CN208132949U - Single motor driving lower limb simulation, which is run, acts robot - Google Patents
Single motor driving lower limb simulation, which is run, acts robot Download PDFInfo
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- CN208132949U CN208132949U CN201820215376.8U CN201820215376U CN208132949U CN 208132949 U CN208132949 U CN 208132949U CN 201820215376 U CN201820215376 U CN 201820215376U CN 208132949 U CN208132949 U CN 208132949U
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 18
- 238000004088 simulation Methods 0.000 title claims abstract description 17
- 210000000689 upper leg Anatomy 0.000 claims abstract description 62
- 238000009434 installation Methods 0.000 claims description 26
- 210000002414 leg Anatomy 0.000 claims description 5
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The utility model relates to show apparatures,It discloses a kind of driving lower limb simulation of single motor and runs and act robot,Including motor,A pair of of robot thigh structure,A pair of of robot shank,Robot thigh structure includes fixing axle,Level-one crank disc,Second level crank,Primary connecting rod,Second level even the rod,Three-level connecting rod,Level Four connecting rod,Thigh front bar,Thigh rear bar,Level-one crank disc is fixedly connected with the output shaft of motor,Second level crank one end is fixed on the eccentric part of level-one crank disc,Primary connecting rod one end is rotatably arranged on the eccentric part of level-one crank disc,The second level crank other end and second level even the rod one end are hinged,The primary connecting rod other end,Level Four connecting rod one end,Thigh front bar three is hinged,The second level even the rod other end,Thigh rear bar,Three-level connecting rod one end three is hinged,Thigh front bar,The three-level connecting rod other end,It is hinged that the level Four connecting rod other end passes through fixing axle,Thigh front bar,Thigh rear bar is hinged with robot shank.The utility model improves consumer to the rate of stopping of show window.
Description
Technical field
The present invention relates to show apparatures, more particularly to a kind of driving lower limb simulation of single motor runs and acts robot.
Background technique
Existing show window is static show window, and the stage property of solid shop is similar, does not weed out the old and bring forth the new, and no new meaning can be sayed, no
The eye of consumer can be attracted very much.
Summary of the invention
The present invention provides a kind of list for the shortcomings that show window stage property can less attract the eye of consumer in the prior art
The simulation of motor driven lower limb runs and acts robot, and structure is simple, only needs a motor that simulation can be realized and runs movement, by exhibition
The shoes shown are through in robot foot, can more attract the eye of consumer.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals：
Single motor driving lower limb simulation, which is run, acts robot, and including having, there are two the motors of output shaft, a pair of of robot
Thigh structure, a pair of of robot shank, robot thigh structure includes fixing axle, level-one crank disc, second level crank, a cascade
One output shaft of bar, second level even the rod, three-level connecting rod, level Four connecting rod, thigh front bar, thigh rear bar, level-one crank disc and motor
It is fixedly connected, second level crank one end is fixed on the eccentric part of level-one crank disc, and primary connecting rod one end is rotatably arranged on level-one crank
The eccentric part of disk, the second level crank other end and second level even the rod one end are hinged, the primary connecting rod other end, level Four connecting rod one end, thigh
Front bar three is hinged, and the second level even the rod other end, thigh rear bar, three-level connecting rod one end three are hinged, thigh front bar, three cascades
It is hinged that the bar other end, the level Four connecting rod other end pass through fixing axle, and thigh front bar, thigh rear bar are hinged with robot shank.
Preferably, primary connecting rod, second level even the rod are curved rod, second level crank is arc-shaped.
Preferably, the eccentric part of level-one crank disc is equipped with the first installation axle, second level crank one end is equipped with the first crank
Hole, primary connecting rod one end are equipped with the first mounting hole, and the first installation axle successively passes through the first mounting hole, the first crank hole, a cascade
Bar is hinged by the first installation axle and level-one crank disc, and second level crank is fixedly connected with the first installation axle.
Preferably, the second level crank other end be equipped with the second crank hole, second level even the rod one end be equipped with the second mounting hole, second
Fixed in crank hole to be equipped with the second installation axle, the second installation axle passes through the second mounting hole, between second level even the rod and second level crank
It is hinged by the second installation axle.
Preferably, thigh front bar top is equipped with the first connecting hole, the primary connecting rod other end is equipped with third mounting hole, level Four
Connecting rod one end is equipped with third hole, and third hole, third mounting hole, the first connecting hole are equipped with the first connecting shaft of same root, thigh
It is front bar, primary connecting rod, hinged by the first connecting shaft between level Four connecting rod.
Preferably, thigh front bar top is additionally provided with the second connecting hole with the first connecting hole side by side, three-level connecting rod one end
Equipped with the first hole, the level Four connecting rod other end is equipped with the 4th hole, and fixing axle successively runs through the 4th hole, the first hole, the second connecting hole, greatly
Leg front bar, three-level connecting rod, level Four connecting rod are hinged with fixing axle.
Preferably, thigh rear bar top is equipped with third connecting hole, the second level even the rod other end is equipped with the 4th mounting hole, three-level
The connecting rod other end is equipped with the second hole, and the second hole, third connecting hole, the 4th mounting hole are equipped with the second connecting shaft of same root, and three
It is grade connecting rod, thigh rear bar, hinged by the second connecting shaft between second level even the rod.
Preferably, robot thigh structure further includes the front rod being fixedly connected with thigh front bar, rear connecting rod,
Thigh front bar is hinged by front rod and three-level connecting rod, level Four connecting rod, primary connecting rod, and thigh rear bar passes through rear connecting rod and two
Grade connecting rod, three-level connecting rod are hinged.
Preferably, the first connecting hole, the second connecting hole are arranged on front rod, third connecting hole is arranged in rear company
On extension bar.
Preferably, front rod includes cross bar and the vertical bar with cross bar integral structure, before cross bar and vertical bar vertically make
Connecting rod is L-shaped.
Preferably, the first connecting hole is located at the end for closing on vertical bar on cross bar, the second connecting hole is located at separate on cross bar
The end of vertical bar.
The present invention has significant technical effect due to using above technical scheme：
The shoes of displaying are through on the foot of robot, simulate movement of running by the lower limb of a motor control machine people,
It is novel interesting, it increases consumer and passes by stop rate and the attention rate to show window of show window, while also improving the concern of brand
Degree.It can give manufacturer bigger advertisement benefit, increase the attraction of show apparature, show window.And a motor is only needed, it can subtract
The use of few components, reduces cost, reduces the weight of robot, more practical.
The present invention studies emphatically anthropomorphic robot lower limb running movement, by dissecting human body running video and human body lower limbs
The reverse research of structure is learned, founding mathematical models are dynamic by designing a kind of human body running that the realization of cleverly mechanical structure is smooth
Make, and complete commercialization volume production, reference is provided for the development of the following anthropomorphic robot technology.
Detailed description of the invention
Fig. 1 is the structure chart of the embodiment of the present invention.
Fig. 2 is the structure chart of the robot thigh structure of Fig. 1.
Fig. 3 is the corresponding schematic diagram of Fig. 2.
Fig. 4 is the robot thigh structure division structure chart of Fig. 1.
Fig. 5 is another viewing angle constructions figure of Fig. 4.
Fig. 6 is the explosive view of Fig. 5.
Fig. 7 be the level-one crank disc of Fig. 1, second level crank, fixing axle structure chart.
The toponym that each number designation is referred in attached drawing is as follows：Wherein 1-motor, 2-output shafts, 3-fixing axles,
4-limit plates, 5-level-one crank discs, 6-second level cranks, 7-primary connecting rods, 8-second level even the rods, 9-three-level connecting rods, 10-
Level Four connecting rod, 11-thigh front bars, 12-thigh rear bars, 13-front rods, 14-rear connecting rods, 15-preceding mounting rods,
16-rear mounting rods, the 17-the first installation axle, the 18-the second installation axle, the 19-the first connecting shaft, the 20-the second connecting shaft, 21-
First mounting hole, the 22-the second mounting hole, 23-third mounting holes, the 24-the four mounting hole, 25-support frames, 26-cross bars,
27-vertical bars, the 28-the first connecting hole, the 29-the second connecting hole, 30-third connecting holes, the 31-the first hole, the 32-the second hole,
33-third holes, the 34-the four hole, 35-robot shanks, the 36-the first crank hole, the 37-the second crank hole.
Specific embodiment
Present invention is further described in detail with embodiment with reference to the accompanying drawing.
Embodiment
Single motor driving lower limb simulation, which is run, acts robot, as shown in Figures 1 to 7, including has the output of left and right two
The motor 1 of axis 2, a pair of of robot thigh structure, a pair of of robot shank 35, robot thigh structure include fixing axle 3, limit
Position plate 4, level-one crank disc 5, second level crank 6, primary connecting rod 7, second level even the rod 8, three-level connecting rod 9, level Four connecting rod 10, thigh front bar
11, thigh rear bar 12, front rod 13, rear connecting rod 14, preceding mounting rod 15, rear mounting rod 16, in the horizontal direction limit plate
4, successively side by side, three-level connecting rod 9 and level Four connecting rod 10 are simultaneously for level-one crank disc 5, primary connecting rod 7, second level crank 6, second level even the rod 8
Row, in a longitudinal direction, three-level connecting rod 9 is parallel with primary connecting rod 7, and level Four connecting rod 10 is parallel with level-one crank disc 5.The machine National People's Congress
Leg structure and robot shank 35 constitute leg.
5 middle part of level-one crank disc is fixedly connected with an output shaft 2 of motor 1, the company of level-one crank disc 5 and output shaft 2
Contact is named as A point.The work of output shaft 2 of motor 1 drives level-one crank disc 5 to rotate.Primary connecting rod 7, second level even the rod 8 are arc
Shape bar, second level crank 6 are arc-shaped.The eccentric part of level-one crank disc 5 is equipped with the first installation axle 17, and 6 one end of second level crank is equipped with
First crank hole 36,6 other end of second level crank are equipped with the second crank hole 37.7 one end of primary connecting rod is equipped with the first mounting hole 21, the
One installation axle 17 successively passes through the first mounting hole 21, the first crank hole 36, and primary connecting rod 7 is bent by the first installation axle 17 and level-one
Handle disk 5 is hinged, and second level crank 6 is fixedly connected with the first installation axle 17.8 one end of second level even the rod be equipped with the second mounting hole 22, second
Fixed in crank hole 37 to be equipped with the second installation axle 18, the second installation axle 18 passes through the second mounting hole 22, second level even the rod 8 and second level
It is hinged by the second installation axle 18 between crank 6.
First installation axle 17, the second installation axle 18 cross section be rectangle or square, side is opposite with second level crank 6
It is fixed.
Front rod 13 includes cross bar 26 and the vertical bar 27 with 26 integral structure of cross bar, and cross bar 26 and vertical bar 27 vertically make
Front rod 13 is L-shaped.The end that vertical bar 27 is closed on cross bar 26 is equipped with the first connecting hole 28, is equipped in the first connecting hole 28
First connecting shaft 19,7 other end of primary connecting rod are equipped with third mounting hole 23, and 8 other end of second level even the rod is equipped with the 4th mounting hole 24.
9 both ends of three-level connecting rod are respectively equipped with the first hole 31, the second hole 32, and 10 both ends of level Four connecting rod are respectively equipped with third hole 33, the 4th hole
34.First connecting shaft 19 successively passes through third hole 33, third mounting hole 23, the first connecting hole 28, front rod 13, primary connecting rod
7, hinged by the first connecting shaft 19 between level Four connecting rod 10.
End on cross bar 26 far from vertical bar 27 is equipped with the second connecting hole 29, and fixing axle 3 successively runs through the 4th hole 34, first
Hole 31, the second connecting hole 29, front rod 13, three-level connecting rod 9, level Four connecting rod 10 are hinged with fixing axle 3, name fixing axle 3
The point at place is B point.
14 upper end of rear connecting rod is equipped with third connecting hole 30, and the second connecting shaft 20, the second connection are equipped in the second hole 32
Axis 20 successively passes through the second hole 32, third connecting hole 30, the 4th mounting hole 24, three-level connecting rod 9, rear connecting rod 14, second level even the rod 8
Between it is hinged by the second connecting shaft 20.
Thigh front bar 11 can be an integral structure with front rod 13, preceding mounting rod 15, can also be divided into three as the present embodiment
A component.Thigh rear bar 12 can be an integral structure with rear connecting rod 14, rear mounting rod 16, and three can also be divided into as the present embodiment
Component.
11 top of thigh front bar is fixedly connected with 13 lower part of front rod, and 11 lower part of thigh front bar and preceding mounting rod 15 are fixed
Connection, 12 top of thigh rear bar are fixedly connected with 14 lower part of rear connecting rod, 12 lower part of thigh rear bar and the fixed company of rear mounting rod 16
It connects.
Preceding 15 lower end of mounting rod and robot shank 35 are hinged, and rear 16 lower end of mounting rod and robot shank 35 are hinged.
Level-one crank disc 5 and limit plate 4 are hinged, and limit plate 4 and the shell of motor 1 are relatively fixed.Limit plate 4 is equipped with and wears
Hole, fixing axle 3 pass through perforation and it is relatively fixed with limit plate 4.
Motor 1 is fixed on support frame 25, and robot shank 35 is hanging.
Put on robot shank 35 and need the shoes that show, start motor 1, output shaft 2 drive level-one crank disc 5 around
Output shaft 2 rotates, and level-one crank disc 5 drives second level crank 6, primary connecting rod 7 to rotate around the first installation axle 17, second level crank 6
Second level even the rod 8 is driven to rotate, primary connecting rod 7 drives thigh front bar 11 to make speed change reciprocating swing and realizes thigh movement simulation.Second level
Connecting rod 8 drives three-level connecting rod 9 to make speed change reciprocating swing.Three-level connecting rod 9 cooperates thigh as mobile crank driving thigh rear bar 12
It is curved after the realization shank of front bar 11 to stretch movement.It realizes that the left and right leg of robot acts symmetrical alternating movement, movement of running is presented, it can
Attract the eye of consumer.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (8)
1. single motor driving lower limb simulation, which is run, acts robot, including a pair of of robot thigh structure, a pair of of robot shank
（35）, it is characterised in that：It further include that there are two output shafts for tool（2）Motor（1）, robot thigh structure includes fixing axle
（3）, level-one crank disc（5）, second level crank（6）, primary connecting rod（7）, second level even the rod（8）, three-level connecting rod（9）, level Four connecting rod
（10）, thigh front bar（11）, thigh rear bar（12）, level-one crank disc（5）With motor（1）An output shaft（2）It is fixedly connected,
Second level crank（6）One end is fixed on level-one crank disc（5）Eccentric part, primary connecting rod（7）One end is rotatably arranged on level-one crank
Disk（5）Eccentric part, second level crank（6）The other end and second level even the rod（8）One end is hinged, primary connecting rod（7）The other end, four cascades
Bar（10）One end, thigh front bar（11）Three is hinged, second level even the rod（8）The other end, thigh rear bar（12）, three-level connecting rod（9）
One end three is hinged, thigh front bar（11）, three-level connecting rod（9）The other end, level Four connecting rod（10）The other end passes through fixing axle
（3）Hingedly, thigh front bar（11）, thigh rear bar（12）With robot shank（35）Hingedly.
2. single motor driving lower limb simulation according to claim 1, which is run, acts robot, it is characterised in that：Primary connecting rod
（7）, second level even the rod（8）It is curved rod, second level crank（6）It is arc-shaped.
3. single motor driving lower limb simulation according to claim 1, which is run, acts robot, it is characterised in that：Level-one crank
Disk（5）Eccentric part be equipped with the first installation axle（17）, second level crank（6）One end is equipped with the first crank hole（36）, primary connecting rod
（7）One end is equipped with the first mounting hole（21）, the first installation axle（17）Successively pass through the first mounting hole（21）, the first crank hole
（36）, primary connecting rod（7）Pass through the first installation axle（17）With level-one crank disc（5）Hingedly, second level crank（6）With the first installation axle
（17）It is fixedly connected.
4. single motor driving lower limb simulation according to claim 1, which is run, acts robot, it is characterised in that：Second level crank
（6）The other end is equipped with the second crank hole（37）, second level even the rod（8）One end is equipped with the second mounting hole（22）, the second crank hole（37）
Interior fixation is equipped with the second installation axle（18）, the second installation axle（18）Across the second mounting hole（22）, second level even the rod（8）With second level
Crank（6）Between pass through the second installation axle（18）Hingedly.
5. single motor driving lower limb simulation according to claim 1, which is run, acts robot, it is characterised in that：Thigh front bar
（11）Top is equipped with the first connecting hole（28）, primary connecting rod（7）The other end is equipped with third mounting hole（23）, level Four connecting rod（10）One
End is equipped with third hole（33）, third hole（33）, third mounting hole（23）, the first connecting hole（28）It is equipped with the company of same root first
Spindle（19）, thigh front bar（11）, primary connecting rod（7）, level Four connecting rod（10）Between pass through the first connecting shaft（19）Hingedly.
6. single motor driving lower limb simulation according to claim 5, which is run, acts robot, it is characterised in that：Thigh front bar
（11）Top is additionally provided with and the first connecting hole（28）The second connecting hole side by side（29）, three-level connecting rod（9）One end is equipped with the first hole
（31）, level Four connecting rod（10）The other end is equipped with the 4th hole（34）, fixing axle（3）Successively run through the 4th hole（34）, the first hole（31）,
Second connecting hole（29）, thigh front bar（11）, three-level connecting rod（9）, level Four connecting rod（10）And fixing axle（3）Hingedly.
7. single motor driving lower limb simulation according to claim 1, which is run, acts robot, it is characterised in that：Thigh rear bar
（12）Top is equipped with third connecting hole（30）, second level even the rod（8）The other end is equipped with the 4th mounting hole（24）, three-level connecting rod（9）Separately
One end is equipped with the second hole（32）, the second hole（32）, third connecting hole（30）, the 4th mounting hole（24）It is equipped with same root second
Connecting shaft（20）, three-level connecting rod（9）, thigh rear bar（12）, second level even the rod（8）Between pass through the second connecting shaft（20）Hingedly.
8. single motor driving lower limb simulation according to claim 1, which is run, acts robot, it is characterised in that：The machine National People's Congress
Leg structure further include with thigh front bar（11）The front rod being fixedly connected（13）, thigh rear bar（12）, thigh front bar（11）
Pass through front rod（13）With three-level connecting rod（9）, level Four connecting rod（10）, primary connecting rod（7）Hingedly, thigh rear bar（12）By rear
Connecting rod（14）With second level even the rod（8）, three-level connecting rod（9）Hingedly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820215376.8U CN208132949U (en) | 2018-02-07 | 2018-02-07 | Single motor driving lower limb simulation, which is run, acts robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820215376.8U CN208132949U (en) | 2018-02-07 | 2018-02-07 | Single motor driving lower limb simulation, which is run, acts robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208132949U true CN208132949U (en) | 2018-11-23 |
Family
ID=64286792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820215376.8U Withdrawn - After Issue CN208132949U (en) | 2018-02-07 | 2018-02-07 | Single motor driving lower limb simulation, which is run, acts robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208132949U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189010A (en) * | 2018-02-07 | 2018-06-22 | 华尔嘉（泉州）机械制造有限公司 | Single motor driving lower limb simulation, which is run, acts robot |
-
2018
- 2018-02-07 CN CN201820215376.8U patent/CN208132949U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189010A (en) * | 2018-02-07 | 2018-06-22 | 华尔嘉（泉州）机械制造有限公司 | Single motor driving lower limb simulation, which is run, acts robot |
| CN108189010B (en) * | 2018-02-07 | 2023-10-27 | 华尔嘉（泉州）机械制造有限公司 | Single-motor-driven lower limb running motion simulating robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181123 Effective date of abandoning: 20231027 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20181123 Effective date of abandoning: 20231027 |