CN204264310U - A kind of walking robot - Google Patents
A kind of walking robot Download PDFInfo
- Publication number
- CN204264310U CN204264310U CN201420789121.4U CN201420789121U CN204264310U CN 204264310 U CN204264310 U CN 204264310U CN 201420789121 U CN201420789121 U CN 201420789121U CN 204264310 U CN204264310 U CN 204264310U
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- China
- Prior art keywords
- gear
- rotating shaft
- sole
- driven gear
- driven
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Abstract
The utility model discloses a kind of walking robot, comprise motor, driving gear, the first driven gear, the second driven gear, the 3rd gear, the 4th gear, inner support frame, the first rotating shaft, the second rotating shaft, external support board and sole; The first rotating shaft described in described motor is driven by described driving gear, the first driven gear, the second driven gear and the positive and negative rotation of the second rotating shaft, thus the circular arc back and forth movement together done by the external support board described in the 3rd described gear and the 4th gear driven and sole in certain angle, and then realize robot sole up and down and the motion of front and back.The utility model has the advantage of that structurally volume can be very small and exquisite, part processing and easy for installation, and above-mentioned part is all without the requirement of special material.
Description
Technical field
The utility model belongs to robot architecture's technical field, is specifically related to a kind of novel walking robot.
Background technology
Along with the development of economic level and state-of-art, common manual labor slowly frees from hard work, this fundamental change has benefited from the constantly anti-exhibition of Robotics, but still have a lot of people in high-risk, how real strong noise, works under the environment of high dust, the full production of machinery of realization, the mankind are freed from onerous toil, concerning present stage, remains a challenge.
Complex structure, the cost of the robot of present stage are high, are difficult to the large-scale marketization on a large scale.
Utility model content
In order to solve above-mentioned technical matters, the utility model proposes a kind of volume little, the novel walking robot of light structure.
The technical scheme that the utility model adopts is: a kind of walking robot, is characterized in that: comprise motor, driving gear, the first driven gear, the second driven gear, the 3rd gear, the 4th gear, inner support frame, the first rotating shaft, the second rotating shaft, external support board and sole; Described inner support frame is that in the middle part of the sidewall on the inner support frame described in U-shaped, described motor fixedly mounts, its rotating shaft is connected with described driving gear; The first described driven gear is contained on the first turning cylinder, and the second described driven gear is contained on the second turning cylinder; The first described rotating shaft and the second rotating shaft are arranged on the top and bottom sidewall of described inner support frame by the mounting hole symmetry on inner support frame, and its two ends, left and right all pass described mounting hole and are installed with the 3rd described gear; The first described driven gear and the second driven gear are connected with a joggle with described driving gear respectively; Described external support board is two pieces, and its top and middle part are all installed with the 4th described gear, and the 4th described gear is connected with the 3rd gears meshing at the first described rotating shaft and the second two ends, rotating shaft left and right respectively; Described sole is two pieces, is fixedly connected with respectively with bottom under described external support board; The first rotating shaft described in described motor is driven by described driving gear, the first driven gear, the second driven gear and the positive and negative rotation of the second rotating shaft, thus the circular arc back and forth movement together done by the external support board described in the 3rd described gear and the 4th gear driven and sole in certain angle, and then realize robot sole up and down and the motion of front and back.
As preferably, described motor is screwed on the sidewall that is arranged on described inner support frame.
As preferably, stagger when the sole described in two pieces is installed certain angle or phase place, thus ensure that robot can normally run, and realizes walking object.
As preferably, described sole is U-shaped sole, can not only alleviate robot overall weight, and increases the moment of ground total reaction, thus well solves the problem that this structure can occur to turn on one's side.
As preferably, the 3rd described gear, the 4th gear are fixedly mounted on connecting panel, it is made relative rotation only to occur between the two, and there is not other relative motion, both ensured that robot foot part moved up and down, and rocking about reducing it, turn improve stability during robot ambulation.
The utility model has the advantage of that structurally volume can be very small and exquisite, part processing and easy for installation, and above-mentioned part is all without the requirement of special material.
Accompanying drawing explanation
Fig. 1: the constructional drawing of the utility model embodiment.
Detailed description of the invention
Understand for the ease of those of ordinary skill in the art and implement the utility model, below in conjunction with drawings and Examples, the utility model is described in further detail, should be appreciated that exemplifying embodiment described herein is only for instruction and explanation of the utility model, and be not used in restriction the utility model.
Ask for an interview Fig. 1, the technical scheme that the utility model adopts is: a kind of walking robot, comprises motor 1, driving gear 2, first driven gear 21, second driven gear 22, the 3rd gear 23, the 4th gear 24, inner support frame 3, first rotating shaft 41, second rotating shaft 42, connecting panel 7, external support board 8 and U-shaped sole 9; Inner support frame 3 is U-shaped, and motor 1 is screwed in the middle part of the sidewall on installation inner support frame 3, and its rotating shaft is connected with driving gear 2; First driven gear 21 is contained on the first turning cylinder 41, and the second driven gear 22 is contained on the second turning cylinder 42; First rotating shaft 41 and the second rotating shaft 42 are arranged on the top and bottom sidewall of inner support frame 3 by the mounting hole symmetry on inner support frame 3, and its two ends, left and right all pass mounting hole and are installed with the 3rd gear 23; First driven gear 21 and the second driven gear 22 are connected with a joggle with driving gear 2 respectively; External support board 8 is two pieces, and its top and middle part are all installed with the 4th gear the 24, four gear 24 and are connected with a joggle with the 3rd gear 23 at the first rotating shaft 41 and the second rotating shaft about 42 two ends respectively; 3rd gear 23, the 4th gear 24 are fixedly mounted on connecting panel 7, make it relative rotation only occur between the two, and other relative motion does not occur, both ensured that robot foot part moves up and down, and rocking about reducing it, turn improve stability during robot ambulation; U-shaped sole 9 is two pieces, is fixedly connected with respectively with external support board 8 times bottoms; Motor 1 drives the first rotating shaft 41 and the positive and negative rotation of the second rotating shaft 42 by driving gear 2, first driven gear 21, second driven gear 22, thus drive external support board 8 and sole 9 together to do circular arc back and forth movement in certain angle by the 3rd gear 23 and the 4th gear 24, and then realize robot sole 9 up and down and the motion of front and back.
Two pieces of U-shaped soles 9 of the present embodiment stagger when installing certain angle or phase place, thus ensure that robot can normally run, and realize walking object; U-shaped sole 9 can not only alleviate robot overall weight, and increases the moment of ground total reaction, thus well solves the problem that rollover can occur this structure.
Although this specification sheets more employs the terms such as motor 1, driving gear 2, first driven gear 21, second driven gear 22, the 3rd gear 23, the 4th gear 24, inner support frame 3, first rotating shaft 41, second rotating shaft 42, connecting panel 7, external support board 8 and U-shaped sole 9, do not get rid of the possibility using other terms.Use these terms to be only used to describe essence of the present utility model more easily, the restriction that they are construed to any one additional is all contrary with the utility model spirit.
Should be understood that, the part that this specification sheets does not elaborate all belongs to prior art.
Should be understood that; the above-mentioned description for preferred embodiment is comparatively detailed; therefore the restriction to the utility model scope of patent protection can not be thought; those of ordinary skill in the art is under enlightenment of the present utility model; do not departing under the ambit that the utility model claim protects; can also make and replacing or distortion, all fall within protection domain of the present utility model, request protection domain of the present utility model should be as the criterion with claims.
Claims (5)
1. a walking robot, is characterized in that: comprise motor (1), driving gear (2), the first driven gear (21), the second driven gear (22), the 3rd gear (23), the 4th gear (24), inner support frame (3), the first rotating shaft (41), the second rotating shaft (42), external support board (8) and sole (9);
Described inner support frame (3) is for U-shaped, and in the middle part of the sidewall on the described inner support frame (3) described in motor (1) fixed installation, its rotating shaft is connected with described driving gear (2);
Described the first driven gear (21) is contained on the first turning cylinder (41), and described the second driven gear (22) is contained on the second turning cylinder (42); Described the first rotating shaft (41) and the second rotating shaft (42) are arranged on the top and bottom sidewall of described inner support frame (3) by the mounting hole symmetry on inner support frame (3), and its two ends, left and right all pass described mounting hole and are installed with the 3rd described gear (23);
Described the first driven gear (21) and the second driven gear (22) are connected with a joggle with described driving gear (2) respectively;
Described external support board (8) is two pieces, its top and middle part are all installed with the 4th described gear (24), and the 4th described gear (24) is connected with a joggle with the 3rd gear (23) at described the first rotating shaft (41) and the second rotating shaft (42) two ends, left and right respectively;
Described sole (9) is two pieces, is fixedly connected with respectively with bottom under described external support board (8);
The first rotating shaft (41) described in described motor (1) is driven by described driving gear (2), the first driven gear (21), the second driven gear (22) and the second rotating shaft (42) positive and negative rotation, thus external support board (8) described in being driven by the 3rd described gear (23) and the 4th gear (24) and sole (9) together do the circular arc back and forth movement in certain angle, and then realize the motion of upper and lower and front and back of sole (9) of robot.
2. walking robot according to claim 1, is characterized in that: described motor (1) is screwed on the sidewall that is arranged on described inner support frame (3).
3. walking robot according to claim 1, is characterized in that: stagger when the sole (9) described in two pieces is installed certain angle or phase place, thus ensures that robot can normally run, and realizes walking object.
4. walking robot according to claim 1, it is characterized in that: described sole (9) is U-shaped sole, robot overall weight can not only be alleviated, and increase the moment of ground total reaction, thus well solve the problem that rollover can occur this structure.
5. the walking robot according to claim 1,2,3 or 4, it is characterized in that: the 3rd described gear (23), the 4th gear (24) are fixedly mounted on connecting panel (7), it is made relative rotation only to occur between the two, and there is not other relative motion, both ensured that robot foot part moved up and down, and rocking about reducing it, turn improve stability during robot ambulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420789121.4U CN204264310U (en) | 2014-12-15 | 2014-12-15 | A kind of walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420789121.4U CN204264310U (en) | 2014-12-15 | 2014-12-15 | A kind of walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204264310U true CN204264310U (en) | 2015-04-15 |
Family
ID=52799193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420789121.4U Withdrawn - After Issue CN204264310U (en) | 2014-12-15 | 2014-12-15 | A kind of walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204264310U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527828A (en) * | 2014-12-15 | 2015-04-22 | 湖北工业大学 | Gear pair structure walking robot |
| CN105172928A (en) * | 2015-08-24 | 2015-12-23 | 梁秀权 | Geared five-bar combined mechanism used for climbing car |
| WO2018205744A1 (en) * | 2017-05-12 | 2018-11-15 | 山东百扬和信息科技有限公司 | Coal mine transporting machine |
| CN109808788A (en) * | 2017-11-21 | 2019-05-28 | 山东龙冈旅游股份有限公司 | A kind of guiding mechanism of sightseeing traffic safety rails vehicle |
-
2014
- 2014-12-15 CN CN201420789121.4U patent/CN204264310U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527828A (en) * | 2014-12-15 | 2015-04-22 | 湖北工业大学 | Gear pair structure walking robot |
| CN104527828B (en) * | 2014-12-15 | 2016-09-28 | 湖北工业大学 | A kind of gear pair structure walking robot |
| CN105172928A (en) * | 2015-08-24 | 2015-12-23 | 梁秀权 | Geared five-bar combined mechanism used for climbing car |
| WO2018205744A1 (en) * | 2017-05-12 | 2018-11-15 | 山东百扬和信息科技有限公司 | Coal mine transporting machine |
| CN109808788A (en) * | 2017-11-21 | 2019-05-28 | 山东龙冈旅游股份有限公司 | A kind of guiding mechanism of sightseeing traffic safety rails vehicle |
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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 |
Granted publication date: 20150415 Effective date of abandoning: 20160928 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20150415 Effective date of abandoning: 20160928 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |