CN209553354U - A kind of weight bearing bio-robot - Google Patents
A kind of weight bearing bio-robot Download PDFInfo
- Publication number
- CN209553354U CN209553354U CN201920209539.6U CN201920209539U CN209553354U CN 209553354 U CN209553354 U CN 209553354U CN 201920209539 U CN201920209539 U CN 201920209539U CN 209553354 U CN209553354 U CN 209553354U
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- CN
- China
- Prior art keywords
- connecting rod
- body portion
- tripodia
- screw rod
- swing
- 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
A kind of weight bearing bio-robot, it is characterized by comprising body portion racks, tripodia mechanism, lifting drive, tripodia mechanism includes leg support, three sets of sufficient components, swings power, leg support is connected to body portion rack by the swing of at least two swing rods, the sufficient component of three sets of tripodia mechanism forms triangle and lays, and sufficient component includes the leg being hinged on leg support, sole, first connecting rod, second connecting rod, third connecting rod, flap, screw rod sliding block, the screw rod driven by first motor.Compared with the prior art the utility model, has the advantages that adapt to simultaneously to take action in the weight bearing of strong ground, flexibly band and the water surface.
Description
Technical field
The utility model relates to a kind of robot technology.
Background technique
With the development of science and technology, people are growing the application range of robot, and study it polynary
Change development.But present big multi-bionic robot working environment is single, cannot adapt to simultaneously in strong ground, flexibly band and water
The weight bearing action in face.
Summary of the invention
It can adapt to simultaneously the purpose of the invention of the present invention is to provide a kind of in strong ground, flexibly band and the water surface
Bear a heavy burden the weight bearing bio-robot taken action.
The utility model is realized in this way including body portion rack, the tripodia mechanism that is separately positioned on body portion rack both sides,
Two sets respectively band leave portion rack both sides tripodia mechanism lifting lifting drive, tripodia mechanism include leg support son, be arranged in leg
Three sets of sufficient components, swing power with the swing of action spot component on shelf, leg support are connected to body by the swing of at least two swing rods
Portion's rack, in this way, leg support is sub, swing rod, body portion rack form parallelogram sturcutre, the sufficient component of three sets of tripodia mechanism is wherein
Two sets of sufficient components are located at the wherein side of body portion rack, and the another set of sufficient component of tripodia mechanism is located at the other side of body portion rack,
It forms triangle to lay, the sufficient component of three sets of two tripodia mechanisms is symmetricly set on the two sides of body portion rack, and sufficient component includes hinged
Leg, sole, first connecting rod, second connecting rod on leg support, flap, screw rod sliding block, are driven by first motor third connecting rod
Screw rod, the top of leg is arranged in the screw rod that first motor drives, and screw rod, which is worn, to be connect on screw rod sliding block, and screw rod sliding block slides up and down
It is arranged on leg, wherein one end that wherein one end of sole is hinged on the bottom end of leg, the other end of sole and first connecting rod is hinged,
The other end of first connecting rod is hinged on flap, and wherein one end of second connecting rod is hinged on midleg, second connecting rod it is another
One end is hinged on flap, and wherein one end of third connecting rod is hinged on screw rod sliding block, and the other end of third connecting rod is hinged on
On flap, lifting drive includes the second motor for driving swing rod to swing being arranged in body portion rack.
When work, under the drive of two sets of lifting drives, pendulum, the bottom in the leg support alternating of Shi Liang tripodia mechanism make two
The sufficient component of three sets of tripodia mechanism alternately perhaps strides forward backward and completes apish forward or retreat, when strongly
When walking on face, first motor drives screw rod sliding block up to move by screw rod, and drives sole by the transmission of three connecting rods
It up swings, makes that the bottom surface of leg is contacted with bottom surface and sole is not contacted with bottom surface, to form and ground face contact at stable 3 points
Triangle stable form, avoid the influence because of ground relief；When ground is soft ground, first motor passes through silk
Bar makes screw rod slide block down, drives the sole bottom, makes sole in laid-flat status, to increase the bottom surface of leg and the contact surface of bottom surface
Product avoids the bottom end of leg from being inserted into soft bottom surface；When walking on the water surface, at this point, body portion rack is kept afloat similar to ship
On, first motor makes screw rod slide block down by screw rod, drives the sole bottom to vertical state, and lifting drive drives tripodia mechanism
While moving up and down, swings power and drive three sets of sufficient component synchronous huntings, form the movement struck, make body portion rack in the water surface
On be movably walking.
Compared with the prior art, having can adapt in the negative of strong ground, flexibly band and the water surface the utility model simultaneously
The dynamic advantage of overline.
Detailed description of the invention:
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the Distribution Principle figure of three sets of sufficient components of two tripodia mechanisms；
Fig. 3 is the structure principle chart of utility model.
Specific embodiment
The utility model is described in further detail now in conjunction with drawings and examples:
As shown in Figure 1, 2, 3, the utility model is realized in this way, including body portion rack 1, it is separately positioned on body portion rack
The tripodia mechanism a on 1 both sides, two sets respectively band leave 1 both sides of portion's rack tripodia mechanism a lifting lifting drive b, tripodia mechanism
A includes leg support 2, the sufficient component c of three sets be arranged on leg support 2, the swing power 3 with the swing of action spot component, and leg support 2 is logical
Crossing the swing of at least two swing rods 4, to be connected to body portion rack 1(the present embodiment be three swing rods 4, is separately positioned on and a pairs of tripodia mechanism
On leg support 2 answered), in this way, leg support 2, swing rod 4, body portion rack 1 formation parallelogram sturcutre, three sets of tripodia mechanism a
Wherein two sets of foot component c of sufficient component c are located at the wherein side of body portion rack 1, and the another set of foot component c of tripodia mechanism a is located at
The other side of body portion rack 1 forms triangle and lays, and three sets of foot component c of two tripodia mechanism a are symmetricly set on body portion rack 1
Two sides, sufficient component c include the leg 5 being hinged on leg support 2, sole 6, first connecting rod 7, second connecting rod 8, third connecting rod 9, hinge
Leg 5 is arranged in carrier bar 10, screw rod sliding block 11, the screw rod 13 driven by first motor 12, the screw rod 13 that first motor 12 drives
Top, screw rod 13, which is worn, to be connect on screw rod sliding block 11, and screw rod sliding block 11, which slides up and down, to be arranged on leg 5, and wherein one end of sole 6 is cut with scissors
Connect hinged in bottom end, wherein one end of the other end and first connecting rod 7 of sole 6 of leg 5, the other end of first connecting rod 7 is hinged on
On flap 10, wherein one end of second connecting rod 8 is hinged on the middle part of leg 5, and the other end of second connecting rod 8 is hinged on flap 10
On, wherein one end of third connecting rod 9 is hinged on screw rod sliding block 11, and the other end of third connecting rod 9 is hinged on flap 10, is risen
Drop power b includes the second motor 14 for driving swing rod 4 to swing being arranged in body portion rack 1.
Swinging power 3 includes third motor 15, sufficient component sprocket wheel 16, drive sprocket 17, chain 18, two sufficient component sprocket wheels 16
Be connected to tripodia mechanism a is located at wherein two sets of the side foot component c of body portion rack 1, passes through drive sprocket 17, chain 18
Two sufficient component sprocket wheels 16 are made to link, third motor 15 is rotated with action spot member chain wheel 16 or drive sprocket 17.
The sole 6 of power 3, the sufficient component c that lifting drive b cooperation is opened is swung, band action spot component c imitates arm stroke.
Claims (2)
1. a kind of weight bearing bio-robot, it is characterised in that including body portion rack, be separately positioned on the tripodia on body portion rack both sides
Mechanism, two sets respectively band leave portion rack both sides tripodia mechanism lifting lifting drive, tripodia mechanism include leg support son, setting
Three sets of sufficient components, swing power with the swing of action spot component on leg support, leg support swing connection by least two swing rods
In body portion rack, in this way, leg support is sub, swing rod, body portion rack form parallelogram sturcutre, the sufficient component of three sets of tripodia mechanism
Wherein two sets of sufficient components are located at the wherein side of body portion rack, and the another set of sufficient component of tripodia mechanism is located at the another of body portion rack
Side forms triangle and lays, and the sufficient component of three sets of two tripodia mechanisms is symmetricly set on the two sides of body portion rack, and sufficient component includes hinge
Connect leg support son on leg, sole, first connecting rod, second connecting rod, third connecting rod, flap, screw rod sliding block, by first motor band
The top of leg is arranged in dynamic screw rod, the screw rod that first motor drives, and screw rod, which is worn, to be connect on screw rod sliding block, is glided on screw rod sliding block
Dynamic to be arranged on leg, wherein one end of sole is hinged on wherein one end hinge of the bottom end of leg, the other end of sole and first connecting rod
It connects, the other end of first connecting rod is hinged on flap, and wherein one end of second connecting rod is hinged on midleg, second connecting rod
The other end is hinged on flap, and wherein one end of third connecting rod is hinged on screw rod sliding block, and the other end of third connecting rod is hinged
On flap, lifting drive includes the second motor for driving swing rod to swing being arranged in body portion rack.
2. weight bearing bio-robot according to claim 1, it is characterised in that swinging power includes third motor, sufficient component
Sprocket wheel, drive sprocket, chain, two sufficient component sprocket wheels are connected to two sets for being located at body portion rack wherein side of tripodia mechanism
Sufficient component makes two sufficient component sprocket wheel linkages, third motor band action spot member chain wheel or drive sprocket by drive sprocket, chain
Rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920209539.6U CN209553354U (en) | 2019-02-19 | 2019-02-19 | A kind of weight bearing bio-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920209539.6U CN209553354U (en) | 2019-02-19 | 2019-02-19 | A kind of weight bearing bio-robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209553354U true CN209553354U (en) | 2019-10-29 |
Family
ID=68309199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920209539.6U Expired - Fee Related CN209553354U (en) | 2019-02-19 | 2019-02-19 | A kind of weight bearing bio-robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209553354U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725624A (en) * | 2018-05-28 | 2018-11-02 | 佛山科学技术学院 | A kind of the multistep state running gear and its traveling method of polypody robot |
-
2019
- 2019-02-19 CN CN201920209539.6U patent/CN209553354U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725624A (en) * | 2018-05-28 | 2018-11-02 | 佛山科学技术学院 | A kind of the multistep state running gear and its traveling method of polypody robot |
| CN108725624B (en) * | 2018-05-28 | 2023-06-20 | 佛山科学技术学院 | Multi-step walking device of multi-legged robot and walking method thereof |
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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: 20191029 Termination date: 20210219 |