CN214165162U - Quadruped robot built by using steering engine - Google Patents
Quadruped robot built by using steering engine Download PDFInfo
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- CN214165162U CN214165162U CN202022579892.9U CN202022579892U CN214165162U CN 214165162 U CN214165162 U CN 214165162U CN 202022579892 U CN202022579892 U CN 202022579892U CN 214165162 U CN214165162 U CN 214165162U
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- steering engine
- steering
- body frame
- connecting plate
- mechanical arm
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 238000009776 industrial production Methods 0.000 abstract description 2
- 238000011160 research Methods 0.000 description 4
- 210000000245 forearm Anatomy 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000938605 Crocodylia Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Abstract
The utility model discloses a four-footed robot built by utilizing a steering engine. The automatic control system comprises a central connecting plate, a control plate, four mechanical arms and battery jars, wherein the control plate is arranged above the central connecting plate, the battery jars are arranged below the bottom of the central connecting plate, and the four mechanical arms are connected to four corners of the central connecting plate; the mechanical arm comprises a large mechanical arm and a small mechanical arm, the large mechanical arm is connected with the central connecting plate through a first steering engine set, and the large mechanical arm is connected with the small mechanical arm through a second steering engine set. The utility model discloses a small steering wheel drive, simple structure, little, the action of consumption are sensitive, can carry out industrial production's operation as basic four-footed robot.
Description
Technical Field
The utility model belongs to the robot control field, concretely relates to utilize four-footed robot that steering wheel was built.
Background
Since the 60's of the 20 th century, research on a four-legged walking robot began to begin. With the continuous research and application of computer technology and control technology, the development work of modern quadruped robots has entered a widely-developed stage. The coming of the new century, the Chinese quadruped robot will also come to a new historical development period.
In the research and development of the multi-legged robot, the quadruped robot has an important position, the structure is relatively simpler, most reptiles are also quadruped, the structure of the quadruped robot can be the basis of the structure of the multi-legged robot, and the quadruped robot not only meets the general universality of the multi-legged robot but also accords with the research simplicity in the calculation of kinematics. The existing quadruped robots are various in styles, and almost everyone developer can make various structures.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that exists among the background art, the utility model discloses a only used small-size steering wheel, simple structure uses single chip microcomputer control moreover, and the structure is fairly simple, provides convenience for industrial production assembly line etc..
The technical scheme of the utility model as follows:
the utility model comprises a central connecting plate, a control panel, four mechanical arms and battery jars, wherein the control panel is arranged above the central connecting plate, the battery jars are arranged below the bottom of the central connecting plate, and the four mechanical arms are connected with four corners of the central connecting plate; the arm includes big arm of arm and arm forearm, and the big arm of arm mainly comprises two part concatenations of first body frame and first L type support, and first L type support is fixed in on the middle part of first body frame.
The large arm of the mechanical arm is connected with the central connecting plate through a first steering engine set, the first steering engine set comprises a first steering engine double-shaft connector and a first steering engine, a steering engine support is hinged to the central connecting plate, the first steering engine is installed in the steering engine support, and two output shafts of the first steering engine are connected with a first L-shaped support and a first main frame through the first steering engine double-shaft connector respectively.
The arm forearm mainly comprises two parts concatenation of second body frame and second L type support, and second L type support is fixed in on the middle part of second body frame.
The large arm of the mechanical arm is connected with the small arm of the mechanical arm through a second steering engine set, the second steering engine set comprises a second steering engine double-shaft connector and a second steering engine, and the second steering engine is fixedly connected with an output shaft of the second steering engine double-shaft connector; the second steering wheel is installed at first body frame lower extreme, and two output shafts of second steering wheel are connected with second L type support, second body frame respectively through second steering wheel biax connector.
First body frame top fluting, two output shafts of first steering wheel cooperate with first body frame through the groove, trompil in the middle of the first body frame is with two output shafts of the first steering wheel of multiple fixed, first body frame downwardly extending back, first body frame is terminal according to second steering wheel size design for the output shaft of second steering wheel parallels with the output shaft of the first steering wheel that first body frame top is connected.
Second body frame top fluting, two output shafts of second steering wheel cooperate with the second body frame through the groove, trompil in the middle of the second body frame is with two output shafts of multiple fixed second steering wheel, the second body frame downwardly extending back, as the arm is terminal, the terminal mounting tool of second body frame designs pore-forming and sawtooth complex structure, second L type support is connected with the terminal and second body frame of first body frame.
The mechanical arm is driven by a first steering engine and a second steering engine.
The first steering engine and the second steering engine are both in MG90S type and are powered by 5V voltage.
The first steering engine and the second steering engine both adopt square waves with the period of 20ms and the pulse width of 0.5-2.5 as control signals to control the rotation angles of the first steering engine and the second steering engine from 0 to 180 degrees.
The control panel is connected with the central connecting plate through a copper column.
The upper surface and the lower surface of the central connecting plate are both provided with through holes, the through holes on the upper surface are used for placing a control panel, and the through holes on the lower surface are used for placing a battery jar.
The utility model is used for four-footed robot experiment platform for four-footed robot's research convenient and fast more, it is also easier to the operation of robot kinematics.
The utility model has the advantages that:
1. the utility model discloses simple structure, all mechanical parts all can have the 3D printer preparation to accomplish, and are with low costs.
2. The multifunctional teaching aid is small, exquisite, light and complete in function, and can be used for teaching work.
3. The steering engine double-shaft connector designed in the structure realizes two rotational degrees of freedom similar to hooke joints in a small space.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a quadruped robot;
fig. 2 is a structural view of the center connection plate.
In the figure, 1 central connecting plate, 3 second steering engines, 4 first steering engines, 5 first steering engine double-shaft connectors, 6 second steering engine double-shaft connectors, 7 second main frames, 8 first L-shaped supports, 9 steering engine supports, 10 second L-shaped supports, 11 first main frames, 12 battery tanks and 13 control panels.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings, which, however, can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. It should be understood that the specific embodiments herein are merely applicable and limiting of the invention.
As shown in fig. 1 and fig. 2, the utility model discloses a central connecting plate 1, control panel 13, four arms and battery jar 12, central connecting plate 1 top is arranged in to control panel 13, and central connecting plate 1 bottom below is equipped with battery jar 12, and battery jar 12 is for preventing the structure that drops, and battery jar 12 is used for placing the battery. The upper surface and the lower surface of the central connecting plate 1 are provided with through holes, the through holes on the upper surface are used for placing the control plate 13, and the through holes on the lower surface are used for placing the battery jar 12. Four arms are connected in four corners of central connecting plate 1, and mechanical parts are all independently built and are accomplished, and simple structure easily makes.
As shown in fig. 1, the mechanical arm comprises a large mechanical arm and a small mechanical arm, the large mechanical arm is mainly formed by splicing a first main frame 11 and two parts of a first L-shaped support 8, the two parts are matched together and then matched with an output shaft of a first steering engine double-shaft connector 5 to form a revolute pair, and the first L-shaped support 8 is fixed on the middle part of the first main frame 11. The big arm of arm is connected with central junction plate 1 through first steering wheel unit, and first steering wheel unit includes first steering wheel biax connector 5 and first steering wheel 4, and steering wheel support 9 articulates the dress on central junction plate 1, and first steering wheel 4 is installed in steering wheel support 9, and first steering wheel 4 has two output shafts, and two output shafts of first steering wheel 4 are connected with first L type support 8, first body frame 11 respectively through first steering wheel biax connector 5. The arm forearm mainly comprises two parts concatenations of second body frame 7 and second L type support 10, and two parts cooperations are in the same place, and the end cooperation of the big arm of arm forms the revolute pair again, and second L type support 10 is fixed in on the middle part of second body frame 7. The large arm of the mechanical arm is connected with the small arm of the mechanical arm through a second steering engine set, the second steering engine set comprises a second steering engine double-shaft connector 6 and a second steering engine 3, and the second steering engine 3 is fixedly connected with an output shaft of the second steering engine double-shaft connector 6; the second steering engine 3 is installed at the lower end of the first main frame 11, the second steering engine 3 is provided with two output shafts, and the two output shafts of the second steering engine 3 are respectively connected with the second L-shaped support 10 and the second main frame 7 through a second steering engine double-shaft connector 6.
In the concrete implementation, 11 top flutings of first body frame, two output shafts of first steering wheel 4 cooperate with first body frame 11 through the groove, two output shafts of trompil with the first steering wheel 4 of multiple fixed in the middle of first body frame 11, 11 downwardly extending backs of first body frame, 11 end according to 3 size designs of second steering wheel of first body frame for the output shaft of second steering wheel 3 parallels with the output shaft of the first steering wheel 4 that 11 tops of first body frame are connected.
7 top flutings of second body frame, two output shafts of second steering wheel 3 cooperate with second body frame 7 through the groove, and trompil is terminal with two output shafts of multiple fixed second steering wheel 3 in the middle of the second body frame 7, and second body frame 7 downwardly extending back is as the arm, and 7 terminal mounting tools of second body frame design pore-forming and sawtooth complex structure, second L type support 10 is connected with 11 ends of first body frame and second body frame 7. The anti-skid treatment of the tail end of the second main frame 7, namely the anti-skid treatment of the contact of the feet of the quadruped robot with the ground.
In specific implementation, the mechanical arm is driven by a first steering engine 4 and a second steering engine 3. The first steering engine 4 and the second steering engine 3 are both in MG90S type and are powered by 5V voltage. The first steering engine 4 and the second steering engine 3 both adopt square waves with the period of 20ms and the pulse width of 0.5-2.5 as control signals to control the rotation angles of the first steering engine 4 and the second steering engine 3 from 0 to 180 degrees.
As shown in fig. 1, control panel 13 is connected with central junction plate 1 through the copper post, control panel 13 adopts the mode of collection moulding piece, support STM32 singlechip kernel board and STC8 singlechip, contain OLED display screen interface on the control panel 13, voice conversation interface, the bluetooth module interface, steering engine controller, for the four-footed robot provides the function extension, wherein, OLED display robot state, steering engine controller can more conveniently control the steering wheel, voice module can receive pronunciation, the bluetooth can communicate with cell-phone APP, still include the power conversion part, thereby obtain the driving voltage of singlechip and steering wheel.
Claims (8)
1. The utility model provides an utilize four-footed robot that steering wheel built which characterized in that: the automatic feeding device comprises a central connecting plate (1), a control plate (13), four mechanical arms and battery jars (12), wherein the control plate (13) is arranged above the central connecting plate (1), the battery jars (12) are arranged below the bottom of the central connecting plate (1), and the four mechanical arms are connected to four corners of the central connecting plate (1); the mechanical arm comprises a large mechanical arm and a small mechanical arm, the large mechanical arm is mainly formed by splicing a first main frame (11) and a first L-shaped support (8), and the first L-shaped support (8) is fixed on the middle part of the first main frame (11);
the large arm of the mechanical arm is connected with the central connecting plate (1) through a first steering machine set, the first steering machine set comprises a first steering machine double-shaft connector (5) and a first steering machine (4), a steering machine support (9) is hinged to the central connecting plate (1), the first steering machine (4) is installed in the steering machine support (9), and two output shafts of the first steering machine (4) are respectively connected with the first L-shaped support (8) and the first main frame (11) through the first steering machine double-shaft connector (5); the mechanical arm small arm is mainly formed by splicing a second main frame (7) and a second L-shaped support (10), and the second L-shaped support (10) is fixed on the middle part of the second main frame (7); the large arm of the mechanical arm is connected with the small arm of the mechanical arm through a second steering engine set, the second steering engine set comprises a second steering engine double-shaft connector (6) and a second steering engine (3), and the second steering engine (3) is fixedly connected with an output shaft of the second steering engine double-shaft connector (6); the second steering engine (3) is installed at the lower end of the first main frame (11), and two output shafts of the second steering engine (3) are respectively connected with the second L-shaped support (10) and the second main frame (7) through a second steering engine double-shaft connector (6).
2. The quadruped robot built by using the steering engine as claimed in claim 1, wherein: first body frame (11) top fluting, two output shafts of first steering wheel (4) cooperate through groove and first body frame (11), trompil is with two output shafts of multiple fixed first steering wheel (4) in the middle of first body frame (11), after first body frame (11) downwardly extending, first body frame (11) are terminal according to second steering wheel (3) size design for the output shaft of second steering wheel (3) parallels with the output shaft of first steering wheel (4) that first body frame (11) top is connected.
3. The quadruped robot built by using the steering engine as claimed in claim 1, wherein: second body frame (7) top fluting, two output shafts of second steering wheel (3) cooperate through groove and second body frame (7), trompil is with two output shafts of multiple fixed second steering wheel (3) in the middle of second body frame (7), second body frame (7) downwardly extending back, it is terminal as the arm, the terminal mounting tool of second body frame (7), design pore-forming and sawtooth complex structure, second L type support (10) are connected with terminal and second body frame (7) of first body frame (11).
4. The quadruped robot built by using the steering engine as claimed in claim 1, wherein: the mechanical arm is driven by a first steering engine (4) and a second steering engine (3).
5. The quadruped robot built by using the steering engine as claimed in claim 1, wherein: the first steering engine (4) and the second steering engine (3) are both in MG90S type and are powered by 5V voltage.
6. The quadruped robot built by using the steering engine as claimed in claim 1, wherein: the first steering engine (4) and the second steering engine (3) both adopt square waves with the period of 20ms and the pulse width of 0.5-2.5 as control signals to control the rotation angles of the first steering engine (4) and the second steering engine (3) from 0 to 180 degrees.
7. The quadruped robot built by using the steering engine as claimed in claim 1, wherein: the control panel (13) is connected with the central connecting plate (1) through a copper column.
8. The quadruped robot built by using the steering engine as claimed in claim 1, wherein: the upper surface and the lower surface of the central connecting plate (1) are provided with through holes, the through holes on the upper surface are used for placing a control plate (13), and the through holes on the lower surface are used for placing a battery jar (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022579892.9U CN214165162U (en) | 2020-11-10 | 2020-11-10 | Quadruped robot built by using steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022579892.9U CN214165162U (en) | 2020-11-10 | 2020-11-10 | Quadruped robot built by using steering engine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214165162U true CN214165162U (en) | 2021-09-10 |
Family
ID=77600158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022579892.9U Expired - Fee Related CN214165162U (en) | 2020-11-10 | 2020-11-10 | Quadruped robot built by using steering engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214165162U (en) |
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2020
- 2020-11-10 CN CN202022579892.9U patent/CN214165162U/en not_active Expired - Fee Related
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| 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: 20210910 |