CN209382134U - A kind of emulated robot walking mechanism - Google Patents
A kind of emulated robot walking mechanism Download PDFInfo
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- CN209382134U CN209382134U CN201822163266.4U CN201822163266U CN209382134U CN 209382134 U CN209382134 U CN 209382134U CN 201822163266 U CN201822163266 U CN 201822163266U CN 209382134 U CN209382134 U CN 209382134U
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- cam
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- sliding block
- buttocks
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- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 210000000689 upper leg Anatomy 0.000 claims abstract description 38
- 210000001217 buttock Anatomy 0.000 claims abstract description 30
- 210000002414 leg Anatomy 0.000 claims abstract description 17
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 13
- 238000003780 insertion Methods 0.000 claims 2
- 230000037431 insertion Effects 0.000 claims 2
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000008859 change Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003100 immobilizing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
A kind of emulated robot walking mechanism of the utility model, including buttocks, thigh bar, the first cam, the second cam, the second sliding block, shank bar, leg plate and the first sliding block；The buttocks is opened the interior empty van body being made using acrylic material；First sliding block is arranged on cylinder；The thigh bar upper end is inserted into the first sliding block, and the connection of thigh bar and buttocks is realized by first axle；Second sliding block is arranged on cross bar, and the second sliding block is arranged on the left of the second cam；Shank bar upper end is inserted into the second sliding block, and middle-end is fixed on thigh bar by second hinge；The leg plate is connect by hinge with shank bar lower end；The utility model utilizes the characteristics of motion of cam, and by cam profile curve control mechanism moving line, thigh and shank use different cam profile curves, realizes the walking of emulated robot, mechanism is simple, easily controllable.
Description
Technical field
The utility model relates to a kind of emulation machine technical field, especially a kind of emulated robot walking mechanism.
Background technique
Currently, the core of the fourth industrial revolution faced is that manufacturing industry is pushed to make the transition to intelligence.In the process,
Emulated robot will play very important effect.Crucial branch of the two leg walking robot as emulated robot.Its walking
Mode the degree of automation highest, the most complexity in emulation machinery, its perfect realize require robot in structure design aspect
Huge change and innovation are generated, to effectively push the development of related discipline；Two leg walking robot has multi-joint, more
The characteristics of driver, multiple degrees of freedom, the setting of freedom degree, each joint scope of activities directly affect robot it is external it is beautiful,
Walking manner, scope of activities and control program etc. want a kind of light-weight, and mechanism is simple, easily controllable robot ambulation machine
Structure.
Utility model content
In view of the above situation, it is necessary to provide a kind of light-weight, mechanism is simple, easily controllable emulated robot vehicle with walking machine
Structure.
A kind of emulated robot walking mechanism, including buttocks, cylinder, thigh bar, the first cam rotating shaft, the first cam,
First axle, the second cam, cross bar, the second sliding block, the second cam rotating shaft, second hinge, shank bar, leg plate, first are slided
Block, first motor, the first transmission gear, first bearing, the second transmission gear, the second motor and second bearing；The buttocks is adopted
The interior empty van body being made is opened with acrylic material；There are two be fixed at buttocks left and right sides for the first bearing setting
In wall；First cam rotating shaft is arranged in buttocks internal cavities by first bearing；Second transmission gear is fixed
Setting is arranged in buttocks internal cavities in first cam rotating shaft one end；There are two fixations to set for the first motor setting
It sets in buttocks side wall；First transmission gear is fixed at the motor shaft end in first motor；The cylinder fixed setting
In buttocks lateral wall；First sliding block is arranged on cylinder；The cross bar is welded on thigh bar, fixes second by cross bar
Sliding block；Second sliding block is arranged on cross bar, and the second sliding block is arranged on the left of the second cam；The second motor fixation is set
It sets on the inside of thigh bar；The second bearing is fixed in thigh bar；Second cam rotating shaft one end passes through second
Bearing is fixed on the second motor.
As a further solution of the present invention: first transmission gear and the second transmission gear are intermeshed.
As a further solution of the present invention: first cam is fixed at the first cam rotating shaft outer end,
Using the first cam be using cam rise, far stop three processes of process and backhaul.
As a further solution of the present invention: the cylinder and the first cam are tangent.
As a further solution of the present invention: it is square pole that the thigh bar, which is set as upper end, lower end is square face
Rod piece.
As a further solution of the present invention: the thigh bar upper end is inserted into the first sliding block, and pass through the first hinge
The connection of chain realization thigh bar and buttocks.
As a further solution of the present invention: shank bar upper end is inserted into the second sliding block, middle-end passes through second
Hinge is fixed on thigh bar.
As a further solution of the present invention: second cam is fixed on the second cam rotating shaft.
As a further solution of the present invention: the leg plate is connect by hinge with shank bar lower end.
Compared with prior art, the utility model has the beneficial effects that
The utility model starts first motor and drives the rotation of the first transmission gear, the first transmission gear and the second transmission gear
Intermeshing realizes that the first cam on the first cam rotating shaft, the first cam and the first sliding block act on, realizes that the first sliding block exists
It moves forward and backward on cylinder, rise realizes the movement of thigh bar, a toe raise process while thigh bar needs to raise
In remain stationary, enter when leg stays aloft and far stop process, when another leg advances, reality that the foot lifted needs to retreat
Existing backhaul；Similarly, the second motor drives the second cam rotation on the second cam rotating shaft, and the second cam and the second sliding block act on
Change the swing angle of shank bar, and then realizes walking；The utility model utilizes the characteristics of motion of cam, passes through cam contour song
Line traffic control mechanism kinematic route, thigh and shank use different cam profile curves, realize the walking of emulated robot, mechanism
Simply, easily controllable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model embodiment；
Fig. 2 is the structural schematic diagram that buttocks drives in the utility model embodiment；
Fig. 3 is the structural schematic diagram of joint drive in the utility model embodiment；
In figure: 1- buttocks, 2- cylinder, 3- thigh bar, the first cam rotating shaft of 4-, the first cam of 5-, 6- first axle, 7-
Second cam, 8- cross bar, the second sliding block of 9-, the second cam rotating shaft of 10-, 11- second hinge, 12- shank bar, the leg 13- plate,
The first sliding block of 14-, 15- first motor, the first transmission gear of 16-, 17- first bearing, the second transmission gear of 18-, the second electricity of 19-
Machine, 20- second bearing.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, is further elaborated the utility model emulated robot walking mechanism.It should be appreciated that described herein specific
Embodiment only to explain the utility model, is not used to limit the utility model.
Referring to Figure 1-3, a kind of emulated robot walking mechanism of the utility model embodiment, including buttocks 1, cylinder 2,
Thigh bar 3, the first cam rotating shaft 4, the first cam 5, first axle 6, the second cam 7, cross bar 8, the second sliding block 9, second are convex
Take turns rotary shaft 10, second hinge 11, shank bar 12, leg plate 13, the first sliding block 14, first motor 15, the first transmission gear 16,
First bearing 17, the second transmission gear 18, the second motor 19 and second bearing 20；The buttocks 1 is opened using acrylic material
The interior empty van body being made, buttocks 1 are installation and the immobilizing foundation of first motor 15 and the first cam rotating shaft 4；Described
There are two be fixed in 1 left and right sidewall of buttocks the setting of one bearing 17；First cam rotating shaft 4 passes through first bearing 17
It is arranged in 1 internal cavities of buttocks；Second transmission gear 18 is fixed at 4 one end of the first cam rotating shaft, and is arranged
In 1 internal cavities of buttocks；There are two be fixed at 1 side wall of buttocks for the setting of first motor 15；First driving cog
Wheel 16 is fixed at the motor shaft end in first motor 15, and the first transmission gear 16 and the second transmission gear 18 are intermeshed；
First cam 5 is fixed at 4 outer end of the first cam rotating shaft, using the first cam 5 be using cam rise, remote stop
Only three processes of process and backhaul remain stationary during toe raise while a thigh bar 3 needs to raise, and leg exists
Stopping this process in the air is process of far stopping, and when another leg advances, the process that the foot lifted needs to retreat is backhaul；The circle
Column 2 is fixed at 1 lateral wall of buttocks, and cylinder 2 and the first cam 5 are tangent, by cylinder 2 control the first sliding block 14 advance and
It retreats；First sliding block 14 is arranged on cylinder 2, can slide on cylinder 2；The thigh bar 3 is set as upper end as side
Shape bar, lower end are the rod piece of square face, and 3 upper end of thigh bar is inserted into the first sliding block 14, and realizes thigh bar by first axle 6
3 can change the angle of thigh bar 3 when the sliding of the first sliding block 14 with the connection of buttocks 1；The cross bar 8 is welded on thigh bar
On 3, the second sliding block 9 is fixed by cross bar 8；Second sliding block 9 is arranged on cross bar 8, and the setting of the second sliding block 9 is convex second
7 left side of wheel, the second sliding block 9 can slide on cross bar 8, while can control the rotational angle of shank bar 12；The shank bar
12 upper ends are inserted into the second sliding block 9, and middle-end is fixed on thigh bar 3 by second hinge 11, are connected by second hinge 11
It connects and can be realized shank bar 12 around the rotation of thigh bar 3；Second motor 19 is fixed at 3 inside of thigh bar；Described second
Bearing 20 is fixed in thigh bar 3；Described second cam rotating shaft, 10 one end is fixed at the by second bearing 20
On two motors 19；Second cam 7 is fixed on the second cam rotating shaft 10, can be realized by the second cam 7
The movement of two sliding blocks 9；The leg plate 13 is connect by hinge with 12 lower end of shank bar.
Working principle: starting first motor 15 drives the rotation of the first transmission gear 16, and the first transmission gear 16 and second passes
Moving gear 18 is intermeshed, and realizes that the first cam 5 on the first cam rotating shaft 4, the first cam 5 and the first sliding block 14 act on,
Realize that the first sliding block 14 moves forward and backward on cylinder 2, rise realizes the movement of thigh bar 3, when the needs of thigh bar 3 are raised
While toe raise during remain stationary, enter when leg stays aloft and far stop process, when another leg advances, lift
The foot risen needs the realization backhaul retreated；Similarly, the second motor 19 drives the second cam 7 rotation on the second cam rotating shaft 10
Turn, the second cam 7 and the effect of the second sliding block 9 change the swing angle of shank bar 12, and then realize walking.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation be not intended to limit the utility model although the utility model has been disclosed with preferred embodiment as above, it is any ripe
Professional and technical personnel is known, is not being departed within the scope of technical solutions of the utility model, when in the technology using the disclosure above
Hold the equivalent embodiment for being modified or being modified to equivalent variations, but all without departing from technical solutions of the utility model
Hold, any simple modification, equivalent change and modification made by the above technical examples according to the technical essence of the present invention, still
It is within the scope of the technical solutions of the present invention.
Claims (9)
1. a kind of emulated robot walking mechanism, including buttocks (1), cylinder (2), thigh bar (3), the first cam rotating shaft (4),
First cam (5), first axle (6), the second cam (7), cross bar (8), the second sliding block (9), the second cam rotating shaft (10),
Two hinge (11), shank bar (12), leg plate (13), the first sliding block (14), first motor (15), the first transmission gear (16),
First bearing (17), the second transmission gear (18), the second motor (19) and second bearing (20)；It is characterized by: the buttocks
(1) the interior empty van body being made is opened using acrylic material；There are two be fixed at for first bearing (17) setting
In buttocks (1) left and right sidewall；First cam rotating shaft (4) is arranged by first bearing (17) in buttocks (1) internal cavities
In；Second transmission gear (18) is fixed at the first cam rotating shaft (4) one end, and is arranged internal empty in buttocks (1)
In chamber；There are two be fixed at buttocks (1) side wall for first motor (15) setting；First transmission gear (16) is fixed
Motor shaft end on first motor (15) is set；The cylinder (2) is fixed at buttocks (1) lateral wall；Described first is sliding
Block (14) is arranged on cylinder (2)；The cross bar (8) is welded on thigh bar (3)；Second sliding block (9) is arranged in cross bar
(8) on, and the second sliding block (9) setting is on the left of the second cam (7)；Second motor (19) is fixed at thigh bar (3)
Inside；The second bearing (20) is fixed in thigh bar (3)；Described second cam rotating shaft (10) one end passes through second
Bearing (20) is fixed on the second motor (19).
2. emulated robot walking mechanism as described in claim 1, it is characterised in that: first transmission gear (16) and the
Two transmission gears (18) intermeshing.
3. emulated robot walking mechanism as described in claim 1, it is characterised in that: the first cam (5) fixed setting
It is rise using cam, far stop process and backhaul three using the first cam (5) in the first cam rotating shaft (4) outer end
Process.
4. emulated robot walking mechanism as described in claim 1, it is characterised in that: the cylinder (2) and the first cam (5)
It is tangent.
5. emulated robot walking mechanism as described in claim 1, it is characterised in that: the thigh bar (3) is set as upper end
For square pole, lower end is the rod piece of square face.
6. emulated robot walking mechanism as described in claim 1, it is characterised in that: thigh bar (3) upper end insertion the
In one sliding block (14), and pass through the connection of first axle (6) realization thigh bar (3) and buttocks (1).
7. emulated robot walking mechanism as described in claim 1, it is characterised in that: shank bar (12) upper end insertion the
In two sliding blocks (9), middle-end is fixed on thigh bar (3) by second hinge (11).
8. emulated robot walking mechanism as described in claim 1, it is characterised in that: the second cam (7) fixed setting
On the second cam rotating shaft (10).
9. emulated robot walking mechanism as described in claim 1, it is characterised in that: the leg plate (13) by hinge with
The connection of shank bar (12) lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822163266.4U CN209382134U (en) | 2018-12-24 | 2018-12-24 | A kind of emulated robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822163266.4U CN209382134U (en) | 2018-12-24 | 2018-12-24 | A kind of emulated robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209382134U true CN209382134U (en) | 2019-09-13 |
Family
ID=67872768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822163266.4U Active CN209382134U (en) | 2018-12-24 | 2018-12-24 | A kind of emulated robot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209382134U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436124A (en) * | 2018-12-24 | 2019-03-08 | 它酷科技(大连)有限公司 | A kind of emulated robot walking mechanism |
-
2018
- 2018-12-24 CN CN201822163266.4U patent/CN209382134U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436124A (en) * | 2018-12-24 | 2019-03-08 | 它酷科技(大连)有限公司 | A kind of emulated robot walking mechanism |
| CN109436124B (en) * | 2018-12-24 | 2024-08-23 | 七腾机器人有限公司 | Running mechanism of simulation robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231118 Address after: 6th floor, No. 28 Pangjiang Street, Dadong District, Shenyang City, Liaoning Province, 110094 Patentee after: Liaoning New Dimension Intelligent Technology Development Co.,Ltd. Address before: No. 26, 25th Floor, No. 1 Lixian Street, Dalian High tech Industrial Park, Dalian City, Liaoning Province, 116085 Patentee before: TAKU TECHNOLOGY (DALIAN) Co.,Ltd. |