CN204956698U - Multi -functional sole mechanism of robot - Google Patents
Multi -functional sole mechanism of robot Download PDFInfo
- Publication number
- CN204956698U CN204956698U CN201520705045.9U CN201520705045U CN204956698U CN 204956698 U CN204956698 U CN 204956698U CN 201520705045 U CN201520705045 U CN 201520705045U CN 204956698 U CN204956698 U CN 204956698U
- Authority
- CN
- China
- Prior art keywords
- sole
- steering wheel
- wheel
- robot
- output shaft
- 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.)
- Expired - Fee Related
Links
- 238000009434 installation Methods 0.000 abstract 1
- 238000012876 topography Methods 0.000 abstract 1
- 238000004804 winding Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 241000028631 Microstomus pacificus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a multi -functional sole mechanism of robot relates to the robot sole. The utility model discloses there is a sole, installs the steering wheel mount on the sole, an installation steering wheel on the steering wheel mount, connecting one on the output shaft of steering wheel and winding output shaft pivoted connecting piece, install the universal wheel at the front end of sole, the drive wheel is installed to the rear end of sole, install the reduction gear on the sole, the reduction gear is connected with the drive wheel, the least significant end of universal wheel and drive wheel is located the coplanar just outside the sole. Under the prerequisite that does not influence the robot mode of walking, it contacts to earth to have increased the wheel, and the wheel provides power drive's another kind of mode, makes the robot can adapt to different topography feature, satisfies requirements such as friction speed, stationarity.
Description
Technical field
The utility model relates to robot sole, specifically the multi-functional footrest mechanism of a kind of robot.
Background technology
Robot is at home and abroad more and more taken seriously, and robot is widely used in the field such as commercial production, medical services now.But its steerability is not high, it is inconvenient that people change its mode of operation.The common sole of the use of ordinary robot, only by sole and earth surface, provides support power and friction force, utilizes steering wheel to change robot gait, realizes robot walking pattern.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the multi-functional footrest mechanism of a kind of robot of the utility model, under the prerequisite not affecting robot walking pattern, add wheel to contact to earth, wheel provides power operated another kind of pattern, enable robot adapt to different terrain environment, meet the requirement such as friction speed, stationarity.
The utility model is existing with following technical scheme reality: the multi-functional footrest mechanism of a kind of robot, comprises sole, sole is provided with steering wheel fixed mount, steering wheel fixed mount is installed a steering wheel; It is characterized in that: on the output shaft of steering wheel, connection one is around the attaching parts of output shaft rotation, and be provided with cardan wheel in the front end of sole, the rear end of sole is provided with drive wheel; Sole is provided with retarder, and described retarder is connected with drive wheel; Described cardan wheel and the least significant end of drive wheel are positioned at same plane and outside sole.
The beneficial effects of the utility model are: by sole and earth surface, provide support power and friction force, utilize steering wheel to change robot gait, realize robot walking pattern; When vertically being placed by sole by steering wheel, realize wheel and earth surface, robot becomes robot vehicle, adds actuating device, can control, and enables robot adapt to different terrain environment, meets the requirement such as friction speed, stationarity.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is robot work pattern schematic diagram;
Fig. 3 is robot vehicle work pattern schematic diagram;
Fig. 4 is control circuit functional block diagram.
Detailed description of the invention
As shown in Figure 1, the multi-functional footrest mechanism of a kind of robot has a sole 3, sole 3 is provided with steering wheel fixed mount 2, steering wheel fixed mount 2 is installed a steering wheel 8; On the output shaft of steering wheel, connection one is around the attaching parts 1 of output shaft rotation, and be provided with cardan wheel 6 in the front end of sole 3, the rear end of sole is provided with drive wheel 5; Sole is provided with retarder 4, and described retarder 4 is connected with drive wheel 5; Described cardan wheel 6 and the least significant end of drive wheel 5 are positioned at same plane and outside sole 3.
In the present embodiment, steering wheel fixed mount 2 is bolted on sole 3.The output shaft of steering wheel 3 is provided with steering wheel 7, and one end of described attaching parts 1 is arranged on the steering wheel 7 of steering wheel, and the other end is arranged on steering wheel fixed mount 2 by axle, and described axle and the center of steering wheel are in same level.
As shown in Figure 2, sole lands robot pattern, and wheel soars, and does not affect and walks.
During robot vehicle pattern as shown in Figure 3, sole is vertically placed, and now only have four wheels and earth surface, drive wheel provides power, and cardan wheel is driven.Change between two kinds of patterns, switch power and come from steering wheel 8, slack by controlling to allow after output shaft half-twist, switching mode is easy.
In addition, in order to more convenient to the control of robot, as shown in Figure 4, steering wheel connection control circuit; Described control circuit comprises single-chip minimum system, and described single-chip minimum system connects motor control module, servos control module and bluetooth module; Described motor control module and servos control model calling power module.The behavior of robot is responsible for by single-chip minimum system plate, and bluetooth module is mounted on system board, by the connection with Bluetooth of mobile phone, can pass through the behavior of the real-time control of smart mobile phone.
Utilize circuit design software as Altiumdesigner design software design basic module, control module, wireless communication module and expand interface etc., realizing the making of internal system circuit.Utilize Three-dimensional Design Software such as SolidWorks to set up three-dimension modeling and Virtual assemble thereof, and realize making and the assembling of model machine physical construction.Cell phone software development platform is utilized to write robot control software on smart mobile phone as Java.
Mobile phone by bluetooth module and the communication of robot bluetooth module, and can pass through control desk process information, and control makes corresponding reaction.Such as, select robot/robot vehicle pattern at mobile phone control app, by the action such as advance, retrogressing, left and right turn of button control, can control its speed; Also by the sensor of mobile phone itself, as weight sensor, control machine human action can be carried out by the attitude of mobile phone itself.
Smart mobile phone and robot can be utilized to realize the function of wireless telecommunications, realize mobile telephone interactive control, break through conventional remote controls, have the deficiency of line control, realize portability, control, multimedia, amusement be transmitted in one.Thus reach according to user's request real time control machine device people behavior, making it is better people's service.
Claims (4)
1. the multi-functional footrest mechanism of robot, comprises sole, sole is provided with steering wheel fixed mount, steering wheel fixed mount is installed a steering wheel; It is characterized in that: on the output shaft of steering wheel, connection one is around the attaching parts of output shaft rotation, and be provided with cardan wheel in the front end of sole, the rear end of sole is provided with drive wheel; Sole is provided with retarder, and described retarder is connected with drive wheel; Described cardan wheel and the least significant end of drive wheel are positioned at same plane and outside sole.
2. the multi-functional footrest mechanism of a kind of robot according to claim 1, is characterized in that: described steering wheel fixed mount is bolted on sole.
3. the multi-functional footrest mechanism of a kind of robot according to claim 1, it is characterized in that: the output shaft of steering wheel is provided with steering wheel, one end of described attaching parts is arranged on the steering wheel of steering wheel, the other end is arranged on steering wheel fixed mount by axle, and described axle and the center of steering wheel are in same level.
4. the multi-functional footrest mechanism of a kind of robot according to any one of claim 1-3, is characterized in that: described steering wheel connection control circuit; Described control circuit comprises single-chip minimum system, and described single-chip minimum system connects motor control module, servos control module and bluetooth module; Described motor control module and servos control model calling power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520705045.9U CN204956698U (en) | 2015-09-11 | 2015-09-11 | Multi -functional sole mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520705045.9U CN204956698U (en) | 2015-09-11 | 2015-09-11 | Multi -functional sole mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204956698U true CN204956698U (en) | 2016-01-13 |
Family
ID=55051779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520705045.9U Expired - Fee Related CN204956698U (en) | 2015-09-11 | 2015-09-11 | Multi -functional sole mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204956698U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128391A (en) * | 2017-05-04 | 2017-09-05 | 河海大学常州校区 | It is a kind of have can wind the robot sole of flippers |
| WO2019128855A1 (en) * | 2017-12-30 | 2019-07-04 | 中国科学院沈阳自动化研究所 | Crawling robot on soft ground |
| CN113911231A (en) * | 2021-11-26 | 2022-01-11 | 合肥工业大学 | Wheel-leg combined type unmanned metamorphic vehicle |
-
2015
- 2015-09-11 CN CN201520705045.9U patent/CN204956698U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128391A (en) * | 2017-05-04 | 2017-09-05 | 河海大学常州校区 | It is a kind of have can wind the robot sole of flippers |
| CN107128391B (en) * | 2017-05-04 | 2019-01-22 | 河海大学常州校区 | It is a kind of with the robot sole that can wind flippers |
| WO2019128855A1 (en) * | 2017-12-30 | 2019-07-04 | 中国科学院沈阳自动化研究所 | Crawling robot on soft ground |
| US11305817B2 (en) | 2017-12-30 | 2022-04-19 | Shenyang Institute Of Automation, Chinese Academy Of Sciences | Soft ground crawling robot |
| CN113911231A (en) * | 2021-11-26 | 2022-01-11 | 合肥工业大学 | Wheel-leg combined type unmanned metamorphic vehicle |
| CN113911231B (en) * | 2021-11-26 | 2022-12-06 | 合肥工业大学 | Wheel-leg combined type unmanned metamorphic vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204956698U (en) | Multi -functional sole mechanism of robot | |
| CN103158152A (en) | Robot driven by mobile phone | |
| CN103507814A (en) | System for controlling vehicle running and method for controlling vehicle running | |
| CN202923701U (en) | Steering wheel cover with keys | |
| CN204395438U (en) | A kind of intelligent toy automobile | |
| CN106020459A (en) | Intelligent spectacles as well as manipulation method and manipulation system of intelligent spectacles | |
| CN205594576U (en) | Control ring is felt to agent | |
| CN206097648U (en) | Entity programming dolly | |
| CN203909616U (en) | Robot based on wireless control of smart phone | |
| CN104317298A (en) | Emotional interaction type mobile phone robot | |
| CN201088832Y (en) | Interdynamic game machine controller | |
| CN205386326U (en) | Forced induction controls formula electric skate board | |
| CN203208659U (en) | Novel device for virtualizing mobile phone as computer wireless gamepad | |
| CN205490513U (en) | Vehicle -mounted bluetooth device | |
| CN201208992Y (en) | Control system for two feet robot walking mechanism | |
| CN210199973U (en) | Wireless remote control assembly | |
| CN204576147U (en) | A kind of old mobile intelligent terminal utilizes system | |
| CN211979610U (en) | Toy control device capable of recognizing space gestures | |
| CN201171898Y (en) | Games machine operating sports blanket | |
| CN201565142U (en) | Toy remote controller | |
| CN204233736U (en) | A kind of game foot mat device | |
| CN202306869U (en) | Driving simulator | |
| CN209934051U (en) | Game foot controller | |
| CN205721627U (en) | A kind of three-dimensional virtual scene visual device and visible system | |
| CN205516395U (en) | Electronic multi -functional slide of foot control wireless remote control formula |
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: 20160113 Termination date: 20160911 |