CN206561893U - A kind of waist structure turned to applied to quadruped robot - Google Patents
A kind of waist structure turned to applied to quadruped robot Download PDFInfo
- Publication number
- CN206561893U CN206561893U CN201720135608.4U CN201720135608U CN206561893U CN 206561893 U CN206561893 U CN 206561893U CN 201720135608 U CN201720135608 U CN 201720135608U CN 206561893 U CN206561893 U CN 206561893U
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- China
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- steering wheel
- quadruped robot
- steering
- waist
- type groove
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Abstract
The utility model discloses a kind of waist structure turned to applied to quadruped robot, including preceding back, back afterwards, steering engine seat, steering wheel, L-type connection strap, bearing block, it is provided with the U-shaped spout of U-type groove, steering wheel rocking bar, the steering engine seat cross section is in zigzag, its one end is fixed on rear back, the other end vertically fixes steering wheel, the both sides of the bearing block are fixedly connected by L-type connection strap with steering engine seat both sides, before the U-shaped spout is fixed on back, and it is connected with bearing block by bearing optical axis, revolute pair is formed to coordinate, described steering wheel rocking bar one end connects the steering wheel, U-type groove of the other end along U-shaped spout is slidably matched.The utility model is simple in construction, it is adaptable to the quadruped robot that can be turned, and as its waist mechanism, by the deflecting of waist, to adjust the posture of robot motion, realization nimbly eludes obstacle, and mobile steering.
Description
Technical field
The utility model is related to a kind of technical field of walking robot, specifically a kind of applied to quadruped robot
The waist structure turned to can be achieved.
Background technology
Legged type robot is one kind of mobile robot, is the more active direction of robot research field, quilt in recent years
It is extensive to be used in work operations under the surface condition of complexity.Compared with wheeled and caterpillar type robot, legged type robot compares
The complicated, free degree is more, but its advantage is can flexibly to select pick-up point to complete athletic performance.So on complicated ground
Environment can drive the steering of four-footed by the rotation of waist, pass through or avoid various barriers.Shown according to simulation study,
Animal is in motion process, by the motion and deformation of waist, can increase the space of leg, and the outburst for strengthening moment stores
Power, and impact when being contacted to earth using elasticity reduction to body.And by the deflecting of waist, to adjust the appearance of robot motion
State, obstacle and mobile steering are nimbly eluded to realize.Therefore the waist structure design of legged type robot is particularly important.
The utility model realizes the waist divertical motion and posture changing of quadruped robot by simple structure.
Utility model content
The purpose of this utility model is to be applied on quadruped robot, realizes that the waist of legged type robot is turned to and posture
Conversion, so as to realize the mobile steering of robot and nimbly elude obstacle.
To achieve the above object, the utility model provides following technical scheme：
A kind of waist structure turned to applied to quadruped robot, including preceding back, rear back, steering engine seat, steering wheel,
L-type connection strap, bearing block, the U-shaped spout for being provided with U-type groove, steering wheel rocking bar, the steering engine seat cross section are in zigzag, one
End is fixed on rear back, and the other end vertically fixes steering wheel, and the both sides of the bearing block pass through L-type connection strap and steering engine seat both sides
It is fixedly connected, before the U-shaped spout is fixed on back, and is connected with bearing block by bearing optical axis, forms revolute pair
Coordinate, described steering wheel rocking bar one end connects the steering wheel, U-type groove of the other end along U-shaped spout is slidably matched.
Further, still symmetrically it is connected with spring between the preceding back, rear back.
Further, described preceding back, be separately provided for connecting the spring base of the spring on rear back.
Further, the interior outside of the steering engine seat is provided with triangular reinforced structure.
Further, one end of the steering wheel rocking bar is inserted perpendicularly into U-type groove and coordinated with the tangent higher pair that formed of U-type groove.
Further, the notch part for vertical fixed steering wheel 4, the shape of the notch part are provided with the steering engine seat
Match with the steering wheel hull shape.
Compared with prior art, the utility model is simple in construction, it is adaptable to the quadruped robot that can be turned, and is used as its waist machine
Structure, by the deflecting of waist, to adjust the posture of robot motion, realization nimbly eludes obstacle, and mobile steering.
Brief description of the drawings
Fig. 1 is the structural representation of the waist structure turned to applied to quadruped robot of the utility model embodiment
Figure.
Waist movement state oblique side figure when Fig. 2 is the steering to the left of the utility model embodiment.
Fig. 3 is waist normal condition schematic diagram when not turning to of the utility model embodiment.
Fig. 4 is the steering engine seat structural representation of the utility model embodiment.
Reference is as follows：Back before 1-；Back after 2-；3- steering engine seats；4- steering wheels；5-U type spouts；6- bearing blocks；
7- steering wheel rocking bars；8-L type connection straps；9- spring bases；10- springs；11- bearings.
Embodiment
In order to which the technical solution of the utility model is explained further, the utility model is entered below by specific embodiment
Row is elaborated.
As shown in Figures 1 to 4, a kind of waist structure turned to applied to quadruped robot, including preceding back 1, after
Back 2, steering engine seat 3, steering wheel 4, L-type connection strap 8, bearing block 6, the U-shaped spout 5 for being provided with U-type groove, steering wheel rocking bar 7, it is described
The cross section of steering engine seat 3 is in zigzag, and its one end is fixed on rear back 2, and the other end is vertically fixed on steering wheel 4, the steering engine seat 3
The notch part for vertical fixed steering wheel 4 is provided with, the shape of the notch part matches with the hull shape of steering wheel 4.Institute
The both sides for stating bearing block 6 are fixedly connected by L-type connection strap 8 with the both sides of steering engine seat 3, and the U-shaped spout 5 is fixed on preceding back
On 1, and it is connected with bearing block 6 by bearing optical axis, forms revolute pair and coordinate, described one end of steering wheel rocking bar 7 connects the rudder
Machine 4, U-type groove of the other end along U-shaped spout 5 is slidably matched.The steering wheel 4 drives steering wheel rocking bar 7 to swing, and steering wheel rocking bar 7 is in U
Slided in the U-type groove of type spout 5 so that U-shaped spout 5 can be around rotating fulcrum left-right rotation, so that back before realizing
Swing, realize that the waist of quadruped robot is turned to, realize the turn of robot.
As shown in Fig. 2 the U-shaped spout 5, which is dug, U-type groove, an insertion U-type groove of steering wheel rocking bar 7 is tangent to form high
Pair coordinates.When waist structure is toward left steering, steering wheel 4 drives steering wheel rocking bar 7 to swing to the left, and steering wheel rocking bar 7 is inserted in one in U-type groove
Head slides into the left end end along U-type groove, then drives U-shaped spout 5 to be turned left around rotating fulcrum, so as to realize four-footed machine
The waist of people is turned to the left.Right-hand rotation process is similar, will not be repeated here.
As shown in figure 3, being still symmetrically connected with spring 10, described Attacking Midfielder between the preceding back 1, rear back 2
It is separately provided for connecting the spring base 9 of the spring 10 on plate 1, rear back 2.When quadruped robot straight line moving, waist
Portion keeps what is do not turned to ajust state, now strengthens the rigidity and stability of waist structure by left and right lateral spring 10.
As shown in figure 4, the interior outside of the steering engine seat 3 is provided with triangular reinforced structure.The steering engine seat 3 is connected to
Steering wheel and L-type connection strap, bearing block 6 is connected to by both sides L-type connection strap 8, length, steering engine seat 3 due to L-type connection strap 8
The arm of force it is very long, so steering engine seat 3 is designed into interior outside is provided with triangular reinforced structure, improve rigidity and reliability.
One end of the steering wheel rocking bar 7 is inserted perpendicularly into U-type groove and coordinated with the tangent higher pair that formed of U-type groove.
The waist structure that the utility model can be turned to is applied on quadruped robot, drives rocking bar to swing by steering wheel, real
The waist of existing legged type robot is turned to and posture changing, so as to realize the mobile steering of robot and nimbly elude obstacle.
Above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to embodiment of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.
All any modifications, equivalent substitutions and improvements made within spirit of the present utility model and principle etc., should be included in this reality
Within new scope of the claims.
Claims (6)
1. a kind of waist structure turned to applied to quadruped robot, it is characterised in that including preceding back (1), rear back
(2), steering engine seat (3), steering wheel (4), L-type connection strap (8), bearing block (6), the U-shaped spout (5), the steering wheel that are provided with U-type groove shake
Bar (7), steering engine seat (3) cross section is in zigzag, and one end is fixed on rear back (2), and the other end vertically fixes steering wheel (4),
The both sides of the bearing block (6) are fixedly connected by L-type connection strap (8) with steering engine seat (3) both sides, and the U-shaped spout (5) is solid
It is scheduled on preceding back (1), and is connected with bearing block (6) by bearing optical axis, forms revolute pair and coordinate, the steering wheel rocking bar
(7) one end connects the steering wheel (4), and U-type groove of the other end along U-shaped spout (5) is slidably matched.
2. the waist structure according to claim 1 that turn to applied to quadruped robot, it is characterised in that：Before described
Still spring (10) is symmetrically connected between back (1), rear back (2).
3. the waist structure according to claim 2 that turn to applied to quadruped robot, it is characterised in that：Described
It is separately provided for connecting the spring base (9) of the spring (10) on preceding back (1), rear back (2).
4. the waist structure according to claim 1 that turn to applied to quadruped robot, it is characterised in that：The rudder
The interior outside of support (3) is provided with triangular reinforced structure.
5. the waist structure according to claim 1 that turn to applied to quadruped robot, it is characterised in that：The rudder
One end of machine rocking bar (7) is inserted perpendicularly into U-type groove and coordinated with the tangent higher pair that formed of U-type groove.
6. the waist structure according to claim 1 that turn to applied to quadruped robot, it is characterised in that：The rudder
The notch part for vertically fixed steering wheel (4), the shape of the notch part and the steering wheel (4) housing are provided with support (3)
Shape matches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720135608.4U CN206561893U (en) | 2017-02-15 | 2017-02-15 | A kind of waist structure turned to applied to quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720135608.4U CN206561893U (en) | 2017-02-15 | 2017-02-15 | A kind of waist structure turned to applied to quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206561893U true CN206561893U (en) | 2017-10-17 |
Family
ID=60030447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720135608.4U Expired - Fee Related CN206561893U (en) | 2017-02-15 | 2017-02-15 | A kind of waist structure turned to applied to quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206561893U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN108657307A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of four-footed walking robot with flexible waist |
-
2017
- 2017-02-15 CN CN201720135608.4U patent/CN206561893U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106892016A (en) * | 2017-02-15 | 2017-06-27 | 华南理工大学 | A kind of waist structure for turning to for being applied to quadruped robot |
| CN108657307A (en) * | 2018-06-19 | 2018-10-16 | 昆明理工大学 | A kind of four-footed walking robot with flexible waist |
| CN108657307B (en) * | 2018-06-19 | 2023-09-15 | 昆明理工大学 | Four-foot walking robot with flexible waist |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20171017 Termination date: 20200215 |