle connecting element 11, and the torsion output shaft of motor 12 is parallel with sole 10 length directions, and sole 10 length directions are parallel with robot working direction; Motor 4 is fixedly connected with by connecting panel with motor 7; Hip U-shaped part 3 is fixedly connected with top board 1, and makes mounted motor 12 torsion output shafts all at left and right leg outer side; Battery 6 is fixedly connected with connecting panel 5; Control desk 2 is fixed between left and right leg hip U-shaped part 3; Described hip U-shaped part 3 short transverse sizes are 2 times of knee U-shaped part 8 short transverse sizes, and knee U-shaped part 8 is measure-alike with ankle U-shaped part 9; Described top board 1 is I shape; Described sole 10 is rectangle; Described hip U-shaped part 3, knee U-shaped part 8 and ankle U-shaped part 9 are Aluminum Alloy U part; Described connecting panel 5 is rectangular aluminium alloy plate.
Embodiment in the utility model, only for the utility model is described, does not form the restriction to claim scope, and other substantial substituting of being equal to that those skilled in that art can expect, all in the utility model protection domain.
Claims (8)
1. the competing step robot of the narrow footmark biped of six degree of freedom, is characterized in that, comprises top board, hip U-shaped part, connecting panel, knee U-shaped part, ankle U-shaped part, right angle connecting element, sole, steering wheel, battery and control desk; Knee U-shaped part is fixedly connected with ankle U-shaped part cross, and is respectively connected with a steering wheel torsion output shaft; Hip U-shaped part is connected with a steering wheel output shaft;
Ankle U-shaped steering wheel that part connects is fixedly connected with sole by right angle connecting element; Knee U-shaped steering wheel that part connects is fixedly connected with by connecting panel with hip U-shaped steering wheel that part connects; Hip U-shaped part is fixedly connected with top board; On connecting panel, be fixed with battery; Between two hip U-shaped parts, be fixed with control desk.
2. the competing step robot of the narrow footmark biped of a kind of six degree of freedom according to claim 1, is characterized in that, described knee U-shaped part and ankle U-shaped part are measure-alike.
3. the competing step robot of the narrow footmark biped of a kind of six degree of freedom according to claim 1, is characterized in that, described hip U-shaped part short transverse size is knee U-shaped part and ankle U-shaped part short transverse size 2 times.
4. the competing step robot of the narrow footmark biped of a kind of six degree of freedom according to claim 1, it is characterized in that, the steering wheel being connected with sole lies on sole, and the torsion output shaft direction of steering wheel is parallel with sole length direction, and sole length direction is parallel with robot working direction.
5. the competing step robot of the narrow footmark biped of a kind of six degree of freedom according to claim 1, is characterized in that, described motor is steering wheel.
6. the competing step robot of the narrow footmark biped of a kind of six degree of freedom according to claim 1, is characterized in that, described top board is shaped as I shape.
7. the competing step robot of the narrow footmark biped of a kind of six degree of freedom according to claim 1, is characterized in that, steering wheel is fixedly connected with by right angle connecting element with sole.
8. the competing step robot of the narrow footmark biped of a kind of six degree of freedom according to claim 1, is characterized in that, the left and right leg steering wheel output shaft being connected with sole is all at left and right leg outer side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320777219.3U CN203601426U (en) | 2013-12-02 | 2013-12-02 | Six-freedom-degree narrow footprint double-foot walking-racing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320777219.3U CN203601426U (en) | 2013-12-02 | 2013-12-02 | Six-freedom-degree narrow footprint double-foot walking-racing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203601426U true CN203601426U (en) | 2014-05-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320777219.3U Expired - Fee Related CN203601426U (en) | 2013-12-02 | 2013-12-02 | Six-freedom-degree narrow footprint double-foot walking-racing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203601426U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661666A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Six-DOF narrow-footprint biped heel-and-toe robot |
| CN104527832A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Double-narrow-foot robot |
| CN104527834A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Tripod robot |
| CN104973159A (en) * | 2015-06-29 | 2015-10-14 | 重庆邮电大学 | Narrow foot three-dimensional pure passive walker |
-
2013
- 2013-12-02 CN CN201320777219.3U patent/CN203601426U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661666A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Six-DOF narrow-footprint biped heel-and-toe robot |
| CN104527832A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Double-narrow-foot robot |
| CN104527834A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Tripod robot |
| CN104527834B (en) * | 2014-12-26 | 2017-01-04 | 浙江工业大学 | Tripod robot |
| CN104973159A (en) * | 2015-06-29 | 2015-10-14 | 重庆邮电大学 | Narrow foot three-dimensional pure passive walker |
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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: 20140521 Termination date: 20151202 |
|
| EXPY | Termination of patent right or utility model |