CN204895642U - Stable mobile robot - Google Patents
Stable mobile robot Download PDFInfo
- Publication number
- CN204895642U CN204895642U CN201520548945.7U CN201520548945U CN204895642U CN 204895642 U CN204895642 U CN 204895642U CN 201520548945 U CN201520548945 U CN 201520548945U CN 204895642 U CN204895642 U CN 204895642U
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- China
- Prior art keywords
- leg
- hinged
- main frame
- driven gear
- turning cylinder
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Abstract
(B, ) the utility model discloses a stable mobile robot constitutes including main part frame (14) and sets up four shank structures on main part frame (14), is equipped with the drive structure of connecting four shank structures in main part frame (14), the drive structure includes fixes power gear (11) on main part frame (14) through power gear axis of rotation (12), and driven gear (7) have been meshed respectively to the both sides of power gear (11), and driven gear (7) set up in main part frame (14) through driven gear axis of rotation (9), and the shank structure is connected respectively at driven gear axis of rotation (9) both ends. 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 robot device, the robot of particularly a kind of simple and stable movement.
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 and stablizes mobile 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: one stablizes mobile robot, it is characterized in that: comprise main frame and be arranged on four leg structures on main frame, be provided with the drive configuration of connection four leg structures in main frame; Described drive configuration comprises the power gear be fixed on through power gear turning cylinder on main frame, the both sides of power gear are engaged with driven gear respectively, driven gear is arranged in main frame through driven gear turning cylinder, and driven gear turning cylinder two ends are connected legs structure respectively; Described leg structure comprising ground supporting leg, leg stock, leg quarter butt, leg crank and leg pipe link, described in land one end of supporting leg one end and leg pipe link hinged, the one end that supports midleg and leg stock of landing is hinged; The other end of described leg pipe link is hinged on main frame; The middle part of described leg stock and one end of leg quarter butt hinged, the other end of leg stock and one end of leg crank hinged, the other end of leg crank is connected with the end of driven gear turning cylinder; The other end of described leg quarter butt is hinged on main frame.
in aforesaid stable mobile robot, described main frame comprises left side board and right side board, is provided with pair of support rods and a pair fixed connecting rod between left side board and right side board; Described leg pipe link the other end be hinged on the end of fixed connecting rod, the other end of described leg quarter butt is hinged on the end of strut bar.
compared with prior art, the leg mechanism that the utility model drives four structures identical by driver train 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: 1-lands supporting leg, 2-leg stock, 3-leg quarter butt, 4-leg crank, 5-leg pipe link, 6-strut bar; 7-driven gear; 8-right side board, 9-driven gear turning cylinder, 10-fixed connecting rod, 11-power gear, 12-power gear turning cylinder axle, 13-left side board, 14-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.One stablizes mobile robot, form as shown in Figure 1, (four leg structure is separately positioned on front left, front right, rear left and right four positions of main frame with four leg structures be arranged on main frame 14 to comprise main frame 14, and structure is identical), be provided with the drive configuration of connection four leg structures in main frame 14; Described drive configuration comprises the power gear 11 be fixed on through power gear turning cylinder 12 on main frame 14, described power gear turning cylinder 12 and then moved by motor straight tape splicing, the both sides of power gear 11 are engaged with driven gear 7 respectively, driven gear 7 is arranged in main frame 14 through driven gear turning cylinder 9, and driven gear turning cylinder 9 two ends are connected legs structure respectively; Described leg structure is comprising ground supporting leg 1, leg stock 2, leg quarter butt 3, leg crank 4 and leg pipe link 5, one end of described land supporting leg 1 one end and leg pipe link 5 is hinged, described supporting leg 1 other end that lands lands, the middle part of the supporting leg 1 that lands and one end of leg stock 2 hinged; The other end of described leg pipe link 5 is hinged on main frame 14; The middle part of described leg stock 2 and one end of leg quarter butt 3 hinged, the other end of leg stock 2 and one end of leg crank 4 hinged, the other end of leg crank 4 is connected with the end of driven gear turning cylinder 9; The other end of described leg quarter butt 3 is hinged on main frame 14.
described main frame 14 comprises left side board 13 and right side board 8, is provided with pair of support rods 6 and a pair fixed connecting rod 10 between left side board 13 and right side board 8; Described leg pipe link 5 the other end be hinged on the end of fixed connecting rod 10, the other end of described leg quarter butt 3 is hinged on the end of strut bar 6.
the leg mechanism that the utility model drives four structures identical by driver train 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.
Claims (2)
1. a stable mobile robot, is characterized in that: comprise main frame (14) and be arranged on four leg structures on main frame (14), be provided with the drive configuration of connection four leg structures in main frame (14); Described drive configuration comprises the power gear (11) be fixed on through power gear turning cylinder (12) on main frame (14), the both sides of power gear (11) are engaged with driven gear (7) respectively, driven gear (7) is arranged in main frame (14) through driven gear turning cylinder (9), and driven gear turning cylinder (9) two ends are connected legs structure respectively; Described leg structure is comprising ground supporting leg (1), leg stock (2), leg quarter butt (3), leg crank (4) and leg pipe link (5), one end of the described supporting leg that lands (1) one end and leg pipe link (5) is hinged, the middle part of the supporting leg that lands (1) and one end of leg stock (2) hinged; The other end of described leg pipe link (5) is hinged on main frame (14); The middle part of described leg stock (2) and one end of leg quarter butt (3) hinged, the other end of leg stock (2) and one end of leg crank (4) hinged, the other end of leg crank (4) is connected with the end of driven gear turning cylinder (9); The other end of described leg quarter butt (3) is hinged on main frame (14).
2. stable mobile robot according to claim 1, it is characterized in that: described main frame (14) comprises left side board (13) and right side board (8), between left side board (13) and right side board (8), be provided with pair of support rods (6) and a pair fixed connecting rod (10); Described leg pipe link (5) the other end be hinged on the end of fixed connecting rod (10), the other end of described leg quarter butt (3) is hinged on the end of strut bar (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520548945.7U CN204895642U (en) | 2015-07-27 | 2015-07-27 | Stable mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520548945.7U CN204895642U (en) | 2015-07-27 | 2015-07-27 | Stable mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204895642U true CN204895642U (en) | 2015-12-23 |
Family
ID=54917842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520548945.7U Expired - Fee Related CN204895642U (en) | 2015-07-27 | 2015-07-27 | Stable mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204895642U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986245A (en) * | 2015-07-27 | 2015-10-21 | 湖州市千金宝云机械铸件有限公司 | Stable mobile robot |
| CN109398523A (en) * | 2018-09-05 | 2019-03-01 | 北京交通大学 | It is a kind of with rest adjustment characteristic closed chain quadruped robot |
-
2015
- 2015-07-27 CN CN201520548945.7U patent/CN204895642U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986245A (en) * | 2015-07-27 | 2015-10-21 | 湖州市千金宝云机械铸件有限公司 | Stable mobile robot |
| CN109398523A (en) * | 2018-09-05 | 2019-03-01 | 北京交通大学 | It is a kind of with rest adjustment characteristic closed chain quadruped robot |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 Termination date: 20160727 |