CN205801296U - A kind of biped Jing Bu robot of Anti-inclining - Google Patents
A kind of biped Jing Bu robot of Anti-inclining Download PDFInfo
- Publication number
- CN205801296U CN205801296U CN201620785083.4U CN201620785083U CN205801296U CN 205801296 U CN205801296 U CN 205801296U CN 201620785083 U CN201620785083 U CN 201620785083U CN 205801296 U CN205801296 U CN 205801296U
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- Prior art keywords
- leg
- connection
- sole
- support bar
- connection leg
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Abstract
This utility model relates to the biped Jing Bu robot of a kind of Anti-inclining, including body, stand leg, connector and sole, body is provided with controller, stand leg includes the first and second stand legs, first and second stand legs are connected to the bottom surface of body by connector, it has been respectively mounted steering wheel on first and second stand legs, described steering wheel is controlled by controller, sole includes the first and second soles, first and second soles are connected to the bottom of the first and second stand legs by connector, and the left and right sides and the rear side of body are equipped with support means；The biped Jing Bu robot of Anti-inclining of the present utility model, overall smooth running, move forward and backward steadily of centre of gravity, and support means connects simple, easy accessibility.
Description
Technical field
This utility model relates to robot, particularly to the biped Jing Bu robot of a kind of Anti-inclining.
Background technology
Biped footrace robot is the one of robot, and its mechanical construction and control system is complicated, and biped robot is logical
Crossing biped footrace, its action, for advancing, retreats, and walked upright footrace task, and in the process of walking, Jing Bu robot leads to
Often can vacillate now to the left, now to the right, wherein, gait is biped robot's unbalance control important content, and gait refers in gait processes, walking
The rapport of the parts of body of body；Gait is to provide the relation of each joint position of robot, and the quality of gait will be straight
Meet multiple sides such as the size that has influence on the walking stability of bipod walking robot, aesthetic property and each joint required driving torque
Face, particularly during biped footrace robot ambulation, owing to gait planning is the best, can cause tilting during walking, still to falling down, cause
Robot is unavailable, have impact on the use of biped footrace robot.
Utility model content
This utility model is in order to solve problem of the prior art, it is provided that a kind of overall smooth running, move forward and backward weight
The heart is stable, and support means connects simple, the biped Jing Bu robot of the Anti-inclining of easy accessibility.
Concrete technical scheme of the present utility model is as follows: the biped Jing Bu robot of a kind of Anti-inclining, including body, machine
Lower limb, connector and sole, described body is provided with controller, and described stand leg includes the first stand leg and the second stand leg, and described first
Stand leg and the second stand leg are connected to the bottom surface of body by connector, and described sole includes the first sole and the second sole,
Described first sole and the second sole are connected to the first stand leg and the bottom of the second stand leg by connector, and its feature exists
In: the left and right sides of described body and rear side are equipped with support means, and described support means includes the first support means and second
Support means, described first support means and the second support means all include support bar, connecting rod and supporting pad, described support bar
Including the first support bar and the second support bar, described first support bar and the second support bar are respectively provided at left side and the right side of body
Side, described first supports the bottom surface with the second support bar is equipped with screwed hole, and described screwed hole is disposed thread hole, described connection
Bar includes head rod and the second connecting rod, and the end face of described head rod and the second connecting rod is equipped with connection post, institute
Stating and be equipped with external screw thread on connection post, the connection post that described head rod is provided with is connected to the screw thread that the first support bar is provided with
In hole, the connection post that described second connecting rod is provided with is connected in the screwed hole that the second support bar is provided with, and described supporting pad includes
First supporting pad and the second supporting pad, described first supporting pad and the second supporting pad are respectively provided at the first support bar and second and support
The bottom of bar, described first stand leg and the second stand leg all include connection leg and connector, the connection leg that described first stand leg includes
Being provided with two, it is respectively the first connection leg and the second connection leg, and the connection leg that described second stand leg includes is provided with two, its point
Not being the 3rd connection leg and the 4th connection leg, described first connection leg and the 3rd connection leg are connected to the end of body by connector
Face, is connected by connector between described first connection leg and the second connection leg, described 3rd connection leg and the 4th connection leg it
Between connected by connector, described first sole and the second sole are connected to the second connection leg and the 4th even by connector respectively
Connect the bottom of lower limb.
