CN206614540U - One kind can amplifying type Hexapod Robot trunk mechanism - Google Patents
One kind can amplifying type Hexapod Robot trunk mechanism Download PDFInfo
- Publication number
- CN206614540U CN206614540U CN201621363891.8U CN201621363891U CN206614540U CN 206614540 U CN206614540 U CN 206614540U CN 201621363891 U CN201621363891 U CN 201621363891U CN 206614540 U CN206614540 U CN 206614540U
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- China
- Prior art keywords
- pillar
- iii
- revolving push
- push plank
- chute
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- 241000238631 Hexapoda Species 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 title claims abstract description 19
- 238000005452 bending Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000003321 amplification Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
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Abstract
Utility model be related to one kind can amplifying type Hexapod Robot trunk mechanism, belong to robot field.The utility model includes base, some stretchers and revolving push plank, and the stretcher is uniformly fixed on base surrounding, and base upper and lower ends face is provided with revolving push plank；Connected and supported by pillar I between plate and lower panel above base, servomotor is additionally provided between top panel and lower panel, pillar I is located at the periphery of servomotor；It is parallel above and below two supporting plates of stretcher to be correspondingly arranged, connected and supported by pillar II in the middle of both, end is connected by pillar III, the upper end of pillar III is fixed in the above in the revolving push plank of plate and its top, lower end is fixed in lower panel and revolving push plank below, and pillar III can be slided relative to top panel and lower panel.The utility model drives revolving push plank to rotate by servomotor, then drives stretcher to deploy, so as to drive six climbing mechanisms of the Hexapod Robot being connected on stretcher.
Description
Technical field
The utility model be related to one kind can amplifying type Hexapod Robot trunk mechanism, belong to robot field.
Background technology
Hexapod Robot is called spider robot, is one kind of multi-foot robot.Bionic type Hexapod Robot, Gu Mingsi
Justice, Hexapod Robot is in our Ideals, and we have used for reference nature.Hexapod Robot is by 18 joint of robot, complete
Body extremity body structures, power (heavy-current discharge battery)；Wherein whole body extremity body structures include six climbing mechanisms (leg) and trunk again
Bottom plate.
More and more extensive with the utilization of multi-foot robot, Hexapod Robot is used in multiple fields, many in order to adapt to
Working environment and multiple-task type are planted, its structure also can make a little change with the difference of application, the deformation on trunk chassis
One kind exactly therein changes form.
Utility model content
The technical problems to be solved in the utility model is：A kind of Hexapod Robot trunk machine that can be stretched and draw in is provided
Structure.
Technical solutions of the utility model are：One kind provide one kind can amplifying type Hexapod Robot trunk mechanism, including base,
Some stretchers and revolving push plank 5, the stretcher are uniformly fixed on base surrounding, and base upper and lower ends face is pushed away provided with rotation
Plate 5；The base includes pillar I 2, servomotor 9, top panel 8, lower panel 11, passes through branch between top panel 8 and lower panel 11
The connection support of post I 2, is additionally provided with servomotor 9 between top panel 8 and lower panel 11, pillar I 2 is located at the periphery of servomotor 9；
The stretcher includes two supporting plates 1, pillar II 4, pillars III 10, and two supporting plates are parallel about 1 to be correspondingly arranged, Liang Zhezhong
Between connected and support by pillar II 4, end is connected by pillar III 10, and the upper end of pillar III 10 is fixed in the above plate 8 and its top
Revolving push plank 5 in, lower end is fixed in lower panel 11 and revolving push plank 5 below, and pillar III 10 can be relative to top panel 8
Slided with lower panel 11, the two ends of pillar I 2 are also fixed on supporting plate 1.
It is preferred that, the upper and lower ends of servomotor 9 are connected by bearing 12 with revolving push plank 5.
It is preferred that, the top panel 8, lower panel 11 and revolving push plank 5 are provided with chute, stretcher swinging strut III 10
Hold and be fixed in the above in the chute of plate 8 and its revolving push plank 5 of top, the lower end of stretcher swinging strut III 10 is fixed on lower panel
11 and revolving push plank 5 below chute in；Bearing II 6, pillar III 10 are provided between the chute of pillar III 10 and supporting plate 1
Bearing III 7 is provided between the chute of revolving push plank 5.
It is preferred that, the supporting plate 1 is bending, and the end of supporting plate 1 goes out provided with chute close to base, and pillar I 2 is fixed on
In the chute of supporting plate 1, bearing I 3 is provided between the chute of pillar I 2 and supporting plate 1.
The course of work of the present utility model is：
Revolving push plank is driven to carry out Small-angle Rotation, the stretcher that the groove of revolving push plank is blocked by it by servomotor
Chute of the pillar III along top panel and lower panel is driven to move, while being stuck in by pillar I in the chute of supporting plate to exhibition
Row constraint is entered in open-shelf, stretcher is become expansion from closed type, reaches that the drive mechanism is dynamic from drawing in expansion with this
Make, so that six climbing mechanisms of the Hexapod Robot being connected on stretcher are driven, to reach amplification Hexapod Robot trunk
The effect of diameter.
The beneficial effects of the utility model are：
1st, the utility model can take as far as possible small space and truly have as far as possible big extending space.
2nd, the utility model can zoom in or out the trunk mechanism of circular Hexapod Robot.
Brief description of the drawings
Fig. 1 is the utility model deployed configuration schematic diagram；
Fig. 2 is that the utility model draws structural representation in；
Fig. 3 is that the utility model bottom draws structural representation in；
Fig. 4 is the utility model bottom deployed configuration schematic diagram；
Fig. 5 is the utility model front view；
Fig. 6 is the utility model stretcher schematic diagram；
Fig. 7 is the utility model top panel and servomotor scheme of installation；
Fig. 8 is the utility model rotation push-plate schematic diagram；
Each label in Fig. 1-8：1- supporting plates, 2- pillars I, 3- bearings I, 4- pillars II, 5- revolving push planks, 6- bearings II,
7- bearings III, 8- top panels, 9- servomotors, 10- pillars III, 11- lower panels, 12- bearings.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the utility model is described in further detail.
Embodiment 1：One kind can amplifying type Hexapod Robot trunk mechanism, including base, some stretchers and revolving push plank
5, the stretcher is uniformly fixed on base surrounding, and base upper and lower ends face is provided with revolving push plank 5；The base includes branch
Post I 2, servomotor 9, top panel 8, lower panel 11, are connected by pillar I 2 between top panel 8 and lower panel 11 and supported, above
Servomotor 9 is additionally provided between plate 8 and lower panel 11, pillar I 2 is located at the periphery of servomotor 9；The stretcher includes two
Supporting plate 1, pillar II 4, pillar III 10, two supporting plates are parallel about 1 to be correspondingly arranged, and is passed through pillar II 4 in the middle of both and is connected
Support, end is connected by pillar III 10, and the upper end of pillar III 10 is fixed in the above in the revolving push plank 5 of plate 8 and its top, lower end
It is fixed in lower panel 11 and revolving push plank 5 below, pillar III 10 can be slided relative to top panel 8 and lower panel 11, branch
The two ends of post I 2 are also fixed on supporting plate 1.
Embodiment 2：As Figure 1-4, one kind can amplifying type Hexapod Robot trunk mechanism, including base, six expansion
Frame and rotation push-plate 5, six stretchers are uniformly fixed on base surrounding, and base upper and lower ends face is provided with rotation push-plate 5；It is described
Base includes pillar I 2, servomotor 9, top panel 8, lower panel 11, is connected between top panel 8 and lower panel 11 by pillar I 2
Support, is additionally provided with servomotor 9 between top panel 8 and lower panel 11, pillar I 2 is located at the periphery of servomotor 9；The expansion
Frame includes two supporting plates 1, pillar II 4, pillars III 10, and two supporting plates are parallel about 1 to be correspondingly arranged, and passes through in the middle of both and props up
The connection support of post II 4, end is connected by pillar III 10, and the be fixed in the above rotation of plate 8 and its top of the upper end of pillar III 10 is pushed away
In plate 5, lower end is fixed in lower panel 11 and revolving push plank 5 below, and pillar III 10 can be relative to top panel 8 and lower panel
11 are slided, and the two ends of pillar I 2 are also fixed on supporting plate 1.
As seen in figs. 5-6, the top panel 8, lower panel 11 and revolving push plank 5 are provided with chute, stretcher swinging strut
III 10 upper ends are fixed in the above in the chute of plate 8 and its revolving push plank 5 of top, and the lower end of stretcher swinging strut III 10 is fixed on
In the chute of lower panel 11 and revolving push plank 5 below；Bearing II 6 is provided between the chute of pillar III 10 and supporting plate 1,
Bearing III 7 is provided between the chute of pillar III 10 and revolving push plank 5.The supporting plate 1 is bending, and the end of supporting plate 1 is close
Base goes out provided with chute, and pillar I 2 is fixed in the chute of supporting plate 1, and bearing is provided between the chute of pillar I 2 and supporting plate 1
Ⅰ3.Supporting plate 1 is fitted in collapsed state with plate above base 8 and lower panel 11, the He of top panel 8 in the present embodiment
Lower panel 11 is provided in round, and stretcher is provided with 6, is evenly distributed on base, and the crooked radian of supporting plate 1 is according to phase
The demand answered is set.
As Figure 7-8, the upper and lower ends of servomotor 9 are connected by bearing 12 with revolving push plank 5.
Revolving push plank 5 is driven to carry out Small-angle Rotation by servomotor 9, what the chute of revolving push plank 5 was blocked by it
Stretcher drives chute of the pillar III 10 along top panel 8 and lower panel 11 to move, while being stuck in supporting plate 1 by pillar I 2
Chute in row constraint is entered to stretcher, stretcher is become expansion from closed type, be connected to so as to drive on stretcher
Six climbing mechanisms of Hexapod Robot, to reach the effect of amplification Hexapod Robot trunk diameter.
Specific embodiment of the utility model is explained in detail above in conjunction with accompanying drawing, but utility model is not limited to
Above-described embodiment, in the knowledge that those of ordinary skill in the art possess, can also not depart from the utility model ancestor
Various changes can be made on the premise of purport.
Claims (6)
1. one kind can amplifying type Hexapod Robot trunk mechanism, it is characterised in that：Including base, some stretchers and revolving push plank
(5), the stretcher is uniformly fixed on base surrounding, and base upper and lower ends face is provided with revolving push plank (5)；
The base includes pillar I (2), servomotor (9), top panel (8), lower panel (11), top panel (8) and lower panel
(11) connected and supported by pillar I (2) between, servomotor (9), pillar I are additionally provided between top panel (8) and lower panel (11)
(2) it is located at the periphery of servomotor (9)；
The stretcher includes two supporting plates (1), pillar II (4), pillars III (10), and two supporting plates (1) are parallel right up and down
It should set, be connected in the middle of both and supported by pillar II (4), end is connected by pillar III (10), pillar III (10) upper end is solid
In the revolving push plank (5) for being scheduled on top panel (8) and its top, lower end is fixed on lower panel (11) and revolving push plank below
(5) in, pillar III (10) can be slided relative to top panel (8) and lower panel (11), and pillar I (2) two ends are also fixed on supporting plate
(1) on.
2. according to claim 1 can amplifying type Hexapod Robot trunk mechanism, it is characterised in that：The servomotor
(9) upper and lower ends are connected by bearing (12) with revolving push plank (5).
3. according to claim 1 can amplifying type Hexapod Robot trunk mechanism, it is characterised in that：The top panel (8),
Lower panel (11) and revolving push plank (5) are provided with chute, stretcher swinging strut III (10) upper end be fixed in the above plate (8) and its
In the chute of the revolving push plank (5) of top, stretcher swinging strut III (10) lower end is fixed on lower panel (11) and below
In the chute of revolving push plank (5).
4. according to claim 3 can amplifying type Hexapod Robot trunk mechanism, it is characterised in that：The pillar III (10)
Bearing II (6) is provided between the chute of supporting plate (1), bearing is provided between pillar III (10) and the chute of revolving push plank (5)
Ⅲ(7)。
5. according to claim 1 can amplifying type Hexapod Robot trunk mechanism, it is characterised in that：The supporting plate (1)
For bending, supporting plate (1) end goes out provided with chute close to base, and pillar I (2) is fixed in the chute of supporting plate (1).
6. according to claim 5 can amplifying type Hexapod Robot trunk mechanism, it is characterised in that：The pillar I (2) with
Bearing I (3) is provided between the chute of supporting plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363891.8U CN206614540U (en) | 2016-12-13 | 2016-12-13 | One kind can amplifying type Hexapod Robot trunk mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363891.8U CN206614540U (en) | 2016-12-13 | 2016-12-13 | One kind can amplifying type Hexapod Robot trunk mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206614540U true CN206614540U (en) | 2017-11-07 |
Family
ID=60229437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621363891.8U Expired - Fee Related CN206614540U (en) | 2016-12-13 | 2016-12-13 | One kind can amplifying type Hexapod Robot trunk mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206614540U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113511283A (en) * | 2021-07-14 | 2021-10-19 | 昆明理工大学 | Leg structure adopting multi-rod mechanism and quadruped robot constructed by leg structure |
-
2016
- 2016-12-13 CN CN201621363891.8U patent/CN206614540U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113511283A (en) * | 2021-07-14 | 2021-10-19 | 昆明理工大学 | Leg structure adopting multi-rod mechanism and quadruped robot constructed by leg structure |
| CN113511283B (en) * | 2021-07-14 | 2022-05-06 | 昆明理工大学 | Leg structure adopting multi-rod mechanism and quadruped robot constructed by leg structure |
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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 |
Granted publication date: 20171107 Termination date: 20191213 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |