CN207328642U - A kind of motor-driven bio-robot of list - Google Patents
A kind of motor-driven bio-robot of list Download PDFInfo
- Publication number
- CN207328642U CN207328642U CN201721152944.6U CN201721152944U CN207328642U CN 207328642 U CN207328642 U CN 207328642U CN 201721152944 U CN201721152944 U CN 201721152944U CN 207328642 U CN207328642 U CN 207328642U
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- drive link
- motor
- robot
- rack
- column
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Abstract
The utility model discloses a kind of motor-driven bio-robot of list, including rack, storage battery, power switch, a motor, four pedipulators and the transmission mechanism for connecting motor and four pedipulators are installed in rack；Transmission mechanism includes drive gear, driven gear, the biasing post on driven gear, passes through the rack-mounted rocking bar of shaft, left column, right column, the first drive link, the second drive link, the 3rd drive link, the 4th drive link and both ends and distinguish left column and eccentric column articulated total drive link；The pedipulator includes the machinery foot for being installed on the oscillating deck of rack side by axis pin, being connected to the damper mechanism of oscillating deck lower end and being connected to damper mechanism lower end.The utility model is using the type of drive of single motor and drive link, and simple in structure, dead weight is lighter, and failure rate is low, and stationarity is high, and four pedipulators have stronger cooperative motion ability.
Description
Technical field
The utility model belongs to field of machinery automation, more particularly to a kind of motor-driven bio-robot of list.
Background technology
Bio-robot is the research hotspot of automatic field, such robot can be carried using quadruped as original shape
Various instruments and equipment complete the work that can not manually complete or the environment that can not be reached to intelligent.
Four pedipulators of bio-robot are driven using independent power unit more, are transported for the collaboration of four limbs
Move, it is necessary to match somebody with somebody the electronic component such as preparation controller and quadruped locomotion detection sensor, complicated, dead weight is larger, and failure rate
It is high.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of motor-driven bio-robot of list, using single motor
Simple in structure with the type of drive of drive link, dead weight is lighter, and failure rate is low, and stationarity is high, and having for four pedipulators is stronger
Cooperative motion ability.
To achieve these goals, technical solution adopted in the utility model is：A kind of motor-driven bionical machine of list
Device people, including rack, the rack are horizontally disposed tablet, be provided with rack storage battery, power switch, a motor,
Four pedipulators and the transmission mechanism for connecting motor and four pedipulators, before pedipulator includes left front leg, left back leg, the right side
Leg and right rear leg；Transmission mechanism include connect with motor shaft drive gear, engaged with drive gear driven gear, installed in from
Biasing post on moving gear, by the rack-mounted rocking bar of shaft, the left column on the left of rocking bar, both ends respectively with
The second transmission with left column and right rear leg bulb hinged respectively of first drive link of left column and left front leg bulb hinged, both ends
Bar, the right column on the right side of rocking bar, both ends are divided with the 3rd drive link of right column and right front leg bulb hinged, both ends respectively
The not total transmission column articulated with right column and the 4th drive link of left back leg bulb hinged and both ends difference left column and bias
Bar；The pedipulator include by axis pin be installed on the oscillating deck of rack side, be connected to the damper mechanism of oscillating deck lower end with
And it is connected to the machinery foot of damper mechanism lower end.
Further, first drive link, the second drive link, the 3rd drive link and the 4th drive link and the pedipulator
Tie point be respectively positioned on oscillating deck, the position of the tie point is higher than the position of the axis pin.
Further, total drive link higher than first drive link and the second drive link and is less than the 3rd drive link
With the 4th drive link.
Further, the damper mechanism is spring spool.
Further, the damper mechanism is hydraulic buffer.
Further, the exterior of the motor and storage battery sets protective cover.
It is using beneficial effect caused by above-mentioned technical proposal：The utility model uses the drive of single motor and drive link
Flowing mode, makes four pedipulators be moved in a manner of intersecting collaboration, and pedipulator can replace flexible automatically in walking process,
Efficiency is improved, simple in structure, dead weight is lighter, and failure rate is low, and stationarity is high, and four pedipulators have stronger cooperative motion energy
Power.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the three-dimensional structure diagram of the utility model.
Fig. 2 is the elevated bottom perspective structure chart of the utility model.
Fig. 3 is the three-dimensional structure diagram of pedipulator.
In figure：1st, rack 2, motor 3, left front leg 4, right rear leg 5, right front leg 6, left back leg 7, drive gear 8,
Driven gear 9, biasing post 10, shaft 11, rocking bar 12, left column 13, the first drive link 14, the second drive link 15, the right side
Column 16, the 3rd drive link 17, the 4th drive link 18, total drive link 19, power switch 20, storage battery 31, oscillating deck
32nd, damper mechanism 33, machinery foot.
Embodiment
Referring to attached drawing 1-3, the structure of the utility model includes rack 1, and the rack 1 is horizontally disposed tablet, machine
Storage battery 20,2, four, the motor pedipulator of power switch 19, one are installed and for connecting motor 2 and four machines on frame 1
The transmission mechanism of tool leg, pedipulator include left front leg 3, left back leg 6, right front leg 5 and right rear leg 4；Transmission mechanism includes and motor 2
Drive gear 7 that axis connects, the driven gear 8 engaged with drive gear 7, the biasing post 9 on driven gear 8, by turning
Axis 10 be installed on the rocking bar 11 in rack 1, the left column 12 installed in the left side of rocking bar 11, both ends respectively with left column 12 and left front
First drive link 13 of 3 bulb hinged of leg, both ends respectively the second drive link 14 with 4 bulb hinged of left column 12 and right rear leg,
Right column 15, both ends installed in the right side of rocking bar 11 respectively the 3rd drive link 16 with 5 bulb hinged of right column 15 and right front leg,
Both ends fourth drive link 17 hinged with right column 15 and 6, left back leg ball and both ends difference left column 12 and biasing post respectively
9 hinged total drive links 18；The pedipulator includes being installed on the oscillating deck 31 of 1 side of rack by axis pin, is connected to swing
The damper mechanism 32 of 31 lower end of plate and the machinery foot 33 for being connected to 32 lower end of damper mechanism.
First drive link 13, the second drive link 14, the 3rd drive link 15 and the 4th drive link 16 and the machinery
The tie point of leg is respectively positioned on oscillating deck 31, and the position of the tie point is higher than the position of the axis pin.
Total drive link 18 is higher than 13 and second drive link 14 of the first drive link and is less than the 3rd drive link
15 and the 4th drive link 16.Difference in height can avoid total drive link 18, the first drive link 13, the transmission of the second drive link the 14, the 3rd
Interfered with each other between 15 and the 4th drive link 16 of bar.
The outside of the motor 2 and storage battery 20 is respectively provided with protective cover.Motor 2 and storage battery 20 belong to the electricity member of rapid wear
Part, protective cover can avoid the unfavorable factor (such as high temperature, water, chemical attack) in working environment to motor 2 and storage battery 20
Cause damage.
According to the requirement of load and robot working environment, damper mechanism 32 uses different size spring spool or hydraulic pressure
Damper.
The rocking bar 11 is strip or arc.The shape of rocking bar 11 is designed to different shape, so as to change the first biography
Lever 13, the second drive link 14, the angle and length of the 3rd drive link 15 and the 4th drive link 16, make the pendulum of four pedipulators
Dynamic amplitude is identical or has certain deviation, meets the walking demand in different places.
The walking principle of robot is in the utility model：19 are turned on the power switch, storage battery 20 is powered for motor 2, electricity
Machine 2 operates, and amplifies by the deceleration of drive gear 7 and driven gear 8 and moment of torsion, makes biasing post 9 drive total drive link 18 to do past
Multiple movement, total drive link 18 are driven rocking bar 11 and the both ends of rocking bar 11 is carried out reciprocally swinging, rocking bar 11 centered on shaft 10
On left column 12 drive the first drive link 13 and the second drive link 14, the first drive link 13 and the second drive link 14 to drive respectively
Left front leg 3 and right rear leg 4 are swung around axis pin, and right column 15 drives the 3rd drive link 16 and the 4th drive link 17, the 3rd drive link
16 and the 4th drive link 17 drive right front leg 5 and left back leg 6 to be swung around axis pin, the direction of above-mentioned two groups of movements is handed on the contrary, being formed
Pitch the walking manner swung.
Wherein, under the action of damper mechanism 32, when the machinery foot 33 of left front leg 3 and right rear leg 4 lifts forward, right front leg
5 and 6 swing backward of left back leg and frames 1, due to not loading, its damping 33 is stretched for left front leg 3 and right rear leg 4 at this time
Long, right front leg 5 and left back leg 6 become weight due to loading, its damping 33 shortens, which can make left front leg 3 and right rear leg 4
Machinery foot 33 be returned to the points on contact ground again and be located at it and leave the front of the point on ground, and make right front leg 5 and left back leg 6
The elastic potential energy of damping 32 can be utilized when lifting forward, improves efficiency.
The bottom of mechanical foot 33 sets non-slip mat, increases frictional force.
Foregoing description only proposes as the enforceable technical solution of the utility model, not as to its technical solution in itself
Single restrictive condition.
Claims (6)
1. a kind of motor-driven bio-robot of list, including rack, it is characterised in that：The rack is horizontally disposed flat
Plate, storage battery, power switch, a motor, four pedipulators and for connecting motor and four machineries are provided with rack
The transmission mechanism of leg, pedipulator include left front leg, left back leg, right front leg and right rear leg；
Transmission mechanism include connect with motor shaft drive gear, engaged with drive gear driven gear, installed in driven gear
On biasing post, by the rack-mounted rocking bar of shaft, the left column on the left of rocking bar, both ends respectively with left column
The first drive link, both ends with left front leg bulb hinged respectively with the second drive link of left column and right rear leg bulb hinged, peace
Right column, both ends on the right side of rocking bar respectively with the 3rd drive link of right column and right front leg bulb hinged, both ends respectively with
Right column and the 4th drive link of left back leg bulb hinged and both ends difference left column and eccentric column articulated total drive link；
The pedipulator include by axis pin be installed on the oscillating deck of rack side, be connected to the damper mechanism of oscillating deck lower end with
And it is connected to the machinery foot of damper mechanism lower end.
2. the motor-driven bio-robot of list according to claim 1, it is characterised in that：First drive link,
Two drive links, the 3rd drive link and the 4th drive link and the tie point of the pedipulator are respectively positioned on oscillating deck, the tie point
Position be higher than the axis pin position.
3. the motor-driven bio-robot of list according to claim 2, it is characterised in that：Total drive link is higher than institute
State the first drive link and the second drive link and be less than the 3rd drive link and the 4th drive link.
4. the motor-driven bio-robot of list according to claim 1, it is characterised in that：The damper mechanism is spring
Sleeve.
5. the motor-driven bio-robot of list according to claim 1, it is characterised in that：The damper mechanism is hydraulic pressure
Damper.
6. the motor-driven bio-robot of list according to claim 1, it is characterised in that：The motor and storage battery
Outside sets protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721152944.6U CN207328642U (en) | 2017-09-08 | 2017-09-08 | A kind of motor-driven bio-robot of list |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721152944.6U CN207328642U (en) | 2017-09-08 | 2017-09-08 | A kind of motor-driven bio-robot of list |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207328642U true CN207328642U (en) | 2018-05-08 |
Family
ID=62371827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721152944.6U Expired - Fee Related CN207328642U (en) | 2017-09-08 | 2017-09-08 | A kind of motor-driven bio-robot of list |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207328642U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502048A (en) * | 2018-05-27 | 2018-09-07 | 陈淑红 | A kind of walking robot |
| CN108674518A (en) * | 2018-05-27 | 2018-10-19 | 陈淑红 | A kind of walking mechanism for robot |
| CN108909871A (en) * | 2018-05-27 | 2018-11-30 | 陈淑红 | A kind of foot formula walking robot |
| CN110834317A (en) * | 2018-08-17 | 2020-02-25 | 中国飞机强度研究所 | Bionic mechanical leg joint driving transmission device |
-
2017
- 2017-09-08 CN CN201721152944.6U patent/CN207328642U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502048A (en) * | 2018-05-27 | 2018-09-07 | 陈淑红 | A kind of walking robot |
| CN108674518A (en) * | 2018-05-27 | 2018-10-19 | 陈淑红 | A kind of walking mechanism for robot |
| CN108909871A (en) * | 2018-05-27 | 2018-11-30 | 陈淑红 | A kind of foot formula walking robot |
| CN110834317A (en) * | 2018-08-17 | 2020-02-25 | 中国飞机强度研究所 | Bionic mechanical leg joint driving transmission 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: 20180508 Termination date: 20180908 |