CN207311654U - A kind of an educational quadruped robot - Google Patents
A kind of an educational quadruped robot Download PDFInfo
- Publication number
- CN207311654U CN207311654U CN201721069875.2U CN201721069875U CN207311654U CN 207311654 U CN207311654 U CN 207311654U CN 201721069875 U CN201721069875 U CN 201721069875U CN 207311654 U CN207311654 U CN 207311654U
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- CN
- China
- Prior art keywords
- connecting rod
- educational
- quadruped robot
- linkage
- right sides
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- 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.)
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Abstract
It the utility model is related to a kind of an educational quadruped robot, including rack, gear drive, transmission shaft, linkage, triangle joint frame, intermediate connecting rod, two front foots, two metapedes.An educational quadruped robot further includes motor and control system, two motors in left and right are set in the rack, it is connected respectively with the gear drive of the left and right sides, left and right gear drive is connected by the transmission shaft of the left and right sides and the linkage of the same side respectively, and the front-rear triangular link of linkage and the same side, front and rear foot connect；Triangle joint frame is connected by intermediate connecting rod with foot.The utility model mechanism controls are simple, movement flexibly, the turning that can realize robot, passability it is good.
Description
Technical field
A kind of an educational quadruped robot is the utility model is related to, it is specifically a kind of to control what is turned to by control system
Quadruped robot, belongs to robot field.
Background technology
With the continuous development of robot technology, the application field of walking robot is more and more wider.Go out from actual viewpoint
Hair, walking movement truly have the incomparable distinctive feature of wheel machine.It utilizes isolated ground supports rather than wheel machine
Required continuous ground supports, can be in uneven region with stationary mode walking or obstacle avoidance in a non contact fashion.
Technology is difficult to use simple mechanism, simple power source drive four-footed walking robot at present, while can guarantee that movement
When rack it is steady.Steering mechanism of robot is complicated at present, and turns to unstable.
Utility model content
The purpose of this utility model is to overcome deficiencies of the prior art, there is provided a kind of four-footed educational machine
People, it is simple in structure, stable movement.The steering of bio-robot is realized using two motor speeds and the adjusting turned to.
The utility model is achieved through the following technical solutions：
A kind of an educational quadruped robot, including by the rack of machine printing and making, gear drive, transmission shaft, connecting rod machine
Structure, two front foots, two metapedes, it is characterised in that set two motors in left and right in the rack, the motor of the left and right sides respectively with
The gear drive connection of the left and right sides, left and right the gear drive transmission shaft by the left and right sides and the left and right sides respectively
Linkage connection, the front foot with the left and right sides, metapedes are connected the linkage of the left and right sides respectively.
Further, the front foot is identical with the structure of metapedes, is located at including a superposed triangle joint frame, one
The triangle walking foot of lower part, two endpoints on the triangle joint frame base pass through an intermediate connecting rod and triangle walking foot top respectively
Two endpoints on side are hinged.
Further, the linkage includes first connecting rod and second connecting rod, the first connecting rod, the one of second connecting rod
End is with being driven axis connection, and the described first vertex for connecting 1 other end and triangle joint top of the trellis is hinged, the second connecting rod
The other end is hinged with an endpoint of the sufficient top margin of triangle walking close to inner side.
Further, connected between the linkage, transmission shaft, intermediate connecting rod, foot with axis pin.
Further, connected between the first connecting rod of the transmission shaft and linkage, second connecting rod using crank axle,
Connecting rod mechanism movement drives front foot and metapedes movement.
Further, an educational quadruped robot further includes control system, and the control system uses microcontroller, including
Singlechip control panel, driver, power supply, singlechip control panel, power supply are located at frame lower, and driver is located at machine frame inside.
Further, the motor and control system communicate to connect, and by IR remote controller come remote control system with
Achieve the purpose that control motor rotating speed and turn to, so as to fulfill robot left and right turn with move forward and backward.
The utility model has the advantages that：An educational quadruped robot of the utility model, simple in structure, stable movement, cost
Small, production efficiency is high.
Brief description of the drawings
Fig. 1 is the axonometric drawing of an educational quadruped robot of the utility model.
Fig. 2 is the top view of an educational quadruped robot of the utility model.
Fig. 3 is the left view of an educational quadruped robot of the utility model.
Embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with the accompanying drawings to this practicality
New to be described in detail, following embodiments are the explanations to the utility model, and the utility model is not limited to following reality
Apply example.
Referring now to Fig. 1~3, the left and right sides difference of an educational quadruped robot of the utility model, including rack 9, rack 9
One front foot 20 and a metapedes 5 are set.Two or so opposed motors 10 are provided with rack 9, each motor 10 passes through a gear
The front foot 20 and metapedes 5 of 9 side of transmission mechanism 12, a transmission shaft 11 and linkage driving rack move.Wherein, front foot 20
It is identical with the structure of metapedes 5, the triangle walking foot of lower part is located at including a superposed triangle joint frame 2, one, triangle connects
Two vertex on 2 base of frame are connect respectively by two of the first intermediate connecting rod 3, the second intermediate connecting rod 4 and the sufficient top margin of triangle walking
Vertex is hinged.
Integrated connection mode is：Rack 9 is fixed by L-type support frame 14 and left and right sides panel so as to form four-footed intelligent education machine
Device human agent part, two motors 10 in left and right are set in rack, are connected respectively with the gear drive 12 of the left and right sides, gear passes
Motivation structure 12 connects the linkage being located at outside rack 9 by transmission shaft 11, and front-rear linkage mechanism passes through link supports frame respectively
13rd, link supports frame 15 positions.Front and rear two linkage includes first connecting rod 1, second connecting rod 6, first connecting rod 1, second respectively
End of the one end of connecting rod 6 with transmission shaft 11 is connected, and the other end of first connecting rod 1 and the vertex at the top of triangle joint frame 2 are cut with scissors
Connect, the sufficient top margin of the other end and triangle walking of second connecting rod 6 is hinged close to a vertex of inner side.
Connected between linkage, transmission shaft, intermediate connecting rod, foot with axis pin, simple and practical in structure, transmission shaft 11 passes through tooth
Wheel shaft supporting frame 16 is fixed in rack 9.Connected between transmission shaft 11 and first connecting rod 1, second connecting rod 6 using crank axle 7, tooth
The work of wheel drive mechanism 12 drives transmission shaft 11 to rotate, and connecting rod 1, connecting rod 6 follow transmission shaft 11 to rotate so as to drive front foot 20
Moved with metapedes 5.
Control system is controlled using microcontroller, including Arduino control panels 18, driver 8, battery 17.Wherein driver 8
Machine frame inside is located at, Arduino control panels 18, battery 17 are located at the bottom of rack 1, to reduce robot entirety height of C.G.,
Strengthen the robust motion of robot.Motor 10 can control rotating speed and steering by Arduino control panels 18, so as to fulfill machine
The divertical motion and forward-reverse of people.All parts of quadruped robot are by machine printing and making.
More than, be only the utility model preferred embodiment, the utility model protection scope be not limited thereto, it is any
The people for being familiar with the technology is appreciated that the conversion or replacement expected in the scope disclosed by the utility model, should all cover in this reality
Within new scope, therefore, the scope of protection of the utility model should be subject to the protection domain of claims.
Claims (7)
1. a kind of an educational quadruped robot, including rack, gear drive, transmission shaft, linkage, two front foots, two
Metapedes, it is characterised in that two motors in left and right, two motors in the left and right gear with the left and right sides respectively are set in the rack
Transmission mechanism connects, and the gear drive of the left and right sides passes through the transmission shaft of the left and right sides and the company of the left and right sides respectively
Linkage connects, and the front foot with the left and right sides, metapedes are connected the linkage of the left and right sides respectively.
2. an educational quadruped robot according to claim 1, it is characterised in that the front foot is identical with the structure of metapedes,
It is sufficient including a superposed triangle joint frame, a triangle walking positioned at lower part, two of the triangle joint frame base
Endpoint is hinged by two endpoints of an intermediate connecting rod and the sufficient top margin of triangle walking respectively.
3. an educational quadruped robot according to claim 2, it is characterised in that the linkage include first connecting rod and
Second connecting rod, with being driven axis connection, described first connects 1 other end and triangle for the first connecting rod, one end of second connecting rod
Vertex at the top of link is hinged, and the other end and an endpoint of the sufficient top margin of triangle walking close to inner side of the second connecting rod are cut with scissors
Connect.
4. an educational quadruped robot according to claim 3, it is characterised in that the linkage, transmission shaft, centre connect
Connected between bar, foot with axis pin.
5. an educational quadruped robot according to claim 3, it is characterised in that the transmission shaft and the linkage
Crank axis connection, the connecting rod mechanism movement driving front foot and metapedes movement are used between first connecting rod, second connecting rod.
6. an educational quadruped robot according to claim 1, it is characterised in that an educational quadruped robot further includes control
System processed, the control system use microcontroller, including singlechip control panel, driver and power supply, the singlechip control panel
The frame lower is located at power supply, the driver is located at machine frame inside.
7. an educational quadruped robot according to claim 6, it is characterised in that the motor and control system communication link
Connect, and by IR remote controller come remote control system to control the rotating speed of motor and steering, so as to fulfill the left and right of robot
Turn to and move forward and backward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721069875.2U CN207311654U (en) | 2017-08-24 | 2017-08-24 | A kind of an educational quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721069875.2U CN207311654U (en) | 2017-08-24 | 2017-08-24 | A kind of an educational quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207311654U true CN207311654U (en) | 2018-05-04 |
Family
ID=62433217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721069875.2U Expired - Fee Related CN207311654U (en) | 2017-08-24 | 2017-08-24 | A kind of an educational quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207311654U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319007A (en) * | 2018-08-01 | 2019-02-12 | 浙江理工大学 | A kind of four-footed bouncer based on partial gear |
| CN110329388A (en) * | 2019-04-24 | 2019-10-15 | 合肥磐石自动化科技有限公司 | A kind of sufficient scooter of the multistage connecting rod 12 of optimization design |
| CN112644598A (en) * | 2020-12-31 | 2021-04-13 | 郑州大学 | Walking mechanical device |
-
2017
- 2017-08-24 CN CN201721069875.2U patent/CN207311654U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319007A (en) * | 2018-08-01 | 2019-02-12 | 浙江理工大学 | A kind of four-footed bouncer based on partial gear |
| CN110329388A (en) * | 2019-04-24 | 2019-10-15 | 合肥磐石自动化科技有限公司 | A kind of sufficient scooter of the multistage connecting rod 12 of optimization design |
| CN112644598A (en) * | 2020-12-31 | 2021-04-13 | 郑州大学 | Walking mechanical device |
| CN112644598B (en) * | 2020-12-31 | 2022-03-29 | 郑州大学 | Walking mechanical device |
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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: 20180504 Termination date: 20180824 |