CN206900506U - A kind of single driving biped gait walking mechanism - Google Patents
A kind of single driving biped gait walking mechanism Download PDFInfo
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- CN206900506U CN206900506U CN201720728159.4U CN201720728159U CN206900506U CN 206900506 U CN206900506 U CN 206900506U CN 201720728159 U CN201720728159 U CN 201720728159U CN 206900506 U CN206900506 U CN 206900506U
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- gear
- shaft
- connecting plate
- power transmission
- motor
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Abstract
A kind of single driving biped gait walking mechanism, it is made up of right leg, connecting plate one, frame, motor, the first power transmission shaft, second driving shaft, connecting plate two and left leg, right leg is Right side support structure, there are two support shafts inner side and shaft end is threaded endoporus, and cooperation is installed with connecting plate one, right leg gear and screw one；Connecting plate one is cuboid and both ends are semi-circular shape, while also two circular holes are to fix the gear pair centre-to-centre spacing of right leg；Frame is U-shaped board, the position of fixed motor, the first power transmission shaft and second driving shaft；Motor is power source；First power transmission shaft is ladder profile shaft, and cooperation is installed with gear wheel one, little gear one, deep groove ball bearing one and nut one；Second driving shaft is similar with the 26S Proteasome Structure and Function of the first power transmission shaft；Connecting plate two is similar with the 26S Proteasome Structure and Function of connecting plate one；Left leg is similar with the 26S Proteasome Structure and Function of right leg, while the utility model cost is relatively low, and practicality is preferable.
Description
Technical field
Robotic technology field is the utility model is related to, especially a kind of single driving biped gait walking mechanism.
Background technology
In the last few years, the development of robot industry was very rapid, and many countries all put into very big energy to this and go to develop
It, while also obtain many achievements.The walking research of robot is a highly important problem, also there is many scholars to this
Studied, also there are some achievements market, as wheeled mobile robot, sufficient formula mobile robot, caterpillar mobile robot,
Climbing robot etc..The species such as bipedal robot and polypody robot in sufficient formula mobile robot be present, it is domestic many
Scientific research institution has carried out substantial amounts of research to biped robot, and the National University of Defense technology studied such as anthropomorphic robot develops leading
Person, the BHR Series machines people of Beijing Institute of Technology's exploitation, the THBIP of Tsing-Hua University and the Wu Kong robots etc. of Zhejiang University, this
The leg of a little robots all employs multiple motor drivings and structure is all complex, and then causes these designs consumption to be all present
Can be big, weight is big, cost is high, control is complicated the deficiencies of.Therefore it is necessary to design a kind of simple in construction, motor less
The gait walking robot of proper motion can be met.
Utility model content
The purpose of this utility model is for overcome the deficiencies in the prior art, there is provided a kind of advantage of lower cost, use
The single driving biped gait walking mechanism of one kind convenient, that practicality is good.
Technical problem to be solved in the utility model is realized using following technical scheme：
A kind of single driving biped gait walking mechanism, including right leg, connecting plate one, frame, motor, the first power transmission shaft,
Second driving shaft, connecting plate two and left leg etc..Described right leg is Right side support structure, and bottom sole can independently support whole
There are two support shafts individual mechanism, inner side and support shaft end head to have threaded interior hole, and connecting plate one, right leg are assembled in support shaft
Gear and connecting plate one, it is connected with screw one with support shaft end head so as to the axially position of connecting plate one, right leg gear and support
Axle carries out radial positioning by right leg gear connecting key；Described connecting plate one is cuboid and both ends are semi-circular shape, together
When to also have two circular holes be the centre-to-centre spacing for fixed gear, a hole and the support shaft of right leg are coordinated by sliding bearing one,
Another hole is coordinated with the first power transmission shaft by sliding bearing one；Described frame is U-shaped board, is for fixed motor,
The position of one power transmission shaft and second driving shaft, for motor by being mechanically anchored in frame, the position of the first power transmission shaft passes through depth
Ditch ball bearing one is fixed, and the position of second driving shaft is fixed by deep groove ball bearing two；Described motor is power source, motor
Gear is radially fixed on the output shaft of motor by motor gear connecting key；The first described power transmission shaft is ladder profile shaft,
Gear wheel one is radially fixed on the first power transmission shaft by the connecting key of gear wheel one, meanwhile, gear wheel one engages with motor gear
Transmission, and then is delivered to the first power transmission shaft by kinetic energy, at the both ends of the first power transmission shaft with the connecting key of little gear one by little gear one
It is radially fixed on the first power transmission shaft, for little gear one by two pieces of axially positions of connecting plate one, there is spiral shell at the both ends of the first power transmission shaft
Line, connecting plate one is carried out by axially position by nut one；Described second driving shaft is ladder profile shaft, and gear wheel two-way is excessive
The connecting key of gear two is radially fixed on second driving shaft, meanwhile, gear wheel two and motor gear engaged transmission, and then by kinetic energy
Second driving shaft is delivered to, it is with the connecting key of little gear two that little gear two is radially fixed in the second biography at the both ends of second driving shaft
On moving axis, little gear two has screw thread by two pieces of axially positions of connecting plate two, the both ends of second driving shaft, will be even by nut two
Fishplate bar two carries out axially position；Described connecting plate two is cuboid and both ends are semi-circular shape, while also two circular holes
It is the centre-to-centre spacing for fixed gear, a hole and the support shaft of left leg are coordinated by sliding bearing two, another hole and second
Power transmission shaft is coordinated by sliding bearing two；Described left leg is Left-side support structure, and bottom sole can be supported independently entirely
There are two support shafts mechanism, inner side and support shaft end head to have threaded interior hole, and connecting plate two, left leg tooth are assembled in support shaft
Wheel and connecting plate two, it is connected with screw two with support shaft end head so that the axially position of connecting plate two, left leg gear lead to support shaft
Cross left leg gear connecting key and carry out radial positioning.
Compared with prior art, the beneficial effects of the utility model are：A kind of single driving biped gait walking mechanism tool
Have the advantages that simple in construction, cost is low, easy to operate, it is only necessary to which a power source can be carried out gait walking, and then reduce
Operation difficulty, while mechanism is using cleverly part matching relationship so that mechanism kinematic is more stable, because motor can
With rotating, mechanism can stride forward or retreat, and as the walking mechanism of anthropomorphic robot, have good reality
With value.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the sectional view that the utility model removes leg；
Fig. 3 is leg schematic diagram of the present utility model.
In figure：1st, right leg；2nd, right leg gear；3rd, screw one；4th, gear wheel one；5th, motor gear；6th, the first power transmission shaft；7、
Little gear one；8th, connecting plate one；9th, nut one；10th, left leg；11st, motor；12nd, left leg gear；13rd, connecting plate two；14th, it is small
Gear two；15th, nut two；16th, frame；17th, second driving shaft；18th, gear wheel two；19th, screw two；20th, right leg gear connection
Key；21st, deep groove ball bearing one；22nd, the connecting key of gear wheel one；23rd, motor gear connecting key；24th, the connecting key of little gear one；25、
Sliding bearing one；26th, left leg gear connecting key；27th, the connecting key of little gear two；28th, sliding bearing two；29th, deep groove ball bearing two；
30th, the connecting key of gear wheel two.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are simple and clear, below
The utility model is described in further detail with reference to the drawings and specific embodiments, it will be appreciated that described herein specific
Embodiment is only used for explaining the utility model, is not used to limit the utility model.
Referring to accompanying drawing 1~3, the utility model provides a kind of single driving biped gait walking mechanism, by right leg 1, connection
Plate 1, frame 16, motor 11, the first power transmission shaft 6, second driving shaft 17, connecting plate 2 13 and left leg 10 etc. form.It is described
Right leg 1 be Right side support structure, bottom sole can independently support whole mechanism, and there are two support shafts inner side and supported
Shaft end head has threaded interior hole, and connecting plate 1, right leg gear 2 and connecting plate 1 are assembled in support shaft, with screw 1 and branch
The connection of support shaft end head is carried out so as to the axially position of connecting plate 1, right leg gear 2 with support shaft by right leg gear connecting key 20
Radial positioning；Described connecting plate 1 is cuboid and both ends are semi-circular shape, while also two circular holes are for fixation
The centre-to-centre spacing of gear, a hole and the support shaft of right leg 1 are coordinated by sliding bearing 1, another hole and the first power transmission shaft 6
Coordinated by sliding bearing 1；Described frame 16 is U-shaped board, is for fixed motor 11, the first power transmission shaft 6 and second
The position of power transmission shaft 17, for motor 11 by being mechanically anchored in frame 16, the position of the first power transmission shaft 6 passes through deep groove ball bearing
One 21 are fixed, and the position of second driving shaft 17 is fixed by deep groove ball bearing 2 29；Described motor 11 is power source, motor
Gear 5 is radially fixed on the output shaft of motor 11 by motor gear connecting key 23；The first described power transmission shaft 6 is ladder
Profile shaft, gear wheel 1 is radially fixed on the first power transmission shaft 6 by the connecting key 22 of gear wheel one, meanwhile, gear wheel 1 and electricity
The engaged transmission of machine gear 5, and then kinetic energy is delivered to the first power transmission shaft 6, connected in the both ends little gear one of the first power transmission shaft 6
Key 24 is radially fixed on the first power transmission shaft 6 by little gear 1, and it is axially fixed that little gear 1 is carried out by two pieces of connecting plates 1
There is screw thread at position, the both ends of the first power transmission shaft 6, and connecting plate 1 is carried out into axially position by nut 1；The second described transmission
Axle 17 is ladder profile shaft, and gear wheel 2 18 is radially fixed on second driving shaft 17 by the connecting key 30 of gear wheel two, meanwhile, greatly
Gear 2 18 and the engaged transmission of motor gear 5, and then kinetic energy is delivered to second driving shaft 17, at the both ends of second driving shaft 17
With the connecting key 27 of little gear two that little gear 2 14 is radially fixed on second driving shaft 17, little gear 2 14 passes through two pieces of connections
Plate 2 13 carries out axially position, and there is screw thread at the both ends of second driving shaft 17, is carried out connecting plate 2 13 axially by nut 2 15
Positioning；Described connecting plate 2 13 is cuboid and both ends are semi-circular shape, while also two circular holes are for fixing tooth
The centre-to-centre spacing of wheel, a hole and the support shaft of left leg 10 are coordinated by sliding bearing 2 28, another hole and second driving shaft 17
Coordinated by sliding bearing 2 28；Described left leg 10 is Left-side support structure, and bottom sole can independently support whole machine
There are two support shafts structure, inner side and support shaft end head to have threaded interior hole, and connecting plate 2 13, left leg tooth are assembled in support shaft
Wheel 12 and connecting plate 2 13, it is connected with screw 2 19 with support shaft end head so as to the axially position of connecting plate 2 13, left leg gear 12
Radial positioning is carried out by left leg gear connecting key 26 with support shaft.
During use：Need to allow left leg 10 and right leg 1 to form certain position relationship when installation first, such as left leg 10
Left leg gear 12 be located at the minimum point of little gear 1, and the right leg gear 2 of right leg 1 is located at the peak of little gear 2 14, this
Outside, the connecting plate center line of the support shaft up and down of left leg 10 is parallel, and the connecting plate center line of the support shaft up and down of right leg 1 also will
It is parallel.When motor 11 rotates, engaged respectively with gear wheel 1 and gear wheel 2 18 by motor gear 5, and then by kinetic energy
The first power transmission shaft 6 and second driving shaft 17 are transmitted, then the first power transmission shaft 6 and second driving shaft 17 drive little gear 1 respectively
With little gear 2 14 rotate, and installed in left leg 10 left leg gear 12 and be fixed installed in the right leg gear 2 of right leg 1
, so that the pinion rotation of little gear 1 and gear 2 14 all on thigh support axle.Because left leg 10 and right leg 1 are deposited
In position relationship, when left leg 10 contacts ground, now left leg 10 is supports overall position, and right leg 1 is around small tooth
Take turns 1 and little gear 2 14 rotate, and then form the motion striden forward.Further, since motor 11 can with rotating,
Mechanism can stride forward or retreat.It can be seen that mechanism possesses simple in construction, simple to operate, good economy performance etc.
Feature.
General principle, principal character and advantage of the present utility model, the technical staff of the industry has been shown and described above
It should be appreciated that the utility model is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally
Principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model also has various changes
Change and improve, these changes and improvements are both fallen within the claimed scope of the utility model, and the utility model is required to be protected
Scope is protected by appended claims and its equivalent thereof.
Claims (1)
1. a kind of single driving biped gait walking mechanism, by right leg (1), connecting plate one (8), frame (16), motor (11), the
One power transmission shaft (6), second driving shaft (17), connecting plate two (13) and left leg (10) composition；Described right leg (1) is Right side support
Structure, bottom sole can independently support whole mechanism, and there are two support shafts inner side and support shaft end head to have threaded interior hole,
Connecting plate one (8), right leg gear (2) and connecting plate one (8) are assembled in support shaft, with screw one (3) and support shaft end head
Connection enters conduct with support shaft so as to the axially position of connecting plate one (8), right leg gear (2) by right leg gear connecting key (20)
To positioning；Described connecting plate one (8) is cuboid and both ends are semi-circular shape, while also two circular holes are for fixation
The centre-to-centre spacing of gear, a hole and the support shaft of right leg (1) are coordinated by sliding bearing one (25), another hole and the first transmission
Axle (6) is coordinated by sliding bearing one (25)；Described frame (16) is U-shaped board, is in order to which fixed motor (11), first pass
The position of moving axis (6) and second driving shaft (17), motor (11) is by being mechanically anchored in frame (16), the first power transmission shaft
(6) position is fixed by deep groove ball bearing one (21), and the position of second driving shaft (17) is solid by deep groove ball bearing two (29)
It is fixed；Described motor (11) is power source, and motor gear (5) is radially fixed in motor by motor gear connecting key (23)
(11) on output shaft；Described the first power transmission shaft (6) is ladder profile shaft, and gear wheel one (4) passes through the connecting key of gear wheel one
(22) it is radially fixed on the first power transmission shaft (6), meanwhile, gear wheel one (4) and motor gear (5) engaged transmission, and then will be dynamic
The first power transmission shaft (6) can be delivered to, at the both ends of the first power transmission shaft (6) with the connecting key of little gear one (24) by little gear one (7)
Radially fixed little gear one (7) carries out axially position by two pieces of connecting plates one (8) on the first power transmission shaft (6), and first is driven
There is screw thread at the both ends of axle (6), and connecting plate one (8) is carried out into axially position by nut one (9)；Described second driving shaft (17)
For ladder profile shaft, gear wheel two (18) is radially fixed on second driving shaft (17) by the connecting key of gear wheel two (30), meanwhile,
Gear wheel two (18) and motor gear (5) engaged transmission, and then kinetic energy is delivered to second driving shaft (17), in second driving shaft
(17) both ends with the connecting key of little gear two (27) by little gear two (14) radially fixed on second driving shaft (17), little gear
Two (14) carry out axially position by two pieces of connecting plates two (13), and there is screw thread at the both ends of second driving shaft (17), passes through nut two
(15) connecting plate two (13) is subjected to axially position；Described connecting plate two (13) is cuboid and both ends are semi-circular shape,
Also two circular holes are the centre-to-centre spacing for fixed gear simultaneously, and a hole and the support shaft of left leg (10) pass through sliding bearing two
(28) coordinate, another hole is coordinated with second driving shaft (17) by sliding bearing two (28)；Described left leg (10) is left side
Supporting construction, bottom sole can independently support whole mechanism, and there are two support shafts inner side and support shaft end head to have screw thread
Endoporus, connecting plate two (13), left leg gear (12) and connecting plate two (13) are assembled in support shaft, with screw two (19) and branch
Shaft end head connection is supportted so that connecting plate two (13) axially position, left leg gear (12) pass through left leg gear connecting key with support shaft
(26) radial positioning is carried out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720728159.4U CN206900506U (en) | 2017-06-21 | 2017-06-21 | A kind of single driving biped gait walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720728159.4U CN206900506U (en) | 2017-06-21 | 2017-06-21 | A kind of single driving biped gait walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206900506U true CN206900506U (en) | 2018-01-19 |
Family
ID=61284525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720728159.4U Expired - Fee Related CN206900506U (en) | 2017-06-21 | 2017-06-21 | A kind of single driving biped gait walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206900506U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169558A (en) * | 2020-01-13 | 2020-05-19 | 河南大学 | Special object carrying robot for climbing steps |
| CN111776102A (en) * | 2020-07-13 | 2020-10-16 | 马鞍山思卡瑞自动化科技有限公司 | AGV robot step crossing mechanism and implementation method thereof |
| CN112336255A (en) * | 2020-11-03 | 2021-02-09 | 张晓芳 | Stair cleaning machines people |
-
2017
- 2017-06-21 CN CN201720728159.4U patent/CN206900506U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169558A (en) * | 2020-01-13 | 2020-05-19 | 河南大学 | Special object carrying robot for climbing steps |
| CN111776102A (en) * | 2020-07-13 | 2020-10-16 | 马鞍山思卡瑞自动化科技有限公司 | AGV robot step crossing mechanism and implementation method thereof |
| CN112336255A (en) * | 2020-11-03 | 2021-02-09 | 张晓芳 | Stair cleaning machines people |
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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: 20180119 Termination date: 20180621 |