CN204871278U - 3D prints four -footed bio -robot - Google Patents
3D prints four -footed bio -robot Download PDFInfo
- Publication number
- CN204871278U CN204871278U CN201520546019.6U CN201520546019U CN204871278U CN 204871278 U CN204871278 U CN 204871278U CN 201520546019 U CN201520546019 U CN 201520546019U CN 204871278 U CN204871278 U CN 204871278U
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- leg
- frame
- crank
- bionic robot
- robot
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Abstract
The utility model relates to a 3D prints four -footed bio -robot, including frame, gear, transmission shaft, crank, link mechanism, R type leg, micromotor, control system, overall structure is: establish two micromotor in the frame, connect respectively and control two gear drive, crank about two transmission shafts were connected about two gear drive passed through respectively, the crank is established and drive two link mechanism simultaneously outside the frame, and link mechanism also is a four -footed bio -robot foot while, two cranks, two link mechanism of driven separately form left front back, right front four back feet. The gait of four foot -propelled thing oxen, horse etc. Is walked out through control system's control, four feet of two motor drive. The utility model discloses mechanism's innovation and control are simple, the walking turns to the flexibility, the trafficability characteristic is good, can realize that nimble turn, the part of robot adopt 3D to print the preparation.
Description
Technical field
The utility model relates to a kind of 3D and prints four-leg bionic robot, specifically a kind ofly can control by control system the quadruped robot that turns to, belongs to bio-robot and 3D printing field.
Background technology
Along with the development of Robotics, the application of walking robot is more and more wider.From the view point of reality, the distinctive feature that walking movement truly has wheel machine incomparable.Its utilizes isolated ground supports instead of the continuous ground supports needed for wheel machine, can in uneven region with stationary mode walking or obstacle avoidance in a non contact fashion.
The very difficult simple mechanism of current technology, stablize propulsion source and drive quadruped robot walking, when can ensureing to move, frame is steady simultaneously.Current robot steering hardware complex structure, can not turn to flexibly.
Utility model content
The purpose of this utility model is to overcome prior art above shortcomings, provides a kind of four-leg bionic robot, and wherein all parts all can by 3D printing and making, and its structure is simple, stable movement.The adjustment of two micro-motor rotating speeds is adopted to realize turning to of bio-robot.
The utility model is achieved through the following technical solutions: a kind of four-leg bionic robot, comprise frame and be arranged at the traveling gear of the frame left and right sides, it is characterized in that, the traveling gear structure of the frame left and right sides is identical and symmetrical, traveling gear described in each includes front foot and metapedes, forward and backward sufficient middle part and top are all connected with crank by a drive link, and described crank is by the driver drives be arranged in frame; Described forward and backward sufficient structure is identical, includes the R type leg that trigonometric sum one on a leg is positioned at triangle bottom on described leg, and described upper trigonometric sum R type leg is connected by two leg link.
Preferably, described four-leg bionic robot also comprises a control system, and described control system comprises singlechip control panel, infrared induction assembly and battery tray, and wherein singlechip control panel is located at rear end in frame lower, infrared inductor is fixed on right side board, and battery tray is located at front end in frame lower.
Preferably, described actuator is located at upper rack rear end, described actuator comprises the micro-motor be arranged in frame and the gear drive be connected on micro-motor, and gear drive is by transmission shaft connecting crank, and crank to be located at outside frame and to drive traveling gear.Drive four pin to walk out the gait of quadruped ox, horse etc. by the control of control system, two motors, control the rotating speed of micro-motor, realize the flexible divertical motion of robot.
Further, described frame comprises rack chassis, left side board, right side board, two shaft stools.
Further, described crank connects upper connecting rod and lower link, triangle on upper connecting rod connection leg, and lower link connects R type leg, and crank drives and realizes taking a step of leg.
Further, described control system controls the rotating speed of micro-motor, realizes the flexible divertical motion of robot.
Further, all component of machines of described four-leg bionic robot are by 3D chopping machine printing and making.
The utility model has the advantages that: four-leg bionic robot of the present utility model, its structure is simple, gait just as quadruped gaits such as the oxen and horses, smooth running; And all parts are all by 3D printing and making, structure is ingenious attractive in appearance; Adopt the rotating speed of Single-chip Controlling miniature motor, realize turning to flexibly, adopt the walking of remote pilot four-leg bionic robot, simple to operate.
Accompanying drawing explanation
Fig. 1 is the drive mechanism figure of four-leg bionic robot of the present utility model.
Fig. 2 is the leg structure figure of four-leg bionic robot of the present utility model.
Fig. 3 is the frame explosive view of four-leg bionic robot of the present utility model.
Fig. 4 is the integral structure figure of four-leg bionic robot of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail, be to be noted that described specific embodiment is only intended to be convenient to understanding of the present utility model, and any restriction effect is not play to it.