It it is below attached technical scheme of the present utility model.
Preferably, described first connection leg, the second connection leg, the 3rd connection leg and the 4th connection leg are equipped with appearance
Receiving chamber, described receiving intracavity has been respectively mounted steering wheel, and described steering wheel connects controller by connecting line.
Preferably, described first sole and the second sole are equipped with supporting mouth.
Preferably, described supporting mouth includes the first supporting mouth, the second supporting mouth, and the 3rd supporting mouth and the 4th supports
Mouthful, described first supporting mouth and the second supporting mouth are respectively provided at the front-end and back-end of the first sole, described 3rd supporting mouth and the
Four supporting mouth are respectively provided at the front-end and back-end of the second sole.
Technique effect of the present utility model: the biped Jing Bu robot of a kind of Anti-inclining of the present utility model, by supporting
The setting of device so that when walking, the strong point increases, and plays stable effect in robot；The company being provided with by support bar
Connect the setting of post so that it is easy to connect with connecting rod, it is simple to dismounting, by the setting of the supporting mouth that sole is provided with so that
When walking, support force is stable in robot, overall smooth running, and move forward and backward steadily of centre of gravity, and support means connects letter
Single, easy accessibility.
Accompanying drawing explanation
Fig. 1 is the decomposition texture schematic diagram of the biped Jing Bu robot of a kind of Anti-inclining of this utility model embodiment.
Fig. 2 is the structural representation of the biped Jing Bu robot of a kind of Anti-inclining of this utility model embodiment.
In figure: body 1, controller 11, stand leg 2, the first stand leg 21, the second stand leg 22, the first connection leg 23, second connects
Lower limb 24, the 3rd connection leg 25, the 4th connection leg 26, receiving chamber 27, steering wheel 28, support means 3, the first support means 31, second
Support means 32, support bar 4, the first support bar 41, the second support bar 42, screwed hole 44, connecting rod 5, head rod 51, the
Two connecting rods 52, connect post 6, and first connects post 61, and second connects post 62, external screw thread 64, connector 7, sole 8, the first foot
Plate 81, the second sole 82, supporting mouth 9, the first supporting mouth 91, the second supporting mouth 92, the 3rd supporting mouth 93, the 4th supporting mouth 94,
Supporting pad 10, the first supporting pad 101, the second supporting pad 102.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described further.
As depicted in figs. 1 and 2, the biped Jing Bu robot of a kind of Anti-inclining of the present embodiment, including body 1, stand leg 2,
Connector 7 and sole 8, described body 1 is provided with controller 11, and described stand leg 2 includes the first stand leg 21 and the second stand leg 22, institute
Stating the first and second stand legs and be connected to the bottom surface of body 1 by connector 7, described sole 8 includes the first sole 81 and the
Two soles 82, described first and second soles are connected to the bottom of the first and second stand legs by connector 7, so set
Put, be connected firmly.The left and right sides of described body is equipped with support means 3, and described support means 3 includes the first support means 31
With the second support means 32, so arranging, the first and second support meanss are played a supporting role so that supporting & stablizing, prevent machine
Device people tilt when walking, and described first, second support means all includes support bar 4, connecting rod 5 and supporting pad 10, described
Strut 4 includes the first support bar 41 and the second support bar 42, described first, second and support bar be respectively provided at the left side of body 1
And right side, the bottom surface of described first, second support bar is equipped with screwed hole 43, and described screwed hole 43 is disposed thread hole, so
Arrange, it is simple to connecting first, second, and third connecting rod, described connecting rod 5 includes head rod the 51, second connecting rod 52 and
3rd connecting rod 53, the end face of described first, second connecting rod is equipped with connection post 6, and it is respectively the first connection post 61 and the
Two connect post 62, and described first, second connection post is equipped with external screw thread 63, and described first connects post 61 is connected to first
In the screwed hole 44 that strut 41 is provided with, described second connects post 62 is connected in the screwed hole 44 that the second support bar 42 is provided with, this
Sample is arranged, it is simple to dismounting.Described supporting pad 100 includes the first supporting pad the 101, second supporting pad 102 and the 3rd supporting pad 103,
Described first, second supporting pad is respectively provided at the bottom of first, second support bar, so arranges, it is simple to supports, prevents biped competing
During robot walking walking, wave, owing to crank is to inclination, so arrange, add two supports more, play stable work
With.Described first and second stand legs all include that connection leg, the connection leg that described first stand leg 21 includes are provided with two, and it is respectively
First connection leg 23 and the second connection leg 24, the connection leg that described second stand leg 22 includes is provided with two, and it is respectively the 3rd even
Connect lower limb 25 and the 4th connection leg 26, described first and the 3rd connection leg be connected to the bottom surface of body 1 by connector 7, described the
One and second is connected by connector 7 between connection leg, is connected by connector 7, institute between described third and fourth connection leg
State first, second, third and fourth connection leg and be equipped with receiving chamber 27, in described receiving chamber 27, be respectively mounted steering wheel 28.So
Arrange, it is simple to controller controls.Described first and second soles are connected to second and the 4th connection leg by connector 7 respectively
Bottom.It is equipped with supporting mouth 9 on described first and second soles.Described supporting mouth includes the first supporting mouth 91, the second supporting mouth
92, the 3rd supporting mouth 93 and the 4th supporting mouth 94, described first and second supporting mouth be respectively provided at the first sole front end and after
End, described third and fourth supporting mouth is respectively provided at the front-end and back-end of the second sole. so arranges, supporting & stablizing.
The biped Jing Bu robot of a kind of Anti-inclining of the present embodiment, during specifically used, user is by first,
The connection post that two support bars are provided with is connected firmly in being connected to the screwed hole that first, second connecting rod is provided with, and works as biped
Jing Bu robot when walking, owing to health is often vacillated now to the left, now to the right, crank, add a left side by two each and every one support meanss
The balance that the right side is waved, and two support meanss are threaded connection firmly with robot, will not produce and rock, decrease and shake
Amplitude of oscillation degree, plays stable effect.
A kind of biped Jing Bu robot of the Anti-inclining of the present embodiment, 1, by the setting of support means so that robot
When walking, the strong point increases, and plays stable effect；2, by support bar be provided with connect post setting so that its with
Connecting rod easy to connect, it is simple to dismounting, 3, the setting of the supporting mouth being provided with by sole so that robot when walking,
Support force is stable, overall smooth running, and move forward and backward steadily of centre of gravity, and support means connects simple, easy accessibility.Need to refer to
Going out, above-mentioned preferred embodiment only illustrates technology of the present utility model design and feature, its object is to allow and is familiar with this
The personage of technology will appreciate that content of the present utility model and implements according to this, can not limit protection model of the present utility model with this
Enclose.All equivalence changes made according to this utility model spirit or modification, all should contain at protection model of the present utility model
Within enclosing.
Claims (4)
1. a biped Jing Bu robot for Anti-inclining, including body, stand leg, connector and sole, described body is provided with control
Device processed, described stand leg includes that the first stand leg and the second stand leg, described first stand leg and the second stand leg are connected respectively by connector
In the bottom surface of body, described sole includes that the first sole and the second sole, described first sole and the second sole pass through connector
It is connected to the first stand leg and the bottom of the second stand leg, it is characterised in that: the left and right sides and the rear side of described body are equipped with
Support means, described support means includes the first support means and the second support means, described first support means and second
Support arrangement all includes that support bar, connecting rod and supporting pad, described support bar include the first support bar and the second support bar, described
One support bar and the second support bar are respectively provided at left side and the right side of body, and the bottom surface of described first support and the second support bar is equal
Being provided with screwed hole, described screwed hole is disposed thread hole, and described connecting rod includes head rod and the second connecting rod, described
The end face of one connecting rod and the second connecting rod is equipped with connection post, and described connection post is equipped with external screw thread, and described first even
The connection post that extension bar is provided with is connected in the screwed hole that the first support bar is provided with, and the connection post that described second connecting rod is provided with connects
In the screwed hole that the second support bar is provided with, described supporting pad includes the first supporting pad and the second supporting pad, and described first supports
Pad and the second supporting pad are respectively provided at the first support bar and the bottom of the second support bar, and described first stand leg and the second stand leg all wrap
Including connection leg and connector, the connection leg that described first stand leg includes is provided with two, and it is respectively the first connection leg and second even
Connecing lower limb, the connection leg that described second stand leg includes is provided with two, and it is respectively the 3rd connection leg and the 4th connection leg, and described first
Connection leg and the 3rd connection leg are connected to the bottom surface of body by connector, logical between described first connection leg and the second connection leg
Cross connector to connect, connected by connector between described 3rd connection leg and the 4th connection leg, described first sole and second
Sole is connected to the second connection leg and the bottom of the 4th connection leg by connector respectively.
The biped Jing Bu robot of a kind of Anti-inclining the most as claimed in claim 1, it is characterised in that: described first connection leg,
Second connection leg, the 3rd connection leg and the 4th connection leg are equipped with receiving chamber, and described receiving intracavity has been respectively mounted steering wheel, described rudder
Machine connects controller by connecting line.
The biped Jing Bu robot of a kind of Anti-inclining the most as claimed in claim 1, it is characterised in that: described first and second feet
Supporting mouth it is equipped with on plate.
The biped Jing Bu robot of a kind of Anti-inclining the most as claimed in claim 1, it is characterised in that: described supporting mouth includes
One supporting mouth, the second supporting mouth, the 3rd supporting mouth and the 4th supporting mouth, described first supporting mouth and the second supporting mouth are respectively provided at
The front-end and back-end of the first sole, described 3rd supporting mouth and the 4th supporting mouth are respectively provided at the front-end and back-end of the second sole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620785083.4U CN205801296U (en) | 2016-07-25 | 2016-07-25 | A kind of biped Jing Bu robot of Anti-inclining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620785083.4U CN205801296U (en) | 2016-07-25 | 2016-07-25 | A kind of biped Jing Bu robot of Anti-inclining |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205801296U true CN205801296U (en) | 2016-12-14 |
Family
ID=57507198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620785083.4U Expired - Fee Related CN205801296U (en) | 2016-07-25 | 2016-07-25 | A kind of biped Jing Bu robot of Anti-inclining |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205801296U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938674A (en) * | 2017-03-15 | 2017-07-11 | 上海未来伙伴机器人有限公司 | Robot leg steering wheel and robot |
| CN107899215A (en) * | 2017-12-26 | 2018-04-13 | 贵州大学 | A kind of footrace auxiliary apparatus |
-
2016
- 2016-07-25 CN CN201620785083.4U patent/CN205801296U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938674A (en) * | 2017-03-15 | 2017-07-11 | 上海未来伙伴机器人有限公司 | Robot leg steering wheel and robot |
| CN107899215A (en) * | 2017-12-26 | 2018-04-13 | 贵州大学 | A kind of footrace auxiliary apparatus |
| CN107899215B (en) * | 2017-12-26 | 2024-02-02 | 贵州大学 | Heel-and-toe walking race auxiliary trainer |
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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: 20161214 Termination date: 20170725 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |