CN204775578U - Imitative running gear of people robot - Google Patents
Imitative running gear of people robot Download PDFInfo
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- CN204775578U CN204775578U CN201520437844.2U CN201520437844U CN204775578U CN 204775578 U CN204775578 U CN 204775578U CN 201520437844 U CN201520437844 U CN 201520437844U CN 204775578 U CN204775578 U CN 204775578U
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- assembly
- thigh
- devices
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- support
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 37
- 210000001699 lower leg Anatomy 0.000 claims description 19
- 210000002414 leg Anatomy 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 7
- 210000001624 hip Anatomy 0.000 abstract 2
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract 1
- 210000004394 hip joint Anatomy 0.000 abstract 1
- 210000000629 knee joint Anatomy 0.000 abstract 1
- 230000001141 propulsive effect Effects 0.000 description 3
- 230000006742 locomotor activity Effects 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model provides an imitative running gear of people robot, the utility model belongs to imitative people robot field, concretely relates to imitative running gear of people robot. The utility model relates to an imitative running gear of people robot simple structure, easily control. The utility model discloses a waist assembly, the thigh assembly, the shank assembly, four parts of sole assembly, the waist assembly is connected the position with the thigh assembly and is connected the position with the shank assembly and is connected the position with the sole assembly and has the one degree of freedom as ankle joint, every joint as knee joint, shank assembly as hip joint, thigh assembly, and walking action around the robot is accomplished in each position simultaneous movement. Wherein, shank assembly position uses ball to do exercises, has improved the precision of motion greatly. The utility model is suitable for a help or substituted human work.
Description
Technical field
The invention belongs to anthropomorphic robot field, be specifically related to a kind of Humanoid Robot Based on Walking device.
Background technology
Anthropomorphic robot research is the focus in robot research field always, is integrated with the highest achievement in research of a lot of field of research.As an extremely important technical goal of anthropomorphic robot research, the locomotor activity of anthropomorphic robot has become the item key weighing anthropomorphic robot research level.Because Humanoid Robot Based on Walking action is complicated, operating difficulties, action is flexible poor, and robot leg structure is also just complicated, and this running gear structure is simply easy to realize, and easier on an operating system, action is quicker, and control accuracy is high.
Summary of the invention
The object of the invention is to make the structure of robot more simplify, control accuracy is higher, and then proposes a kind of Humanoid Robot Based on Walking device.The technical solution used in the present invention is as follows: a kind of Humanoid Robot Based on Walking device, its architectural feature is, by lumbar device assembly (1), and thigh assembly of devices (2), lower-leg device assembly (3), sole assembly of devices (4) forms.Described lumbar device assembly (1) carries out axis hole by the stay bearing plate (102) on lumbar device assembly (1) with the longitudinal axis (201) on thigh assembly of devices (2) with thigh assembly of devices (2) and is fixedly connected with; Thigh assembly of devices (2) is articulated and connected at A point place by the thigh support frame (206) on thigh assembly of devices (2) and the axle (305) on lower-leg device assembly (3) with lower-leg device assembly (3); Lower-leg device assembly (3) is articulated and connected by the little leg support (307) on lower-leg device assembly (3) and the longitudinal axis (405) on sole assembly of devices (4) with sole assembly of devices (4).
Described lumbar device assembly (1), its architectural feature is, by support transverse slat (101), stay bearing plate (102) forms; Support transverse slat (101) described in it is fixed by welding with stay bearing plate (102).
Described thigh assembly of devices (2), its architectural feature is, by the longitudinal axis (201), transverse axis (202), from belt wheel (203), main pulley (204), motor (205), thigh support frame (206) forms, and wherein, (206) have chute to thigh support frame; The longitudinal axis (201) described in it and transverse axis (202) are articulated and connected; Transverse axis (202) left and right end is fixed by axis hole interference fit with thigh support frame (206) respectively and is connected; Transverse axis (202) is connected with being fixed from belt wheel (203) by key; Motor (205) and thigh support frame (206) are fixed by bolt and are connected; Main pulley (204) and motor (205) coordinate to be fixed by key and are connected; Main pulley (204) be in transmission connection from belt wheel (203) by belt.
Described lower-leg device assembly (3), its architectural feature is, by motor (301), leading screw (302), leading screw plate (303), connecting rod (304), axle (305), cylinder (306), little leg support (307) forms; Motor (301) described in it and leading screw (302) are fixed by coupler and are connected; Leading screw (302) and leading screw plate (303) carry out being connected between screw thread; Axle (305) is articulated and connected with little leg support (307), cylinder (306) respectively; Connecting rod (304) upper end and leading screw plate (303) are articulated and connected, and connecting rod (304) lower end and little leg support (307) are articulated and connected, and connecting rod (304) upper end is circular arc and cylinders contact.
Described sole assembly of devices (4), is characterized in that, by motor (401), main pulley (402), from belt wheel (403), transverse axis (404), the longitudinal axis (405), sole support (406) forms; Motor (401) described in it and little leg support (307) are fixed by bolt at B place and are connected; Motor (401) and main pulley (402) coordinate to be fixed by axle key and are connected; Transverse axis (404) and the longitudinal axis (405) are articulated and connected; Transverse axis (404) be articulated and connected from belt wheel (403); The longitudinal axis (405) and sole support (406) are fixed by axis hole interference fit and are connected; Main pulley (402) be in transmission connection from belt wheel (403) by belt.
Accompanying drawing explanation
Fig. 1 is a kind of axonometric drawing of Humanoid Robot Based on Walking device;
Fig. 2 is lumbar device assembly (1) shaft side figure;
Fig. 3 is thigh assembly of devices (2) shaft side figure;
Fig. 4 is lower-leg device assembly (3) shaft side figure;
Fig. 5 is sole assembly of devices (4) shaft side figure.
Detailed description of the invention
As in Fig. 1-5, a kind of Humanoid Robot Based on Walking device, its architectural feature is by lumbar device assembly (1), thigh assembly of devices (2), lower-leg device assembly (3), and sole assembly of devices (4) forms; Lumbar device assembly (1) described in it carries out axis hole by the stay bearing plate (102) on lumbar device assembly (1) with the longitudinal axis (201) on thigh assembly of devices (2) with thigh assembly of devices (2) and is fixedly connected with; Thigh assembly of devices (2) is articulated and connected at A point place by the thigh support frame (206) on thigh assembly of devices (2) and the axle (305) on lower-leg device assembly (3) with lower-leg device assembly (3); Lower-leg device assembly (3) is articulated and connected by the little leg support (307) on lower-leg device assembly (3) and the longitudinal axis (405) on sole assembly of devices (4) with sole assembly of devices (4).
A kind of Humanoid Robot Based on Walking device, when the walking of needs robot, robot thigh assembly of devices (1), lower-leg device assembly (2), sole assembly of devices (3) moves simultaneously.For thigh assembly of devices (1), control servomotor (205) to open, the propulsive effort that servomotor produces makes main pulley (204) rotate thus drives to rotate from belt wheel (203), and then transverse axis (202) rotates, drive the thigh support frame (206) be fixedly connected with transverse axis (202) to rotate, complete the walking motion of thigh support frame (206).Control servomotor (301) to open, the propulsive effort that servomotor (301) produces drives leading screw (302) to rotate, thus leading screw plate (303) two ends are along the chute up-and-down movement on thigh support frame (208), connecting rod (304) lower end drives little leg support (307) to rotate around axle (305), connecting rod (304) upper end is circular arc, contact with cylinder (306), cylinder (306) plays a supportive role to connecting rod (304), to make little leg support (307) walking motion more steady.Control servomotor (401) to open, the propulsive effort that servomotor (401) produces makes main pulley (402) rotate thus drives to rotate from belt wheel (403), and then transverse axis (404) rotates, drive the sole support (406) be fixedly connected with transverse axis (404) to rotate, complete sole support (406) walking motion.Coordinate Servo motor (205), (301), (401) work simultaneously, and then complete the complete leg walking motion of this robot.
Claims (5)
1. a Humanoid Robot Based on Walking device, its architectural feature is by lumbar device assembly (1), thigh assembly of devices (2), lower-leg device assembly (3), and sole assembly of devices (4) forms; Lumbar device assembly (1) described in it carries out axis hole by the stay bearing plate (102) on lumbar device assembly (1) with the longitudinal axis (201) on thigh assembly of devices (2) with thigh assembly of devices (2) and is fixedly connected with; Thigh assembly of devices (2) is articulated and connected at A point place by the thigh support frame (206) on thigh assembly of devices (2) and the axle (305) on lower-leg device assembly (3) with lower-leg device assembly (3); Lower-leg device assembly (3) is articulated and connected by the little leg support (307) on lower-leg device assembly (3) and the longitudinal axis (405) on sole assembly of devices (4) with sole assembly of devices (4).
2. a kind of Humanoid Robot Based on Walking device according to claim 1, its architectural feature is that described lumbar device assembly (1) is by support transverse slat (101), and stay bearing plate (102) forms; Support transverse slat (101) described in it and stay bearing plate (102) are welded and fixed.
3. a kind of Humanoid Robot Based on Walking device according to claim 1, its architectural feature is that described thigh assembly of devices (2) is by the longitudinal axis (201), transverse axis (202), from belt wheel (203), main pulley (204), motor (205), thigh support frame (206) forms, and wherein thigh support frame (206) has chute; The longitudinal axis (201) described in it and transverse axis (202) are articulated and connected; Transverse axis (202) two ends, left and right are fixed by axis hole interference fit with thigh support frame (206) respectively and are connected; Transverse axis (202) is connected with being fixed from belt wheel (203) by key; Motor (205) and thigh support frame (206) are fixed by bolt and are connected; Main pulley (204) and motor (205) coordinate to be fixed by axle key and are connected; Main pulley (204) be in transmission connection from belt wheel (203) by belt.
4. a kind of Humanoid Robot Based on Walking device according to claim 1, its architectural feature is described lower-leg device assembly (3), by motor (301), leading screw (302), leading screw plate (303), connecting rod (304), axle (305), cylinder (306), little leg support (307) forms; Motor (301) described in it and leading screw (302) are fixed by coupler and are connected; Leading screw (302) and leading screw plate (303) carry out being connected between screw thread; Axle (305) is articulated and connected with little leg support (307), cylinder (306) respectively; Connecting rod (304) upper end and leading screw plate (303) carry out being articulated and connected, connecting rod (304) lower end and little leg support (307) are articulated and connected, connecting rod (304) upper end is circular arc and cylinders contact, realizes the effect of cylinder support link.
5. a kind of Humanoid Robot Based on Walking device according to claim 1, its architectural feature is described sole assembly of devices (4), by motor (401), main pulley (402), from belt wheel (403), transverse axis (404), the longitudinal axis (405), sole support (406) forms; Motor (401) described in it and little leg support (307) are fixed by bolt at B place and are connected; Motor (401) and main pulley (402) coordinate to be fixed by axle key and are connected; Transverse axis (404) and the longitudinal axis (405) are articulated and connected; Transverse axis (404) be articulated and connected from belt wheel (403); The longitudinal axis (405) and sole support (406) to be fixed axis hole by interference fit and to be connected; Main pulley (402) be in transmission connection from belt wheel (403) by belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520437844.2U CN204775578U (en) | 2015-06-24 | 2015-06-24 | Imitative running gear of people robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520437844.2U CN204775578U (en) | 2015-06-24 | 2015-06-24 | Imitative running gear of people robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204775578U true CN204775578U (en) | 2015-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520437844.2U Expired - Fee Related CN204775578U (en) | 2015-06-24 | 2015-06-24 | Imitative running gear of people robot |
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| CN (1) | CN204775578U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890757A (en) * | 2015-06-24 | 2015-09-09 | 长春工业大学 | Traveling gear of humanoid robot |
| CN106240669A (en) * | 2016-07-27 | 2016-12-21 | 江苏安格尔机器人有限公司 | Robot walking device |
-
2015
- 2015-06-24 CN CN201520437844.2U patent/CN204775578U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104890757A (en) * | 2015-06-24 | 2015-09-09 | 长春工业大学 | Traveling gear of humanoid robot |
| CN106240669A (en) * | 2016-07-27 | 2016-12-21 | 江苏安格尔机器人有限公司 | Robot walking device |
| CN106240669B (en) * | 2016-07-27 | 2018-06-26 | 江苏安格尔机器人有限公司 | Robot walking device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170419 Address after: Yucai Road and 130600 street in Jilin province Changchun Xinhui City Shuangyang Economic Development Zone intersection northbound 500 meters Patentee after: JILIN YUNXIANG TECHNOLOGY Co.,Ltd. Address before: 130012 Yanan street, Jilin, Chaoyang District, No. 2055, No. Patentee before: Changchun University of Technology |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 |