Referring now to Fig. 1 ~ 4, the utility model four-leg bionic robot, comprise frame and be arranged at frame both sides and the traveling gear be symmetrically arranged, comprise triangle 5, leg connecting rod 6, R type leg 7, front fixing pin 8, shaft stool 9, driving gear 10, transmission shaft 11, transmission shaft fixed cover 12, driving gear adaptor union 13, driven gear 14, miniature motor 15, crank 16, rack chassis 17, battery case 18, frame right side board 19, micro controller system 20, actuator 21, frame left side board 22 on rear fixing pin 1, upper connecting rod 2, bearing pin end cover 3, bearing pin 4, leg.Integrated connection mode is: establish micro-motor 15 two in frame, connect two, left and right driving gear respectively and pass 10, driven gear 14 connects left and right crank 16 respectively by left and right two transmission shaft 11, the outside that crank is located at frame left side board 22 and right side board 19 drives upper connecting rod 2 and the lower link 2 of former and later two pin simultaneously, upper connecting rod connects 2 and connects triangle 5 on leg, lower link connects 2 and connects R type leg 7, and crank drives and realizes taking a step of leg.Control system comprises singlechip control panel 20, actuator 21, battery tray 18.Singlechip control panel 20 is located at rear end in rack chassis 17 bottom, battery tray is located at front end in rack chassis 17 bottom, and actuator 21 is located at rack chassis 17 upper rear end.Micro-motor 15, by Single-chip Controlling rotating speed, realizes the flexible divertical motion of robot.The all parts of four-leg bionic robot of the present utility model all can by 3D chopping machine printing and making.
Above; be only preferred embodiment of the present utility model; the scope of the utility model protection is not limited thereto; any people being familiar with this technology can understand the conversion or replacement expected in the scope disclosed by the utility model; all should be encompassed in and of the present utility modelly comprise within scope; therefore, protection domain of the present utility model should be as the criterion with the protection domain of claims.
Claims (7)
1. a four-leg bionic robot, comprise frame and be arranged at the traveling gear of the frame left and right sides, it is characterized in that, the traveling gear structure of the frame left and right sides is identical and symmetrical, traveling gear described in each includes front foot and metapedes, forward and backward sufficient middle part and top are all connected with crank by a drive link, and described crank is by the driver drives be arranged in frame; Described forward and backward sufficient structure is identical, includes the R type leg that trigonometric sum one on a leg is positioned at triangle bottom on described leg, and described upper trigonometric sum R type leg is connected by two leg link.
2. four-leg bionic robot according to claim 1, it is characterized in that, described four-leg bionic robot also comprises a control system, described control system comprises singlechip control panel, infrared induction assembly and battery tray, wherein singlechip control panel is located at rear end in frame lower, infrared inductor is fixed on right side board, and battery tray is located at front end in frame lower.
3. four-leg bionic robot according to claim 1, it is characterized in that, described actuator is located at upper rack rear end, described actuator comprises the micro-motor be arranged in frame and the gear drive be connected on micro-motor, gear drive is by transmission shaft connecting crank, and crank to be located at outside frame and to drive traveling gear.
4. four-leg bionic robot according to claim 1, is characterized in that, described frame comprises rack chassis, left side board, right side board, two shaft stools.
5. four-leg bionic robot according to claim 1, is characterized in that, described crank connects upper connecting rod and lower link, triangle on upper connecting rod connection leg, and lower link connects R type leg, and crank drives and realizes taking a step of leg.
6. four-leg bionic robot according to claim 2, is characterized in that, described control system controls the rotating speed of micro-motor, realizes the flexible divertical motion of robot.
7. four-leg bionic robot according to claim 1, is characterized in that, all component of machines of described four-leg bionic robot are by 3D chopping machine printing and making.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520546019.6U CN204871278U (en) | 2015-07-27 | 2015-07-27 | 3D prints four -footed bio -robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520546019.6U CN204871278U (en) | 2015-07-27 | 2015-07-27 | 3D prints four -footed bio -robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204871278U true CN204871278U (en) | 2015-12-16 |
Family
ID=54815686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520546019.6U Expired - Fee Related CN204871278U (en) | 2015-07-27 | 2015-07-27 | 3D prints four -footed bio -robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204871278U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080830A (en) * | 2016-07-08 | 2016-11-09 | 苏州米众三维科技有限公司 | The Hexapod Robot printed based on 3D |
| CN109018062A (en) * | 2018-08-12 | 2018-12-18 | 屈茂臻 | A kind of automatic eight sufficient bio-robot |
| CN109204602A (en) * | 2018-10-31 | 2019-01-15 | 南京航空航天大学 | Miniature quadruped robot |
| CN110613940A (en) * | 2018-06-20 | 2019-12-27 | 雍万聪 | Bionic robot toy |
| CN113183164A (en) * | 2021-05-10 | 2021-07-30 | 上海工程技术大学 | Bionic mechanical cow based on crank-rocker mechanism and control method |
-
2015
- 2015-07-27 CN CN201520546019.6U patent/CN204871278U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080830A (en) * | 2016-07-08 | 2016-11-09 | 苏州米众三维科技有限公司 | The Hexapod Robot printed based on 3D |
| CN110613940A (en) * | 2018-06-20 | 2019-12-27 | 雍万聪 | Bionic robot toy |
| CN109018062A (en) * | 2018-08-12 | 2018-12-18 | 屈茂臻 | A kind of automatic eight sufficient bio-robot |
| CN109204602A (en) * | 2018-10-31 | 2019-01-15 | 南京航空航天大学 | Miniature quadruped robot |
| CN113183164A (en) * | 2021-05-10 | 2021-07-30 | 上海工程技术大学 | Bionic mechanical cow based on crank-rocker mechanism and control method |
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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: 20151216 Termination date: 20170727 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |