CN2046795U - Two-foot walking robot - Google Patents
Two-foot walking robot Download PDFInfo
- Publication number
- CN2046795U CN2046795U CN 89210116 CN89210116U CN2046795U CN 2046795 U CN2046795 U CN 2046795U CN 89210116 CN89210116 CN 89210116 CN 89210116 U CN89210116 U CN 89210116U CN 2046795 U CN2046795 U CN 2046795U
- Authority
- CN
- China
- Prior art keywords
- robot
- foot
- connecting rod
- walking
- drive connecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Abstract
The utility model relates to a two-foot walking robot. The existing two-foot walking robot is provided with complicated structure and difficult control which not have the practical condition. The two-foot walking robot suggested by the utility model provides two freedom degree, so the robot can accomplish up-and-down motion and to-and-fro motion, which only need two directions motive power, and accomplish the functions of automatically position and direction, and automatically coordination.
Description
The utility model relates to a kind of mobile model robot.In the Robotics field, the mobile robot is bigger than locate mode difficulty, the mobile machine philtrum, walking robot than wheeled, the caterpillar type robot difficulty is big, the walking robot philtrum, two the foot bigger than polypody difficulty.Since the seventies, Japan, the U.S. set about studying two-foot walking robot and have made analogue means, but its complex structure, the control difficulty is bigger with practical distance.The more domestic units of China also take to the development of two-foot walking robot, but also all apart from practicality big distance are arranged.
The utility model proposes a kind of two-foot walking robot, this robot architecture is simple, control is easy, and function more is similar to people's device.
The utility model is by head 1, trunk 2 and walking foot 3,4,5,6,7,8,9,10,11 form, the principal character of utility model is that the walking of this robot is by parallel linkage 8 enough, active link rod 7, sector gear 11, drive motors 3,4 form, 2 of parallel linkage upper ends are fixed on the trunk, the traveling foot 5 of lower end is with the initiatively end hinge joint of link rod, initiatively the link rod middle and upper part has elongated slot, one side of elongated slot is equipped with tooth bar 12, match with the pin 10 of stirring of sector gear 11 in elongated slot top, one end of drive motors 3 output shafts and sector gear 11 links mutually, the driven wheel 9 that is meshed with tooth bar 12 is housed on the output shaft axle head, a drive motors 4 also is housed in the robot trunk, and driven wheel 6 and sector gear are meshed on this motor output shaft end.Initiatively link rod 7 is one and is connected driving link on the trunk by the stage casing slotted hole, and the upper end is driven by motor 3,4 and moves back and forth and move up and down, because the initiatively motion of link rod is driving the motion of parallel linkage 8 and traveling foot 5.Because parallel rod 8 is connected by joint pin, change come what may, it is parallel with two tie points of trunk lower end to remain the baseplane of doing foot 5, also just guaranteed the upright of robot, as long as lift the height of leg and the distance of taking a step so provide robot, the hip joint of robot, knee joint, ankle-joint will be made corresponding bending change automatically, and keep the vola parallel to the ground.
The traveling of the robot that the utility model proposes foot only needs both direction, promptly up and down and the control of front and back just can realize functions such as automatic location, orientation, automatic synchronization, simple in structure, it is easy to control.
Fig. 1 is structure of the present utility model and action schematic diagram.
Fig. 2 is the structural representation of traveling foot.
Embodiment:
A kind of walking robot with technical characterictic described in the utility model, but remove transmission mechanisms such as the moving motor of body is housed in the elements such as head sensor installation, trunk, the lateral balance counterweight is installed again, shank is initiatively link rod and parallel linkage composition, connects the traveling foot below.
Claims (1)
- A kind of walking robot of being made up of head, trunk and walking foot is characterized in that: said walking foot is made up of two groups of parallel rods, drive connecting rod, sector gear and drive motors, and last parallel rod group upper end two is point articulated in the trunk lower end.2 of the lower ends of following parallel rod group are hinged with the walking foot.Walking foot is hinged with the lower end of drive connecting rod again, and the drive connecting rod middle and upper part has elongated slot, and a side of elongated slot is equipped with tooth bar, matches with the pin of stirring of sector gear in elongated slot top.Sector gear is subjected to motor-driven, makes drive connecting rod swing (taking a step), and tooth bar is subjected to motor-driven, and drive connecting rod is moved up and down (lifting leg), and the control drive motors makes robot can make various walking paces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 89210116 CN2046795U (en) | 1989-02-03 | 1989-02-03 | Two-foot walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 89210116 CN2046795U (en) | 1989-02-03 | 1989-02-03 | Two-foot walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2046795U true CN2046795U (en) | 1989-11-01 |
Family
ID=4866511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 89210116 Withdrawn CN2046795U (en) | 1989-02-03 | 1989-02-03 | Two-foot walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2046795U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1081515C (en) * | 1999-04-05 | 2002-03-27 | 张平顺 | Two-leg walking machine |
| CN1306188C (en) * | 2001-01-01 | 2007-03-21 | 熊介良 | 'Menneimasi pendulum arm' and stalking mechanical leg |
| CN102417000A (en) * | 2011-10-12 | 2012-04-18 | 路海燕 | Single-person walking seat |
| CN111791967A (en) * | 2020-07-17 | 2020-10-20 | 上海布鲁可科技有限公司 | Walking robot |
-
1989
- 1989-02-03 CN CN 89210116 patent/CN2046795U/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1081515C (en) * | 1999-04-05 | 2002-03-27 | 张平顺 | Two-leg walking machine |
| CN1306188C (en) * | 2001-01-01 | 2007-03-21 | 熊介良 | 'Menneimasi pendulum arm' and stalking mechanical leg |
| CN102417000A (en) * | 2011-10-12 | 2012-04-18 | 路海燕 | Single-person walking seat |
| CN111791967A (en) * | 2020-07-17 | 2020-10-20 | 上海布鲁可科技有限公司 | Walking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |