CN204750347U - Four -footed walking robot - Google Patents
Four -footed walking robot Download PDFInfo
- Publication number
- CN204750347U CN204750347U CN201520468830.7U CN201520468830U CN204750347U CN 204750347 U CN204750347 U CN 204750347U CN 201520468830 U CN201520468830 U CN 201520468830U CN 204750347 U CN204750347 U CN 204750347U
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- China
- Prior art keywords
- leg
- gear
- foreleg
- shank
- main frame
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Abstract
(B, ) the utility model discloses a four -footed walking robot constitutes including the main part frame, is equipped with four shank mechanisms that the structure is the same on the main part frame, is equipped with the drive mechanism who connects shank mechanism on the main part frame, and drive mechanism is connected with power unit, shank mechanism includes big triangle of shank and the little triangle of shank, and two extreme points of the big triangle of shank are articulated with two extreme points of the little triangle of shank through first shank connecting rod and second shank connecting rod respectively, and another extreme point of the little triangle of shank is connected with drive mechanism through the shank stock, and the big triangle of shank leans on the inboard extreme point of main part frame to be connected with drive mechanism through the shank rotary rod, article four, shank mechanism is two preceding shank mechanisms and two back shank mechanisms respectively, article two, all be equipped with the shank connecting rod between the preceding shank mechanism and after two between the shank mechanism. The utility model discloses can realize the steady motion and last the motion that the walking is reliable on the unevenness road surface. (B, )
Description
Technical field
the utility model relates to a kind of four-footed walking robot, particularly a kind of four-footed walking robot that can be used for complex road condition walking.
Background technology
at present, most of mobile apparatus adopts crawler type per capita, ratcheting mechanism realizes displacement movement, and this kind of robot is easy to control, and moving velocity is adjustable, and moving direction can free adjustment.But when running into pavement roughness, when road conditions are poor, this kind of robot often cannot realize stable motion and persistent movement.
Utility model content
the purpose of this utility model is, provides a kind of four-footed walking robot.The utility model can realize stable motion and persistent movement at roughness pavement, and walking is reliable.
the technical solution of the utility model: a kind of four-footed walking robot, is characterized in that: comprise main frame, main frame is provided with the identical leg mechanism of four structures, and main frame is provided with the transmission device of connected legs mechanism, and transmission device is connected with actuating unit; Described leg mechanism comprises the large triangle pole of leg and the little triangle pole of leg, two end points of two end points respectively through the first leg link and the second leg link and the little triangle pole of leg of the large triangle pole of leg are hinged, another end points of the little triangle pole of leg is connected with transmission device through leg stock, and the large triangle pole of leg is connected with transmission device through leg revolving bar by the end points inside main frame; Described four leg mechanisms are respectively leg mechanism after Liang Tiao front leg portions mechanism and two, are equipped with leg pipe link between described Liang Tiao front leg portions mechanism and after two between leg mechanism.
in aforesaid four-footed walking robot, described transmission device comprises foreleg gear, power gear, transmission big gear wheel, drive pinion, back leg gear, back leg gear adapter shaft, gear supporting seat, transmission gear anchor shaft, back leg synchronizing wheel, foreleg synchronizing wheel and foreleg gear adapter shaft; Described power gear is connected on the output shaft of actuating unit, power gear is connected with a joggle with transmission big gear wheel, drive pinion successively, foreleg gear and back leg gear are engaged on drive pinion both sides respectively, transmission big gear wheel is fixed on main frame through transmission gear anchor shaft, on transmission gear anchor shaft, cover has antifriction-bearing box, antifriction-bearing box is placed in the mounting hole of gear supporting seat, and gear supporting seat is fixed on main frame; Described foreleg synchronizing wheel, back leg synchronizing wheel are connected with foreleg gear and back leg gear with back leg gear adapter shaft respectively by foreleg gear adapter shaft.
in aforesaid four-footed walking robot, the leg stock of a described front leg portions mechanism is connected with foreleg synchronizing wheel by hinges with leg revolving bar, and the leg stock of another front leg portions mechanism is connected with foreleg gear by hinges with leg revolving bar; The hinges position of described foreleg synchronizing wheel and foreleg gear is symmetrical arranged up and down along horizontal shaft.
in aforesaid four-footed walking robot, described leg revolving bar one end is connected with foreleg synchronizing wheel, and the other end is connected on the hinges fulcrum of the second leg link and the large triangle pole of leg.
in aforesaid four-footed walking robot, the front and back of described main frame are equipped with two leg support bar, and the end of leg support bar is connected on the hinges fulcrum of the little triangle pole of leg and the second leg link.
in aforesaid four-footed walking robot, described actuating unit is synchronous dynamo or stepping motor.
compared with prior art, the leg mechanism that the utility model drives four structures identical by transmission device is walked, run trace attitude and animal similar, make to realize stable motion and persistent movement in smooth-riding surface and roughness pavement, walk reliable and stable, be specially adapted to complex road condition walking.The utility model also has the feature that volume is little, structure is simple, easy and simple to handle.The transmission device that the utility model adopts and leg mechanism can be stable, sound construction.
Accompanying drawing explanation
fig. 1 is structural representation of the present utility model.
being labeled as in accompanying drawing: the large triangle pole of 1-leg; 2-first leg link; 3-second leg link; The little triangle pole of 4-leg; 5-leg pipe link; 6-leg stock; 7-leg support bar 8-foreleg gear; 9-power gear; 10-transmission big gear wheel; 11-drive pinion; 12-back leg gear; 13-back leg gear adapter shaft; 14-gear supporting seat; 15-bearing; 16-transmission gear anchor shaft; 17-back leg synchronizing wheel; 18-foreleg synchronizing wheel; 19-actuating unit; 20-foreleg gear adapter shaft; 21-leg revolving bar; 22-main frame.
Detailed description of the invention
below in conjunction with drawings and Examples, the utility model is further described, but not as the foundation limited the utility model.
embodiment.A kind of four-footed walking robot, form as shown in Figure 1, it is characterized in that: comprise main frame 22, main frame 22 is provided with the identical leg mechanism of four structures, and main frame 22 is provided with the transmission device of connected legs mechanism, and transmission device is connected with actuating unit 19; Described leg mechanism comprises the large triangle pole of leg 1 and the little triangle pole 4 of leg, two end points of two end points respectively through the first leg link 2 and the second leg link 3 and the little triangle pole of leg 4 of the large triangle pole of leg 1 are hinged, another end points of the little triangle pole 4 of leg is connected with transmission device through leg stock 6, and the large triangle pole 1 of leg is connected with transmission device through leg revolving bar 21 by the end points inside main frame 22; Described four leg mechanisms are respectively leg mechanism after Liang Tiao front leg portions mechanism and two, are equipped with leg pipe link 5 between described Liang Tiao front leg portions mechanism and after two between leg mechanism.
described transmission device comprises foreleg gear 8, power gear 9, transmission big gear wheel 10, drive pinion 11, back leg gear 12, back leg gear adapter shaft 13, gear supporting seat 14, transmission gear anchor shaft 16, back leg synchronizing wheel 17, foreleg synchronizing wheel 18 and foreleg gear adapter shaft 20; Described power gear 9 is connected on the output shaft of actuating unit 19, power gear 9 is connected with a joggle with transmission big gear wheel 10, drive pinion 11 successively, foreleg gear 8 and back leg gear 12 are engaged on drive pinion 11 both sides respectively, transmission big gear wheel 10 is fixed on main frame through transmission gear anchor shaft 16, on transmission gear anchor shaft 16, cover has antifriction-bearing box 15, antifriction-bearing box 15 is placed in the mounting hole of gear supporting seat 14, and gear supporting seat 14 is fixed on main frame 22; Described foreleg synchronizing wheel 18, back leg synchronizing wheel 17 are connected with foreleg gear 8 and back leg gear 12 with back leg gear adapter shaft 13 respectively by foreleg gear adapter shaft 20.
the leg stock 6 of a described front leg portions mechanism is connected with foreleg synchronizing wheel 18 by hinges with leg revolving bar 21, and the leg stock 6 of another front leg portions mechanism is connected with foreleg gear 8 by hinges with leg revolving bar 21; The hinges position of described foreleg synchronizing wheel 18 and foreleg gear 8 is symmetrical arranged up and down along horizontal shaft.
described leg revolving bar 21 one end is connected with foreleg synchronizing wheel 18, and the other end is connected on the hinges fulcrum of the second leg link 3 and the large triangle pole 1 of leg.
the front and back of described main frame are equipped with two leg support bar 7, and the end of leg support bar 7 is connected on the hinges fulcrum of the little triangle pole 4 of leg and the second leg link 3.
described actuating unit 19 is synchronous dynamo or stepping motor.
described main frame 22 is arranged four identical leg mechanisms, comprise leg mechanism after 2 front leg portions mechanisms and 2, and lay respectively at the left and right sides of main frame 22.For left front leg portion mechanism, leg stock 6 on left front leg portion mechanism is connected with foreleg synchronizing wheel 18 by hinges with leg revolving bar 21, leg stock 6 leg revolving bar 21 in leg portion mechanism is connected with foreleg gear 8 by hinges, and the hinges position of foreleg synchronizing wheel 18 and foreleg gear 8 is just contrary, symmetrical up and down along horizontal shaft respectively.Leg large triangle pole 1 one end is provided with circular hole, and this end is used for the walking contact jaw that lands.Two end points of the little triangle pole of leg 4 by leg link 1, leg link 23 respectively at 1 other two ends chain connection of the large triangle pole of leg.The another one end points chain connection of leg stock 6 one end and the little triangle pole 4 of leg, the other end is connected with foreleg synchronizing wheel 18.Leg revolving bar 21 one end is connected with foreleg synchronizing wheel 18, and the other end is connected on the hinges fulcrum of leg link 23 and the large triangle pole 1 of leg.
the leg mechanism that the utility model drives four structures identical by transmission device is simultaneously walked, run trace attitude and animal similar, make to realize stable motion and persistent movement in smooth-riding surface and roughness pavement, walk reliable and stable, be specially adapted to complex road condition walking.The utility model also has the feature that volume is little, structure is simple, easy and simple to handle.
Claims (6)
1. a four-footed walking robot, it is characterized in that: comprise main frame (22), main frame (22) is provided with the identical leg mechanism of four structures, and main frame (22) is provided with the transmission device of connected legs mechanism, and transmission device is connected with actuating unit (19); Described leg mechanism comprises the large triangle pole of leg (1) and the little triangle pole of leg (4), two end points of two end points respectively through the first leg link (2) and the second leg link (3) and the little triangle pole of leg (4) of the large triangle pole of leg (1) are hinged, another end points of the little triangle pole of leg (4) is connected with transmission device through leg stock (6), and the large triangle pole of leg (1) is connected with transmission device through leg revolving bar (21) by the end points of main frame (22) inner side; Described four leg mechanisms are respectively leg mechanism after Liang Tiao front leg portions mechanism and two, are equipped with leg pipe link (5) between described Liang Tiao front leg portions mechanism and after two between leg mechanism.
2. four-footed walking robot according to claim 1, is characterized in that: described transmission device comprises foreleg gear (8), power gear (9), transmission big gear wheel (10), drive pinion (11), back leg gear (12), back leg gear adapter shaft (13), gear supporting seat (14), transmission gear anchor shaft (16), back leg synchronizing wheel (17), foreleg synchronizing wheel (18) and foreleg gear adapter shaft (20), described power gear (9) is connected on the output shaft of actuating unit (19), power gear (9) successively with transmission big gear wheel (10), drive pinion (11) is connected with a joggle, foreleg gear (8) and back leg gear (12) are engaged on drive pinion (11) both sides respectively, transmission big gear wheel (10) is fixed on main frame through transmission gear anchor shaft (16), the upper cover of transmission gear anchor shaft (16) has antifriction-bearing box (15), antifriction-bearing box (15) is placed in the mounting hole of gear supporting seat (14), gear supporting seat (14) is fixed on main frame (22), described foreleg synchronizing wheel (18), back leg synchronizing wheel (17) are connected with foreleg gear (8) and back leg gear (12) with back leg gear adapter shaft (13) respectively by foreleg gear adapter shaft (20).
3. four-footed walking robot according to claim 2, it is characterized in that: the leg stock (6) of a described front leg portions mechanism is connected with foreleg synchronizing wheel (18) by hinges with leg revolving bar (21), the leg stock (6) of another front leg portions mechanism is connected with foreleg gear (8) by hinges with leg revolving bar (21); The hinges position of described foreleg synchronizing wheel (18) and foreleg gear (8) is symmetrical arranged up and down along horizontal shaft.
4. four-footed walking robot according to claim 3, is characterized in that: described leg revolving bar (21) one end is connected with foreleg synchronizing wheel (18), and the other end is connected on the hinges fulcrum of the second leg link (3) and the large triangle pole of leg (1).
5. the four-footed walking robot according to any one of claim 1-4, it is characterized in that: the front and back of described main frame are equipped with two leg support bar (7), and the end of leg support bar (7) is connected on the hinges fulcrum of the little triangle pole of leg (4) and the second leg link (3).
6. the four-footed walking robot according to any one of claim 1-4, is characterized in that: described actuating unit (19) is synchronous dynamo or stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520468830.7U CN204750347U (en) | 2015-06-30 | 2015-06-30 | Four -footed walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520468830.7U CN204750347U (en) | 2015-06-30 | 2015-06-30 | Four -footed walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204750347U true CN204750347U (en) | 2015-11-11 |
Family
ID=54465082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520468830.7U Expired - Fee Related CN204750347U (en) | 2015-06-30 | 2015-06-30 | Four -footed walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204750347U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960590A (en) * | 2015-06-30 | 2015-10-07 | 湖州市千金宝云机械铸件有限公司 | Four-foot walking robot |
| CN107140393A (en) * | 2017-05-12 | 2017-09-08 | 王天赐 | A kind of Coal Transportation machine |
-
2015
- 2015-06-30 CN CN201520468830.7U patent/CN204750347U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960590A (en) * | 2015-06-30 | 2015-10-07 | 湖州市千金宝云机械铸件有限公司 | Four-foot walking robot |
| CN107140393A (en) * | 2017-05-12 | 2017-09-08 | 王天赐 | A kind of Coal Transportation machine |
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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: 20151111 Termination date: 20160630 |
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| CF01 | Termination of patent right due to non-payment of annual fee |