CN209667255U - A kind of robot running gear of apery movement - Google Patents
A kind of robot running gear of apery movement Download PDFInfo
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- CN209667255U CN209667255U CN201920391251.5U CN201920391251U CN209667255U CN 209667255 U CN209667255 U CN 209667255U CN 201920391251 U CN201920391251 U CN 201920391251U CN 209667255 U CN209667255 U CN 209667255U
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- running gear
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- 238000005516 engineering process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of robot running gears of apery movement, including equipment box, Tai Bu mechanism and Tai Bu rotation mechanism, the top screw of equipment box is fixed with mounting rack, mounting rack screw is fixed with double end motor, two output ends of double end motor both pass through equipment box outer wall and are fixedly connected with driving wheel, the two sides of equipment box are respectively equipped with No.1 driven wheel and No. two driven wheels, No.1 driven wheel and No. two driven wheels pass through belt and driving wheel is sequentially connected, Tai Bu rotation mechanism there are two being set in equipment box, Liang Getaibu rotation mechanism is connect with No.1 driven wheel and No. two driven wheels respectively, the robot running gear of this apery movement, with reasonable in design, movement links up and the good feature of stability, when specifically used, PLC controller controls double end motor forward or reverse, No.1 bending axis and No. two bending axis constantly turn over Turn, drive rod can be pulled to move up and down, the step plate of two sides and two intermediate step plate rotation support equipment casees.
Description
Technical field
The utility model relates to a kind of robot running gear, in particular to a kind of robot ambulation machine of apery movement
Structure belongs to robotic technology field.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
Work, with the development of science and technology, anthropomorphic robot technology is more and more perfect, anthropomorphic robot can be used as guest-meeting robot or exhibition
Robot uses, and has high ornamental value, and the walking mechanism of anthropomorphic robot is important research direction, existing apery machine
The walking mechanism of people still has larger room for improvement in stability and operation continuity.
Utility model content
The purpose of this utility model is to provide a kind of robot running gears of apery movement, to solve above-mentioned background skill
The problem of being proposed in art.
To achieve the above object, the utility model provides the following technical solutions: a kind of robot ambulation machine of apery movement
Structure, including equipment box, Tai Bu mechanism and Tai Bu rotation mechanism, the top screw of the equipment box are fixed with mounting rack, the peace
It shelves screw and is fixed with double end motor, two output ends of the double end motor both pass through equipment box outer wall and are fixedly connected with driving
Wheel, the two sides of the equipment box are respectively equipped with No.1 driven wheel and No. two driven wheels, the No.1 driven wheel and No. two driven wheels
It is sequentially connected, is set in the equipment box there are two Tai Bu rotation mechanism, two lifts walk rotation by belt and driving wheel
Mechanism is connect with No.1 driven wheel and No. two driven wheels respectively, and the bottom side of the equipment box is embedded with eight limit vertical slots, described
Eight Ge Taibu mechanisms are installed on the downside of equipment box.
Preferably, Tai Bu rotation mechanism includes rotation bar, drive rod and pivoted housing, and the rotation bar passes through bearing and sets
Standby case is rotatablely connected, and the rotation bar includes straight shank, No.1 bending axis and No. two bending axis, two No. two bending axle positions
In the outside of two No.1 bending axis, the No.1 bending axis and No. two bending axis are fixedly connected by straight shank, and described one
The outside of number bending axis and No. two bending axis is arranged with pivoted housing, and the pivoted housing is fixedly connected to drive rod, the drive rod
Lower end both pass through limit vertical slot.
Preferably, the Tai Bu mechanism includes locating piece, locating rod, brace, swivel base and step plate, and the locating piece is solid
Surely it is connected to the downside of equipment box, the side of the locating piece is fixedly connected to locating rod, and the outside of the locating rod covers
Equipped with brace, being set below the brace there are four step plate, the brace and drive rod pass through swivel base and connect with step plate,
The swivel base is fixedly connected with step plate.
Preferably, lift step rotation eight drive rods within the organization are corresponding with eight Ge Taibu mechanisms respectively, eight institutes
Shu Taibu mechanism is corresponding with eight limit vertical slots respectively.
Preferably, the rectangular in cross-section of the limit vertical slot, the inner wall of the drive rod and limit vertical slot are slidably connected.
Preferably, the opening direction of the No.1 bending axis and No. two bending axis is opposite.
Preferably, a step plate is connected between the adjacent Tai Bu mechanism.
Compared with prior art, the utility model has the beneficial effects that
1, the robot running gear of this apery movement, has reasonable in design, acts coherent feature, PLC control
Device controls double end motor forward or reverse, and No.1 bending axis and No. two bending axis are constantly overturn, and drive rod can be pulled to move up and down,
The step plates of two sides and two intermediate step plate rotation support equipment casees are marked time forward and so that robot is achievable to post legged
The workflow of step.
2, the robot running gear of this apery movement, the design of symmetrical structure is so that the center of gravity of robot is able to maintain surely
It is fixed, topple over Deng major accidents are less prone to, stability is good.
Detailed description of the invention
Fig. 1 is the front section view of the utility model；
Fig. 2 is the top cross-sectional view of the utility model；
Fig. 3 is the structural schematic diagram of the utility model Tai Bu mechanism.
In figure: 1, equipment box；2, Tai Bu mechanism；21, locating piece；22, locating rod；23, brace；24, swivel base；25, it marks time
Plate；3, Tai Bu rotation mechanism；31, rotation bar；32, straight shank；33, No.1 bending axis；34, No. two bending axis；35, limit is perpendicular
Slot；36, drive rod；37, pivoted housing；4, mounting rack；5, double end motor；6, driving wheel；7, No.1 driven wheel；8, No. two driven wheels；
9, belt.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Please refer to Fig. 1-3, a kind of robot running gear of apery movement of the utility model, including equipment box 1, lift step machine
Structure 2 and Tai Bu rotation mechanism 3, the top screw of equipment box 1 are fixed with mounting rack 4, and 4 screw of mounting rack is fixed with double end motor 5,
Two output ends of double end motor 5 both pass through 1 outer wall of equipment box and are fixedly connected with driving wheel 6, and the two sides of equipment box 1 are respectively equipped with one
Number driven wheel 7 and No. two driven wheels 8, No.1 driven wheel 7 and No. two driven wheels 8 are sequentially connected by belt 9 and driving wheel 6,
Set in equipment box 1 there are two Tai Bu rotation mechanism 3, Liang Getaibu rotation mechanism 3 respectively with No.1 driven wheel 7 and No. two driven wheels
8 connections, the bottom side of equipment box 1 are embedded with eight limit vertical slots 35, and the downside of equipment box 1 is equipped with eight Ge Taibu mechanisms 2.
Wherein, Tai Bu rotation mechanism 3 includes rotation bar 31, drive rod 36 and pivoted housing 37, and rotation bar 31 passes through bearing and sets
Standby case 1 is rotatablely connected, and rotation bar 31 includes straight shank 32, No.1 bending axis 33 and No. two bending axis 34, two No. two bending axis
34 are located at the outside of two No.1 bending axis 33, and No.1 bending axis 33 and No. two bending axis 34 connect by the way that straight shank 32 is fixed
It connecing, the outside of No.1 bending axis 33 and No. two bending axis 34 is arranged with pivoted housing 37, and pivoted housing 37 is fixedly connected to drive rod 36,
The lower end of drive rod 36 both passes through limit vertical slot 35.
Wherein, Tai Bu mechanism 2 includes locating piece 21, locating rod 22, brace 23, swivel base 24 and step plate 25, locating piece 21
It is fixedly connected in the downside of equipment box 1, the side of locating piece 21 is fixedly connected to locating rod 22, and the outside of locating rod 22 is equal
It is arranged with brace 23, the lower section of brace 23 is set there are four step plate 25, and brace 23 and drive rod 36 pass through swivel base 24 and mark time
Plate 25 connects, and swivel base 24 is fixedly connected with step plate 25.
Wherein, eight drive rods 36 in Tai Bu rotation mechanism 3 are corresponding with eight Ge Taibu mechanisms 2 respectively, eight lift steps
Mechanism 2 is corresponding with eight limit vertical slots 35 respectively, can rotation use, the rectangular in cross-section of limit vertical slot 35, drive rod 36 and limit
The inner wall of position vertical slot 35 is slidably connected, and step plate 25 can be pulled to move forward, the opening side of No.1 bending axis 33 and No. two bending axis 34
To a step plate 25 on the contrary, 36 rotation of drive rod can be pulled to move, is connected between adjacent Tai Bu mechanism 2, step machine is lifted in front and back
2 collective effect of structure can keep step plate 25 horizontal.
Specifically, when the utility model is used, the step plate 25 of two sides and two intermediate 25 rotations of step plate support are set
Standby case 1, symmetrical structure design the stability that ensure that robot, marks time forward and marks time backward so that robot is achievable
Workflow, specific workflow are as follows: PLC controller controls double end motor 5 forward or reverse, after transmission, can drive rotation bar
31 forward or reverse, and No.1 bending axis 33 and No. two bending axis 34 are constantly overturn, and drive rod 36 can be pulled to move up and down, be located at two
When the drive rod 36 of side rises, centrally located drive rod 36 will decline, and after reaching rotation, middle part step plate 25 will
The step plate 25 for substituting two sides supports robot, constantly reciprocal, and effect of marking time can be realized.
In the description of the present invention, it should be understood that term " coaxial ", " bottom ", " one end ", " top ", " in
The orientation of the instructions such as portion ", " other end ", "upper", " side ", " top ", "inner", " front ", " center ", " both ends " or position are closed
System is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot
It is construed as a limitation of the present invention.
In addition, term " first ", " second ", " third ", " the 4th " are used for description purposes only, and should not be understood as instruction or
It implies relative importance or implicitly indicates the quantity of indicated technical characteristic, define " first ", " second ", " the as a result,
Three ", the feature of " the 4th " can explicitly or implicitly include at least one of the features.
In the present invention unless specifically defined or limited otherwise, term " installation ", " setting ", " connection ", " Gu
Calmly ", the terms such as " being screwed on " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；
It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements, unless otherwise restricted clearly, for this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (7)
1. a kind of robot running gear of apery movement, including equipment box (1), Tai Bu mechanism (2) and Tai Bu rotation mechanism
(3), which is characterized in that the top screw of the equipment box (1) is fixed with mounting rack (4), and mounting rack (4) screw is fixed with
Double end motor (5), two output ends of the double end motor (5) both pass through equipment box (1) outer wall and are fixedly connected with driving wheel (6),
The two sides of the equipment box (1) are respectively equipped with No.1 driven wheel (7) and No. two driven wheels (8), the No.1 driven wheel (7) and two
Number driven wheel (8) is sequentially connected by belt (9) and driving wheel (6), sets that there are two lift step wheels to change planes in the equipment box (1)
Structure (3), two Tai Bu rotation mechanisms (3) connect with No.1 driven wheel (7) and No. two driven wheels (8) respectively, the equipment
The bottom side of case (1) is embedded with eight limit vertical slots (35), and eight Ge Taibu mechanisms (2) are equipped on the downside of the equipment box (1).
2. a kind of robot running gear of apery movement according to claim 1, which is characterized in that the lift walks rotation
Mechanism (3) includes rotation bar (31), drive rod (36) and pivoted housing (37), and the rotation bar (31) passes through bearing and equipment box (1)
Rotation connection, the rotation bar (31) includes straight shank (32), No.1 bending axis (33) and No. two bending axis (34), described in two
No. two bending axis (34) are located at the outside of two No.1 bending axis (33), the No.1 bending axis (33) and No. two bending axis (34)
It is fixedly connected by straight shank (32), the outside of the No.1 bending axis (33) and No. two bending axis (34) is arranged with pivoted housing
(37), the pivoted housing (37) is fixedly connected to drive rod (36), and the lower end of the drive rod (36) both passes through limit vertical slot
(35)。
3. a kind of robot running gear of apery movement according to claim 1, which is characterized in that the Tai Bu mechanism
It (2) include locating piece (21), locating rod (22), brace (23), swivel base (24) and step plate (25), the locating piece (21) is solid
Surely it is connected to the downside of equipment box (1), the side of the locating piece (21) is fixedly connected to locating rod (22), the locating rod
(22) outside is arranged with brace (23), is set below the brace (23) there are four step plate (25), the brace (23)
It is connect by swivel base (24) with step plate (25) with drive rod (36), the swivel base (24), which is fixed with step plate (25), to be connected
It connects.
4. a kind of robot running gear of apery movement according to claim 1, which is characterized in that the lift walks rotation
Eight drive rods (36) in mechanism (3) are corresponding with eight Ge Taibu mechanism (2) respectively, and eight Tai Bu mechanisms (2) are respectively
It is corresponding with eight limits vertical slot (35).
5. a kind of robot running gear of apery movement according to claim 2, which is characterized in that the limit vertical slot
(35) rectangular in cross-section, the drive rod (36) and the inner wall of limit vertical slot (35) are slidably connected.
6. a kind of robot running gear of apery movement according to claim 2, which is characterized in that the No.1 bending
Axis (33) and the opening direction of No. two bending axis (34) are opposite.
7. a kind of robot running gear of apery movement according to claim 1, which is characterized in that the adjacent lift step
A step plate (25) is connected between mechanism (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920391251.5U CN209667255U (en) | 2019-03-26 | 2019-03-26 | A kind of robot running gear of apery movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920391251.5U CN209667255U (en) | 2019-03-26 | 2019-03-26 | A kind of robot running gear of apery movement |
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| Publication Number | Publication Date |
|---|---|
| CN209667255U true CN209667255U (en) | 2019-11-22 |
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ID=68572803
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920391251.5U Active CN209667255U (en) | 2019-03-26 | 2019-03-26 | A kind of robot running gear of apery movement |
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| Country | Link |
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| CN (1) | CN209667255U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023178664A1 (en) * | 2022-03-25 | 2023-09-28 | 深圳市智意科技有限公司 | Locomotion mechanism and cleaning robot |
-
2019
- 2019-03-26 CN CN201920391251.5U patent/CN209667255U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023178664A1 (en) * | 2022-03-25 | 2023-09-28 | 深圳市智意科技有限公司 | Locomotion mechanism and cleaning robot |
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