CN207631375U - Biped running gear - Google Patents
Biped running gear Download PDFInfo
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- CN207631375U CN207631375U CN201721844602.0U CN201721844602U CN207631375U CN 207631375 U CN207631375 U CN 207631375U CN 201721844602 U CN201721844602 U CN 201721844602U CN 207631375 U CN207631375 U CN 207631375U
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- wheel
- fuselage cradle
- driven
- arm
- shaft
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Abstract
Biped running gear belongs to technical field of mechanical transmission more particularly to a kind of biped running gear.The utility model provides a kind of biped running gear simple in structure.The utility model includes fuselage cradle, it is provided with cross motor on its structural feature fuselage cradle, it is provided with active synchronization wheel on the output shaft of cross motor, active synchronization wheel is connected by main synchronous belt with the driven synchronizing wheel above active synchronization wheel, driven synchronizing wheel is arranged in driven synchronization wheel shaft, driven synchronization wheel shaft is connected by bearing with fuselage cradle, follower shaft end is pierced by fuselage cradle and axis connects leg arm complications connecting rod one end, the upper leg arm complications connecting rod other end is provided with slidiing pin, slidiing pin is arranged on the inside of the upper leg arm of shift sleeve structure in the vertical slideway of outer wall.
Description
Technical field
The utility model belongs to technical field of mechanical transmission more particularly to a kind of biped running gear.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.Existing robot biped running gear general structure
Complicated, required component is more.
Invention content
The utility model provides a kind of biped running gear simple in structure aiming at the above problem.
To achieve the above object, the utility model adopts the following technical solution, and the utility model includes fuselage cradle, structure
It puts and is provided with cross motor on fuselage cradle, active synchronization wheel is provided on the output shaft of cross motor, active synchronization wheel passes through
Main synchronous belt is connected with the driven synchronizing wheel above active synchronization wheel, and driven synchronizing wheel is arranged in driven synchronization wheel shaft, driven
Synchronization wheel shaft is connected by bearing with fuselage cradle, and follower shaft end is pierced by fuselage cradle and axis connects leg arm complications connecting rod one
End, the upper leg arm complications connecting rod other end are provided with slidiing pin, and slidiing pin is arranged on the inside of the upper leg arm of shift sleeve structure
In the vertical slideway of outer wall；
Driving wheel is provided in driven synchronization wheel shaft, driving wheel passes through auxiliary synchronous belt and the driven wheel phase above driving wheel
Even, driven wheel is arranged on follower shaft, and follower shaft is connected by bearing with fuselage cradle, and follower shaft end is pierced by fuselage cradle
And it is connected with upper branch arm eccentric wheel, upper branch arm eccentric wheel passes through the upper leg arm below eccentric wheel linking arm and upper branch arm eccentric wheel
Interior sliding block is connected, and sliding block rear end is provided with the rear link block protruded backward, and rear link block rear end is from vertical on upper leg arm
Opening is pierced by and is connected with tortuous action link rod upper end by axis pin, and tortuous action link rod lower end axis connects cross connecting plate rear end,
Lateral connection front edge of board is connected with shank armed lever top, and shank armed lever upper shaft connects vertical connecting plate lower end, on vertical connecting plate
End is connected with upper leg arm lower end；Shank armed lever lower end is provided with crossing frame；
The upper leg arm complications connecting rod, slidiing pin, upper leg arm, driving wheel, auxiliary synchronous belt, driven wheel, upper branch arm
Eccentric wheel, eccentric wheel linking arm, sliding block, tortuous action link rod, shank armed lever, crossing frame are combined as two groups, are arranged in machine
Stature both sides.
As a preferred embodiment, the diameter of active synchronization wheel described in the utility model is less than the diameter of driven synchronizing wheel,
The diameter of driving wheel is less than the diameter of driven driving wheel.
As another preferred embodiment, the output shaft outer end of cross motor described in the utility model by export shaft stool with
Fuselage cradle is connected.
As another preferred embodiment, eccentric wheel linking arm described in the utility model both ends pass through axis pin and eccentric wheel respectively
It is connected with sliding block.
Secondly, the cross section of fuselage cradle described in the utility model is Jiong word shape, and the cross motor is arranged in fuselage cradle
Side, the other side is provided with battery in fuselage cradle, and battery is connected by conducting wire with the power end of motor, and circuit is cased on the outside of conducting wire
Sleeve.
In addition, crossing frame described in the utility model includes bottom plate, bottom plate front end is upward bending structure, bottom rear two
Epitaxial lateral overgrowth in upward, inside extends to form trapezoidal connection frame after stretching, and trapezoidal connection frame upper end is connected with shank armed lever lower end.
The utility model advantageous effect.
The utility model completes the transmitting of driving force by the mutual cooperation of each component, and the walking of finishing device is dynamic
Make.
The utility model is simple in structure, low manufacture cost.
Description of the drawings
The utility model is described further with reference to the accompanying drawings and detailed description.Scope of protection of the utility model
It is not only limited to the statement of the following contents.
Fig. 1 is the utility model structure diagram.
Fig. 2 is another angled arrangement schematic diagram of the utility model.
Fig. 3 is the utility model rearview.
Fig. 4 is the utility model front view.
Fig. 5 is the utility model left view.
Fig. 6 is the utility model right view.
Fig. 7 is the A-A sectional views of Fig. 3.
Fig. 8 is the B-B sectional views of Fig. 3.
In figure, 1 it is cross motor, 2 is active synchronization wheel, 3 is battery, 4 is driving wheel, 5 is driven synchronization wheel shaft, 6 is
Follower shaft, 7 be driven wheel, 8 be fuselage cradle, 9 be upper branch arm eccentric wheel, 10 be eccentric wheel linking arm, 11 be upper leg arm, 12
For vertical openings, 13 be tortuous action link rod, 14 be shank armed lever, 15 be bottom plate, 16 be trapezoidal connection frame, 17 be after connect
Block, 18 be upper leg arm complications connecting rod, 19 be output shaft, 20 be output shaft stool, 21 be vertical slideway, 22 be driven synchronization
Wheel, 23 be sliding block, 24 be slidiing pin.
Specific implementation mode
As shown, the utility model includes fuselage cradle, cross motor, the output shaft of cross motor are provided on fuselage cradle
On be provided with active synchronization wheel, active synchronization wheel is connected by main synchronous belt with the driven synchronizing wheel above active synchronization wheel, from
Dynamic synchronizing wheel is arranged in driven synchronization wheel shaft, and driven synchronization wheel shaft is connected by bearing with fuselage cradle, and follower shaft end is worn
Go out fuselage cradle and axis connects leg arm complications connecting rod one end, the upper leg arm complications connecting rod other end is provided with slidiing pin, sliding
Axis pin is arranged on the inside of the upper leg arm of shift sleeve structure in the vertical slideway of outer wall；
Driving wheel is provided in driven synchronization wheel shaft, driving wheel passes through auxiliary synchronous belt and the driven wheel phase above driving wheel
Even, driven wheel is arranged on follower shaft, and follower shaft is connected by bearing with fuselage cradle, and follower shaft end is pierced by fuselage cradle
And it is connected with upper branch arm eccentric wheel, upper branch arm eccentric wheel passes through the upper leg arm below eccentric wheel linking arm and upper branch arm eccentric wheel
Interior sliding block is connected, and sliding block rear end is provided with the rear link block protruded backward, and rear link block rear end is from vertical on upper leg arm
Opening is pierced by and is connected with tortuous action link rod upper end by axis pin, and tortuous action link rod lower end axis connects cross connecting plate rear end,
Lateral connection front edge of board is connected with shank armed lever top, and shank armed lever upper shaft connects vertical connecting plate lower end, on vertical connecting plate
End is connected with upper leg arm lower end；Shank armed lever lower end is provided with crossing frame；
The upper leg arm complications connecting rod, slidiing pin, upper leg arm, driving wheel, auxiliary synchronous belt, driven wheel, upper branch arm
Eccentric wheel, eccentric wheel linking arm, sliding block, tortuous action link rod, shank armed lever, crossing frame are combined as two groups, are arranged in machine
Stature both sides.
The diameter of the active synchronization wheel is less than the diameter of driven synchronizing wheel, and the diameter of driving wheel is less than the straight of driven driving wheel
Diameter.
The output shaft outer end of the cross motor is connected by exporting shaft stool with fuselage cradle.
Eccentric wheel linking arm both ends are connected by axis pin with eccentric wheel and sliding block respectively.
The cross section of the fuselage cradle is Jiong word shape, cross motor setting side in fuselage cradle, another in fuselage cradle
Side is provided with battery, and battery is connected by conducting wire with the power end of motor, and circuit connection set is cased on the outside of conducting wire.
The crossing frame includes bottom plate, and bottom plate front end is upward bending structure, bottom rear both sides extend outwardly after
Upwards, inside extends to form trapezoidal connection frame, and trapezoidal connection frame upper end is connected with shank armed lever lower end.Trapezoidal connection frame is set,
Has cushioning effect.
Illustrate the course of work of the utility model below in conjunction with the accompanying drawings.
Motor drives active synchronization wheel rotation, active synchronization wheel to drive driven synchronization wheel shaft and transmission by driven synchronizing wheel
Wheel rotation, driven synchronization wheel shaft pass sequentially through leg arm complications connecting rod, slidiing pin, vertical slideway and drive upper leg armed lever lift
It rises or puts down.
Driving wheel drives the rotation of upper branch arm eccentric wheel, upper branch arm eccentric wheel to be driven by eccentric wheel linking arm by driven wheel
Sliding block vertically moves in upper leg arm, and sliding block is lifted or put down shank armed lever by tortuous action link rod.By on both sides
The setting of support arm eccentric wheel and eccentric wheel linking arm link position（Such as both sides link position differs 90 degree）, complete both sides component
Collaboration walking.
It is understood that above with respect to the specific descriptions of the utility model, it is merely to illustrate the utility model and is not
It is limited to technical solution described in the utility model embodiment, it will be understood by those of ordinary skill in the art that, it still can be with
It modifies to the utility model or equivalent replacement, to reach identical technique effect；Needs are used as long as meeting, all in this reality
Within novel protection domain.
Claims (6)
1. biped running gear, including fuselage cradle, it is characterised in that be provided with cross motor, the output of cross motor on fuselage cradle
Active synchronization wheel is provided on axis, active synchronization wheel is connected by main synchronous belt with the driven synchronizing wheel above active synchronization wheel,
Driven synchronizing wheel is arranged in driven synchronization wheel shaft, and driven synchronization wheel shaft is connected by bearing with fuselage cradle, follower shaft end
It is pierced by fuselage cradle and axis connects leg arm complications connecting rod one end, the upper leg arm complications connecting rod other end is provided with slidiing pin, sliding
Dynamic axis pin is arranged on the inside of the upper leg arm of shift sleeve structure in the vertical slideway of outer wall；
Driving wheel is provided in driven synchronization wheel shaft, driving wheel is connected by auxiliary synchronous belt with the driven wheel above driving wheel, from
Driving wheel is arranged on follower shaft, and follower shaft is connected by bearing with fuselage cradle, and follower shaft end is pierced by fuselage cradle and company
It is connected to upper branch arm eccentric wheel, upper branch arm eccentric wheel passes through in the upper leg arm below eccentric wheel linking arm and upper branch arm eccentric wheel
Sliding block is connected, and sliding block rear end is provided with the rear link block protruded backward, and rear link block rear end is from the vertical openings on upper leg arm
It is pierced by and is connected with tortuous action link rod upper end by axis pin, tortuous action link rod lower end axis connects cross connecting plate rear end, laterally
Connection front edge of board is connected with shank armed lever top, and shank armed lever upper shaft connects vertical connecting plate lower end, vertical connecting plate upper end and
Upper leg arm lower end is connected；Shank armed lever lower end is provided with crossing frame；
The upper leg arm complications connecting rod, slidiing pin, upper leg arm, driving wheel, auxiliary synchronous belt, driven wheel, upper branch arm are eccentric
Wheel, eccentric wheel linking arm, sliding block, tortuous action link rod, shank armed lever, crossing frame are combined as two groups, are arranged in fuselage cradle
Both sides.
2. biped running gear includes fuselage cradle according to claim 1, it is characterised in that the diameter of the active synchronization wheel
Less than the diameter of driven synchronizing wheel, the diameter of driving wheel is less than the diameter of driven wheel.
3. biped running gear includes fuselage cradle according to claim 1, it is characterised in that the output shaft of the cross motor
Outer end is connected by exporting shaft stool with fuselage cradle.
4. biped running gear includes fuselage cradle according to claim 1, it is characterised in that eccentric wheel linking arm both ends
It is connected respectively with eccentric wheel and sliding block by axis pin.
5. biped running gear includes fuselage cradle according to claim 1, it is characterised in that the cross section of the fuselage cradle is
Jiong word shape, the cross motor are arranged in fuselage cradle side, and the other side is provided with battery in fuselage cradle, battery by conducting wire with
The power end of motor is connected, and circuit connection set is cased on the outside of conducting wire.
6. biped running gear includes fuselage cradle according to claim 1, it is characterised in that the crossing frame includes bottom plate,
Bottom plate front end is upward bending structure, and bottom rear both sides in upward, inside extend to form trapezoidal connection frame after extending outwardly, ladder
Shape connection frame upper end is connected with shank armed lever lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721844602.0U CN207631375U (en) | 2017-12-26 | 2017-12-26 | Biped running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721844602.0U CN207631375U (en) | 2017-12-26 | 2017-12-26 | Biped running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207631375U true CN207631375U (en) | 2018-07-20 |
Family
ID=62852599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721844602.0U Active CN207631375U (en) | 2017-12-26 | 2017-12-26 | Biped running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207631375U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109747731A (en) * | 2018-12-11 | 2019-05-14 | 深圳市优必选科技有限公司 | Robot and leg structure thereof |
| CN110774278A (en) * | 2018-10-01 | 2020-02-11 | 张锡林 | Novel bionic mechanical arm consisting of crankshaft and connecting rod mechanism |
| CN110897457A (en) * | 2019-12-09 | 2020-03-24 | 厦门理工学院 | Shoe display robot |
-
2017
- 2017-12-26 CN CN201721844602.0U patent/CN207631375U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774278A (en) * | 2018-10-01 | 2020-02-11 | 张锡林 | Novel bionic mechanical arm consisting of crankshaft and connecting rod mechanism |
| CN109747731A (en) * | 2018-12-11 | 2019-05-14 | 深圳市优必选科技有限公司 | Robot and leg structure thereof |
| CN110897457A (en) * | 2019-12-09 | 2020-03-24 | 厦门理工学院 | Shoe display robot |
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