CN204124229U - Walking robot - Google Patents
Walking robot Download PDFInfo
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- CN204124229U CN204124229U CN201420491621.XU CN201420491621U CN204124229U CN 204124229 U CN204124229 U CN 204124229U CN 201420491621 U CN201420491621 U CN 201420491621U CN 204124229 U CN204124229 U CN 204124229U
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- walking robot
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- rotary joint
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Abstract
The utility model discloses a kind of walking robot, comprise carrying platform, carrying platform lower surface is connected with the robot leg of string hybrid connected structure; String the robot leg of hybrid connected structure comprise be connected successively root part, motion platform, rotary joint and leg end parts.Adopt imitative mammal leg structure design, four legs of robot are made rational planning for and are generated the walking robot walking step state of more than four-footed or four-footed, effectively can improve the capacity usage ratio of walking robot.It is simple, compact that this walking robot also has structure, has higher reliability and alerting ability.
Description
Technical field
The utility model belongs to robotics, is specifically related to a kind of walking robot.
Background technology
Robot is divided into serial manipulator and parallel robot both at home and abroad at present, and the traveling gear of robot is divided into wheeled, leg formula, crawler type etc. by move mode.But they all also exist corresponding defect separately, wheeled construction robot speed is fast, control is flexible, but leaping over obstacles is limited in one's ability; Tui Shi mechanism robot is adaptable, and control complicated, energy consumption is large; Caterpillar mobile robot weight is large, and energy consumption is high.
Utility model content
The purpose of this utility model is to provide a kind of walking robot, solves the robot that is movably walking existed in prior art and can not take into account the problem that structure is simple, control conveniently, react fast and flexible, adaptable deficiency.
The technical scheme that the utility model adopts is, a kind of walking robot, comprises carrying platform, and carrying platform lower surface is connected with the robot leg of string hybrid connected structure; String the robot leg of hybrid connected structure comprise be connected successively root part, motion platform, rotary joint and leg end parts.
Feature of the present utility model is also,
String the robot leg of hybrid connected structure is at least provided with 4, string the robot leg of hybrid connected structure are arranged in pairs.
Root part comprises flange, intermediate restraint side chain and three active movement side chains, and intermediate restraint side chain is connected with the center rotating of flange, and the lower surface of flange is evenly connected with three active movement side chains; Each active movement side chain comprises root motor, the first motor rack, driving lever and follower lever; First motor rack is fixed on the lower surface of flange, root motor is fixed on electric machine support, one end of driving lever is fixed on the turning cylinder external part of root motor by key connecting, the other end of driving lever is rotationally connected by the upper end of rotating shaft and follower lever, and the other end of follower lever is rotatedly connected by rotating shaft and motion platform and connects.
Intermediate restraint side chain adopts Hooke's hinge, and one end of intermediate restraint side chain is connected with the center rotating of flange by revolute pair; The other end is rotationally connected by Hooke's hinge and motion platform.
The upper surface of flange is welded with U-shaped attaching parts, and root part is connected with carrying platform by U-shaped attaching parts.
Rotary joint comprises rotary joint motor, the second motor rack, driven wheel of differential and drive bevel gear, and the second motor rack is fixedly installed on the lower end of motion platform; Rotary joint electric machine built-in is fixed in the second motor rack; The external part of rotary joint motor is connected with drive bevel gear by key connecting, and drive bevel gear is connected by gear transmission with driven wheel of differential, and drive bevel gear and driven wheel of differential are that 90 ° of angles coordinate.
Leg end parts comprise shank and foot end, and one end and second motor rack of shank are rotationally connected, and one end of shank is fixedly connected with sufficient end, and foot end is the semisphere of hollow, and foot end adopts rubber.
Each root motor and each rotary joint motor are all independent controls.
The beneficial effects of the utility model are:
(1) adopt servomotor as going here and there and the design of a part for series-parallel connection walking robot leg structure, enormously simplify the physical construction of string series-parallel connection walking robot, make walking robot structure simple, compact, there is higher reliability and alerting ability.
(2) adopt imitative mammal leg structure design, especially robot adopts four legs to make rational planning for and generates four feet walking robot walking step state, effectively can improve the capacity usage ratio of four feet walking robot.
(3) every bar leg of this string series-parallel connection walking robot all adopts string and hybrid connected structure, the utility model is had concurrently parallel robot rigidity is large, precision is high advantage and the large advantage of serial manipulator working space.
(4) also series-parallel connection walking robot structure is simple, rationally distributed for this string.
(5) the intermediate restraint side chain that designs between flange and motion platform of the leg of this string series-parallel connection walking robot, improves rotation precision, such that the action radius of robot leg is large, load-carrying capacity strong, simultaneously convenient for assembly.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model walking robot;
Fig. 2 is the utility model walking robot leg root part schematic diagram;
Fig. 3 is the structural representation of the utility model walking robot intermediate restraint side chain;
Fig. 4 is the schematic diagram of the rotary joint of the utility model walking robot leg.
In figure, 1. carrying platform, 2. root part, 3. motion platform, 4. rotary joint, 5. leg end parts, 6. flange, 7. root motor, 8. the first motor rack, 9. driving lever, 10. follower lever, 11. rotary joint motors, 12. driven wheel of differentials, 13. drive bevel gear, 14. intermediate restraint side chains, 15. second motor racks, 16.U shape attaching parts, 17. shanks, 18. foot ends.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
The utility model provides a kind of walking robot, as shown in Figure 1, comprises carrying platform 1, and carrying platform 1 lower surface is connected with the robot leg of string hybrid connected structure; String the robot leg of hybrid connected structure comprise be connected successively root part 2, motion platform 3, rotary joint 4 and leg end parts 5.
String the robot leg of hybrid connected structure is at least provided with 4, string the robot leg of hybrid connected structure are arranged in pairs.
As shown in Figures 2 and 3, root part 2 comprises flange 6, intermediate restraint side chain 14 and three active movement side chains, and intermediate restraint side chain 14 is connected with the center rotating of flange 6, and the lower surface of flange 6 is evenly connected with three active movement side chains; The upper end of flange 6 is welded with U-shaped attaching parts 16, and described root part 2 is connected with carrying platform 1 by U-shaped attaching parts 16.Each active movement side chain comprises root motor 7, first motor rack 8, driving lever 9 and follower lever 10; First motor rack 8 is fixed on the lower surface of flange 6, root motor 7 is fixed on electric machine support 8, one end of driving lever 9 is fixed on the turning cylinder external part of root motor 7 by key connecting, the other end of driving lever 9 is rotationally connected by the upper end of rotating shaft and follower lever 10, and the other end of follower lever 10 is rotatedly connected by rotating shaft and motion platform 3 and connects.This motion platform 3 is driven by the thigh motor 7 that three on three active movement side chains are separate, can the rotation of implementation space three degree of freedom, operate after thigh motor 7 accepts instruction, can the forward swing of controlled motion platform 3 and rear pendulum, interior pendulum and outer pendular motion, thus lifting and falling of robot leg can be realized, the action of interior pendulum and outer pendulum.
Intermediate restraint side chain 14 adopts Hooke's hinge, and one end of intermediate restraint side chain 14 is connected by the center rotating of revolute pair with flange 6, and the other end is rotationally connected by Hooke's hinge and motion platform 3.
The upper surface of flange 6 is welded with U-shaped attaching parts 16, and root part 2 is connected with carrying platform 1 by U-shaped attaching parts 16.
As shown in Figure 4, rotary joint 4 comprises the lower end that rotary joint motor 11, second motor rack 15, driven wheel of differential 12 and drive bevel gear 13, second motor rack 15 are fixedly installed on motion platform 3; Rotary joint motor 11 is built-in to be fixed in the second motor rack 15; The external part of rotary joint motor 11 is connected with drive bevel gear 13 by key connecting, and drive bevel gear 13 is connected by gear transmission with driven wheel of differential 12, and both drive bevel gear 13 and driven wheel of differential 12 coordinate in 90 ° of angles; Rotary joint drive motor 11 rotates after receiving instruction, and leg end parts 5 can be driven to move, thus realizes the forward swing of robot leg and rear pendulum.
Leg end parts 5 comprise shank 17 and foot end 18, and one end and second motor rack 15 of shank 17 are rotationally connected, and one end of shank 17 is fixedly connected with foot end 18, and foot end 18 is the semisphere of hollow, and foot end 18 adopts rubber; Be flexible contact face but not rigid contact with ground after its foot that falls, not only can prevent string also series-parallel connection four feet walking robot skid when walking but also can ground shock be reduced, effectively raise the comformability of robot to environment.
Each root motor 7 and each rotary joint motor 11 are all independent controls.
By reference to the accompanying drawings embodiment of the present utility model is explained in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken that one skilled in the relevant art possesses, many variations can also be made to it.
Claims (9)
1. a walking robot, is characterized in that, comprises carrying platform (1), and described carrying platform (1) lower surface is connected with the robot leg of string hybrid connected structure; String the robot leg of hybrid connected structure comprise be connected successively root part (2), motion platform (3), rotary joint (4) and leg end parts (5).
2. walking robot according to claim 1, is characterized in that, described string the robot leg of hybrid connected structure is at least provided with 4, and string the robot leg of hybrid connected structure are arranged in pairs.
3. walking robot according to claim 1, it is characterized in that, described root part (2) comprises flange (6), intermediate restraint side chain (14) and three active movement side chains, one end of described intermediate restraint side chain (14) is connected with the center rotating of flange (6), and the lower surface of described flange (6) is evenly connected with three active movement side chains; Each active movement side chain comprises root motor (7), the first motor rack (8), driving lever (9) and follower lever (10); Described first motor rack (8) is fixed on the lower surface of flange (6), root motor (7) is fixed on electric machine support (8), one end of driving lever (9) is fixed on by key connecting on the turning cylinder external part of root motor (7), the other end of driving lever (9) is rotationally connected by the upper end of rotating shaft and follower lever (10), and the other end of follower lever (10) is rotatedly connected by rotating shaft and motion platform (3) and connects.
4. walking robot according to claim 3, it is characterized in that, described intermediate restraint side chain (14) adopts Hooke's hinge, and one end of intermediate restraint side chain (14) is connected by the center rotating of revolute pair with flange (6); The other end is rotationally connected by Hooke's hinge and motion platform (3).
5. the walking robot according to claim 3 or 4, it is characterized in that, the upper surface of described flange (6) is welded with U-shaped attaching parts (16), and described root part (2) is connected with carrying platform (1) by U-shaped attaching parts (16).
6. walking robot according to claim 1, it is characterized in that, described rotary joint (4) comprises rotary joint motor (11), the second motor rack (15), driven wheel of differential (12) and drive bevel gear (13), and described second motor rack (15) is fixedly installed on the lower end of motion platform (3); Rotary joint motor (11) is built-in to be fixed in the second motor rack (15); The external part of rotary joint motor (11) is connected with drive bevel gear (13) by key connecting, drive bevel gear (13) is connected by gear transmission with driven wheel of differential (12), and both drive bevel gear (13) and driven wheel of differential (12) coordinate in 90 ° of angles.
7. walking robot according to claim 1, it is characterized in that, described leg end parts (5) comprise shank (17) and foot end (18), one end and second motor rack (15) of shank (17) are rotationally connected, one end of shank (17) is fixedly connected with sufficient end (18), the semisphere that described foot end (18) is hollow, described foot end (18) adopts rubber.
8. walking robot according to claim 3, is characterized in that, described each root motor (7) is all independent controls.
9. walking robot according to claim 6, is characterized in that, described each rotary joint motor (11) is all independent controls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420491621.XU CN204124229U (en) | 2014-08-28 | 2014-08-28 | Walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420491621.XU CN204124229U (en) | 2014-08-28 | 2014-08-28 | Walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204124229U true CN204124229U (en) | 2015-01-28 |
Family
ID=52380612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420491621.XU Withdrawn - After Issue CN204124229U (en) | 2014-08-28 | 2014-08-28 | Walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204124229U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986240A (en) * | 2015-06-15 | 2015-10-21 | 上海交通大学 | Linear driving walking robot leg structure and parallel four-footed walking robot |
| CN105411818A (en) * | 2016-01-08 | 2016-03-23 | 重庆足步科技有限公司 | Bionic foot type walking aid with driving control |
| CN105970870A (en) * | 2016-07-06 | 2016-09-28 | 巩莉 | Road waterlogging disposing trolley for municipal engineering |
| CN105970869A (en) * | 2016-07-06 | 2016-09-28 | 徐子桐 | Self-stabilizing type automatic walking equipment on concrete roads |
| CN106087836A (en) * | 2016-07-06 | 2016-11-09 | 徐子桐 | A kind of locking support type asphalt concrete road mobile device |
| CN104163216B (en) * | 2014-08-28 | 2017-05-03 | 郑州大学 | Walking robot |
-
2014
- 2014-08-28 CN CN201420491621.XU patent/CN204124229U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104163216B (en) * | 2014-08-28 | 2017-05-03 | 郑州大学 | Walking robot |
| CN104986240A (en) * | 2015-06-15 | 2015-10-21 | 上海交通大学 | Linear driving walking robot leg structure and parallel four-footed walking robot |
| CN104986240B (en) * | 2015-06-15 | 2017-09-08 | 上海交通大学 | The walking robot leg configuration of linear drives and four feet walking robot in parallel |
| CN105411818A (en) * | 2016-01-08 | 2016-03-23 | 重庆足步科技有限公司 | Bionic foot type walking aid with driving control |
| CN105970870A (en) * | 2016-07-06 | 2016-09-28 | 巩莉 | Road waterlogging disposing trolley for municipal engineering |
| CN105970869A (en) * | 2016-07-06 | 2016-09-28 | 徐子桐 | Self-stabilizing type automatic walking equipment on concrete roads |
| CN106087836A (en) * | 2016-07-06 | 2016-11-09 | 徐子桐 | A kind of locking support type asphalt concrete road mobile device |
| CN105970870B (en) * | 2016-07-06 | 2017-08-25 | 湖北新楚风汽车股份有限公司 | A kind of municipal works handle car with road ponding |
| CN105970869B (en) * | 2016-07-06 | 2018-06-15 | 蒋加顺 | A kind of self-stabilising concrete road automatic running device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150128 Effective date of abandoning: 20170503 |