CN208198628U - A kind of Doraemon climbing mechanism - Google Patents
A kind of Doraemon climbing mechanism Download PDFInfo
- Publication number
- CN208198628U CN208198628U CN201820620954.6U CN201820620954U CN208198628U CN 208198628 U CN208198628 U CN 208198628U CN 201820620954 U CN201820620954 U CN 201820620954U CN 208198628 U CN208198628 U CN 208198628U
- Authority
- CN
- China
- Prior art keywords
- crank
- driving
- doraemon
- rocking bar
- hinged
- Prior art date
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of Doraemon climbing mechanisms, including body, the two sides of the body are equipped with two pairs of support legs arranged in front and rear, it is set on the outside of the body there are four crank and rocker mechanism corresponding with each support leg, the driving mechanism of four crank and rocker mechanisms of driving is equipped in the body；The crank and rocker mechanism includes the crank that can be rotated vertically being equipped in the two sides of the body, hingedly there are four with the first rocking bar for being hinged at the top of each support leg, the eccentric part of each crank is corresponding to be hinged with second rocking bar hinged with support leg respectively for the two sides of the body.The Doraemon climbing mechanism of the utility model, step motor control, harmony, the stationarity of walking are good, and the movement of the gait of Doraemon is neat, reach forelimb hind leg of taking a step and receive the harmony of leg movement, the stable delivery of torque.
Description
Technical field
The utility model relates to technical field of intelligence, more specifically, it relates to a kind of Doraemon climbing mechanism.
Background technique
Robot is the product that mechanism, movement, control are combined as a whole.It is to be understood that the overview of robot, first understanding machine
Device man-based development.One word of robot start to occur at first be in the drama that one Czech writer of nineteen twenty delivers, and it is real
Robot is then the First industrial robot manufactured by American in nineteen fifty-nine, and it be only capable of completing it is some simple dynamic
Make.Prototype robot P3 is had investigated for the first time in Japan.Japanese Scientists in November, 2000 declaration developed can imitate it is one-year-old
The robot " Pi Nuo " of baby walking.It possesses the body in secondary 26 joints, and arch of the foot is equipped with sensor, can the check weighing heart, eyes
The colors such as distinguishable red, blue, yellow.With the development of society, machine man-based development also has the development of diversification.Japan
Robot product is based on industrial robot.The U.S. is the third-largest market of global industry robot.For external market,
The profit margin of ontology robot is smaller, and what manufacturer mainly focused on is the research and development of technology.Simultaneously, the robot in Asia
Market is also being developed, and for the Robot industry of South Korea, although its market is started late, quickly grows.It is main former
The emphasis of cause or government, not only establishes industry of industrial robots system, while also putting into effect a series of policy promotion and making Korea Spro
The development of state's Robot industry.For German Industrial, robot field's development is also extremely rapid, in late nineteen seventies, moral
State's statutory regulation releases certain toxic, harmful posies the plan of machine substitute human labor.In recent years, by a series of policies
Under the acceleration impetus of influence and intelligent development, the demand degree of Chinese robot market persistently rises, so that robot
Industry is grown rapidly, however the Robot industry of China does not show due whole competitiveness but, and 2015, Chinese machine
Device people's market sales volume is more than 7.5 Wan Tai robots, be let us say that: 3 robots are often sold in the whole world, just have 1 to sell for China.
In the industrial production of modernization, come into being more intelligent industrial robot, completes those works instead of people
Make environment than relatively hazardous or single work.In terms of amusement, more intelligentized robot is increasingly by people's
Concern and favor；In the prior art, Doraemon can only make a sound and make simple movement, cannot walk freely.
Utility model content
The technical problems to be solved in the utility model is the above-mentioned deficiency for the prior art, and the purpose of this utility model is
Provide a kind of stable, convenient, flexible Doraemon climbing mechanism of walking.
To achieve the above object, the utility model provides a kind of Doraemon climbing mechanism, including body, the body
Two sides are equipped with two pairs of support legs arranged in front and rear, set that there are four corresponding with each support leg on the outside of the body
Crank and rocker mechanism, the interior driving mechanism for being equipped with four crank and rocker mechanisms of driving of the body；The crank rocker machine
Structure includes the crank that can be rotated vertically being equipped in the two sides of the body, the two sides of the body hingedly there are four respectively with
The first rocking bar being hinged at the top of each support leg, corresponding be hinged with of the eccentric part of each crank are cut with scissors with support leg
The second rocking bar connect.
Further, the crank, the second rocking bar are arranged in the lower section of first rocking bar；The two sides of the body are hinged
There are four connecting rod hinged with each second rocking bar respectively, the connecting rod is set to the lower section of second rocking bar.
As a further improvement, the driving mechanism includes driving motor, is equipped in the body and drives the song
The drive shaft of handle, the both ends of the drive shaft are equipped with the drive gear set for driving the crank rotation, the drive shaft with it is described
Speed changer connecting the two is equipped between driving motor.
Further, the drive gear set includes the driven gear being set on the inside of each crank and is set to described
The driving gear at drive shaft both ends, the driving gear engage connection with two driven gears of the same side；The speed changer
Shaft coupling is equipped between the driving motor.
Beneficial effect
Compared with prior art, the Doraemon climbing mechanism of the utility model has the beneficial effect that: the utility model
Doraemon climbing mechanism is walked stable, convenient, flexible；Step motor control, harmony, the stationarity of walking are good, Doraemon
Gait movement is neat, reaches forelimb hind leg of taking a step and receives the harmony of leg movement, the stable delivery of torque.
Detailed description of the invention
Fig. 1 is the structural front view of the Doraemon climbing mechanism of the utility model；
Fig. 2 is the structure top view of the Doraemon climbing mechanism of the utility model.
In figure: 1, body；2, support leg；3, crank and rocker mechanism；301, connecting rod；302, crank；303, the first rocking bar；
304, the second rocking bar；4, driving mechanism；401, driving motor；402, drive shaft；403, drive gear set；404, speed changer；
405, shaft coupling.
Specific embodiment
With reference to the accompanying drawing, specific embodiment of the present utility model is described in detail, it is to be understood that this is practical
Novel protection scope is not limited by the specific implementation.
Specific embodiment of the present utility model is such that as shown in Figs. 1-2, a kind of Doraemon climbing mechanism, including
Body 1, the two sides of body 1 are equipped with two pairs of support legs 2 arranged in front and rear, and 301 bottom of support leg is equipped with convex structure, body 1
Outside set there are four crank and rocker mechanism 3 corresponding with each support leg 2, four crank rockers of driving are equipped in body 1
The driving mechanism 4 of mechanism；Crank and rocker mechanism 3 includes the crank 302 that can be rotated vertically being equipped in the two sides of body 1, machine
The two sides of body 1 hingedly there are four the first rocking bar 303 being hinged respectively with the top of each support leg 2, each crank 302 it is inclined
Corresponding at the heart to be hinged with second rocking bar 304 hinged with support leg 2, crank and rocker mechanism 3 combines support leg 2 to constitute the four of cat body
Limb structure, high with the four limbs structural similarity of cat body, operating principle is also close to and crank and rocker mechanism 3 combines 2 structure of support leg
The walking mechanism for being in is walked stable, convenient, flexible；Walking mechanism 5 is connect with controller, and Doraemon can be realized automatically walk,
It is intelligent high.
In the present embodiment, crank 302, the second rocking bar 304 are arranged in the lower section of the first rocking bar 303；It cuts with scissors the two sides of body 1
It connects there are four connecting rod 301 hinged with each second rocking bar 304 respectively, connecting rod 301 is set to the lower section of the second rocking bar 304, connecting rod
301 pair of second rocking bar 304 has supporting role, keeps crank and rocker mechanism stronger reliable, the movement of support leg 2 is more steady
It is fixed；The both ends of second rocking bar 304 and crank 302 and support leg 301 are hinged, and middle part and connecting rod 301 are hinged, make the second rocking bar 304
Swing it is smooth, and be not easily susceptible to the reaction of support leg 2 and invert, connecting rod 301 plays the role of detent simultaneously, effectively
It is inverted when preventing crank 302 by reaction force and damages gear.
In the present embodiment, driving mechanism 4 includes driving motor 401, and driving motor 401 is stepper motor, in body 1
Drive shaft 402 equipped with driving crank 302, the both ends of drive shaft 402 are equipped with the drive gear set 403 that driving crank 302 rotates,
It is equipped with speed changer 404 connecting the two between drive shaft 402 and driving motor 401, effectively controls the revolving speed of drive shaft 402, makes
The swing of support leg 2 is more steady.
In the present embodiment, drive gear set 403 includes set on the driven gear of each 302 inside of crank and set on driving
The driving gear at 402 both ends of axis, driving gear engage connection with two driven gears of the same side, drive gear set of driving a vehicle
403 drive four cranks 302 simultaneously, guarantee harmony, the stationarity of walking, and the gait of Doraemon can be made to act more
Neatly, reach forelimb take a step hind leg receive leg movement harmony；Shaft coupling is equipped between speed changer 404 and driving motor 401
405, quickly speed changer 404 is connect with driving motor 401 by shaft coupling 405, realizes the stable delivery of torque.
Above are merely preferred embodiments of the utility model, it should be pointed out that for those skilled in the art,
Under the premise of not departing from the utility model structure, several modifications and improvements can also be made, it is practical new that these all will not influence this
The effect and patent practicability that type is implemented.
Claims (4)
1. a kind of Doraemon climbing mechanism, including body (1), which is characterized in that the two sides of the body (1) be equipped with two pairs before,
The support leg (2) arranged afterwards sets on the outside of the body (1) and shakes there are four crank corresponding with each support leg (2)
Linkage (3), the interior driving mechanism (4) for being equipped with four crank and rocker mechanisms of driving of the body (1)；The crank rocker
The crank (302) that the two sides that mechanism (3) is included in the body (1) were vertically equipped with can rotate, the two sides of the body (1)
It is hinged there are four respectively with the first rocking bar (303) for being hinged at the top of each support leg (2), each crank
(302) eccentric part is corresponding to be hinged with second rocking bar (304) hinged with support leg (2).
2. a kind of Doraemon climbing mechanism according to claim 1, which is characterized in that the crank (302), the second rocking bar
(304) it is arranged in the lower section of first rocking bar (303)；The two sides of the body (1) hingedly there are four respectively with it is each described
The hinged connecting rod (301) of second rocking bar (304), the connecting rod (301) are set to the lower section of second rocking bar (304).
3. a kind of Doraemon climbing mechanism according to claim 1 or 2, which is characterized in that the driving mechanism (4) includes
Driving motor (401) is equipped with the drive shaft (402) for driving the crank (302), the drive shaft in the body (1)
(402) both ends are equipped with the drive gear set (403) for driving crank (302) rotation, the drive shaft (402) and the drive
Speed changer connecting the two (404) are equipped between dynamic motor (401).
4. a kind of Doraemon climbing mechanism according to claim 3, which is characterized in that drive gear set (403) packet
The driving gear for including the driven gear being set on the inside of each crank (302) and being set to the drive shaft (402) both ends, it is described
Driving gear engages connection with two driven gears of the same side；The speed changer (404) and the driving motor (401) it
Between be equipped with shaft coupling (405).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820620954.6U CN208198628U (en) | 2018-04-27 | 2018-04-27 | A kind of Doraemon climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820620954.6U CN208198628U (en) | 2018-04-27 | 2018-04-27 | A kind of Doraemon climbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208198628U true CN208198628U (en) | 2018-12-07 |
Family
ID=64521241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820620954.6U Expired - Fee Related CN208198628U (en) | 2018-04-27 | 2018-04-27 | A kind of Doraemon climbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208198628U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438087A (en) * | 2018-04-27 | 2018-08-24 | 梧州学院 | A kind of Doraemon climbing mechanism |
| CN114947469A (en) * | 2022-06-12 | 2022-08-30 | 徐浩然 | Automatic walking art show mechanism |
-
2018
- 2018-04-27 CN CN201820620954.6U patent/CN208198628U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438087A (en) * | 2018-04-27 | 2018-08-24 | 梧州学院 | A kind of Doraemon climbing mechanism |
| CN114947469A (en) * | 2022-06-12 | 2022-08-30 | 徐浩然 | Automatic walking art show mechanism |
| CN114947469B (en) * | 2022-06-12 | 2023-09-12 | 安徽沃斯特教育装备有限公司 | Automatic walking art show mechanism |
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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 |
Granted publication date: 20181207 Termination date: 20210427 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |