CN214729215U - Ice and snow amusement biped robot - Google Patents

Ice and snow amusement biped robot Download PDF

Info

Publication number
CN214729215U
CN214729215U CN202121019737.XU CN202121019737U CN214729215U CN 214729215 U CN214729215 U CN 214729215U CN 202121019737 U CN202121019737 U CN 202121019737U CN 214729215 U CN214729215 U CN 214729215U
Authority
CN
China
Prior art keywords
connecting rod
ice
hinged
snow
base body
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
Application number
CN202121019737.XU
Other languages
Chinese (zh)
Inventor
朱江平
金向阳
饶文强
王天棋
高丹妮
杨子鑫
张瀚予
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin University of Commerce
Original Assignee
Harbin University of Commerce
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Harbin University of Commerce filed Critical Harbin University of Commerce
Priority to CN202121019737.XU priority Critical patent/CN214729215U/en
Application granted granted Critical
Publication of CN214729215U publication Critical patent/CN214729215U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The utility model relates to the technical field of robots, in particular to an ice and snow entertainment biped robot, which comprises a rotating shaft, fan-shaped teeth, a base body, a motor, a disc, a rocker, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a tripod and a ground foot; the motor comprises two direct current speed reducing motors which are respectively arranged above and below the base body; the disc is connected with an output shaft of a direct current speed reducing motor arranged below the base body; the sector-shaped toothed belt part is meshed with the direct current speed reducing motor output shaft gear arranged above the base body, and the top of the sector-shaped tooth is connected with the rotating shaft; the ice and snow entertainment biped robot has the advantages of multiple functions, ingenious structure, simplicity in control, strong stability and low cost, can walk on ice and snow fields to complete ice and snow entertainment activities, and adds new power for the development of ice and snow travel industry.

Description

Ice and snow amusement biped robot
Technical Field
The utility model relates to the technical field of robot, especially, relate to a ice and snow amusement biped robot.
Background
With the improvement of the living standard of people in China, tourism becomes an essential part in the life of many people, and ice and snow tourism is an economic industry with great potential for the three provinces in northeast China. In view of the fact that the existing ice and snow entertainment projects still have great tradition and singleness and a large number of blank markets exist, a brand-new ice and snow entertainment biped robot which takes a multi-link human body lower limb simulating mechanism as a walking mechanism and carries sleds is designed. The robot can finish the actions of pulling people, pulling vehicles, pulling sledges and other ice and snow entertainment activities, and can replace manpower or animals to a certain extent.
At present, most biped robots are complex in mechanism, high in manufacturing cost and long in manufacturing period, so that the economic burden is large for users, and compared with the biped robots, the biped robots have high cost performance.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the defects in the prior art, the ice and snow entertainment biped robot provided by the invention has the advantages of multiple functions, ingenious structure, simple control, strong stability and low cost, and can walk on an ice and snow field to complete ice and snow entertainment activities.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a designed ice and snow entertainment biped robot comprises a rotating shaft, sector-shaped teeth, a base body, a motor, a disc, a rocker, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a tripod and a ground foot;
the motor comprises two direct current speed reducing motors which are respectively arranged above and below the base body; the disc is connected with an output shaft of a direct current speed reducing motor arranged below the base body; the sector-shaped toothed belt part is meshed with the direct current speed reducing motor output shaft gear arranged above the base body, and the top of the sector-shaped tooth is connected with the rotating shaft; one end of the rocker is hinged with the base body, and the other end of the rocker is hinged with one angular point of the tripod; one end of the first connecting rod is rotatably connected with the eccentric position of the disc, and the other end of the first connecting rod is hinged with the middle part of the rocker; one end of the second connecting rod is hinged with the middle part of the first connecting rod, and the other end of the second connecting rod is hinged with one angular point of the tripod; one end of the third connecting rod is hinged with the middle part of the rocker, and the other end of the third connecting rod is hinged with one end of the fourth connecting rod; one end of the fourth connecting rod is hinged with the third connecting rod, and the other end of the fourth connecting rod is hinged with one angular point of the tripod; the ground feet, the fourth connecting rod and the tripod are hinged at the same point.
Preferably, the bottom of the ground sole is provided with anti-skid stripes.
Preferably, a sled is detachably connected to the base body.
The utility model provides a pair of ice and snow amusement biped robot, beneficial effect provide a function various, the structure is ingenious, control is simple, stability is strong, ice and snow amusement biped robot with low costs, and this robot utilizes two motor drive running gear and steering mechanism, walks on ice and snow place under sled's effect, accomplishes ice and snow amusement activity, adds new power for ice and snow tourism industry's development.
Drawings
Fig. 1 is the utility model provides a connection structure sketch map of ice and snow amusement biped robot and sled.
Fig. 2 is a front view of the ice and snow amusement biped robot connected to the sled.
Fig. 3 is the utility model provides a structural schematic diagram of ice and snow amusement biped robot.
Fig. 4 is a front view of the ice and snow amusement biped robot provided by the utility model.
In the figure: the device comprises a rotating shaft 1, a sector tooth 2, a base body 3, a disc 5, a rocker 6, a first connecting rod 7, a second connecting rod 8, a third connecting rod 9, a bearing 10, a switch 11, a battery 12, a sled 13, a fourth connecting rod 14, a tripod 15 and a foot margin 16.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Referring to fig. 1-4, an ice and snow amusement biped robot comprises a rotating shaft 1, sector-shaped teeth 2, a base body 3, a disc 5, a rocker 6, a first connecting rod 7, a second connecting rod 8, a third connecting rod 9, a bearing 10, a switch 11, a battery 12, a sled 13, a fourth connecting rod 14, a tripod 15 and feet 16.
Two direct current speed reducing motors 44 are respectively arranged above and below the base body 3; the disc 5 is connected with an output shaft of a direct current speed reducing motor 4 arranged below the base body 3; the toothed part of the sector gear 2 is meshed with an output shaft gear of a direct current gear motor 4 arranged above the base body 3, and the top of the sector gear 2 is connected with the rotating shaft 1; one end of the rocker 6 is hinged with the base body 3, and the other end is hinged with one angular point of the tripod 15; one end of the first connecting rod 7 is rotatably connected with the eccentric position of the disc 5, and the other end of the first connecting rod is hinged with the middle part of the rocker 6; one end of the second connecting rod 8 is hinged with the middle part of the first connecting rod 7, and the other end is hinged with one angular point of the tripod 15; one end of the third connecting rod 9 is hinged with the middle part of the rocker 6, and the other end is hinged with one end of the fourth connecting rod 14; one end of the fourth connecting rod 14 is hinged with the third connecting rod 9, and the other end is hinged with one angular point of the tripod 15; the foot margin 16 is hinged with the fourth connecting rod 14 and the tripod 15 at the same point; the sled 13 is connected with the base body 3 of the biped robot;
the base body 3, the direct-current speed reducing motor 4, the disc 5, the rocker 6 and the first connecting rod 7 jointly form a crank rocker 6 mechanism, and the crank rocker 6 mechanism and other four-connecting-rod mechanisms jointly move under the driving of the direct-current speed reducing motor 4 so that the whole robot moves back and forth;
the base body 3, the direct current speed reducing motor 4, the sector teeth 2 and the rotating shaft 1 jointly form a steering mechanism, the sector teeth 2 meshed with the gear on the output shaft of the direct current speed reducing motor 4 rotate in a certain range under the driving of the direct current speed reducing motor 4, and the robot can move in a turning mode through the rotating shaft 1;
the sled 13 not only can ensure that the robot can walk smoothly, but also can be taken as equipment of ice and snow entertainment projects to carry tourists to complete entertainment activities; the walking mechanism of the ice and snow entertainment biped robot is very similar to the lower limbs of a human body in structure, comprises hip joints, thighs, knee joints and shanks, and has very good bionic effect when walking.
The whole robot only adopts two direct current gear motors 4, the rotation of one direct current gear motor 4 is controlled to adjust the front-back motion of the biped robot, and the rotation of the other direct current gear motor 4 is controlled to realize the turning motion. Sled 13 can not only ensure that the robot can walk smoothly, but also can be used as equipment for ice and snow entertainment projects to carry tourists to complete entertainment activities. The ice and snow entertainment biped robot is powered by a battery 12, a switch 11 can be switched to move forward and backward after being powered on, a motor 4 arranged below a base body 3 drives a disc 5 to do circular motion, so that a hinge point of a first connecting rod 7 hinged on the disc 5 also does circular motion, the first connecting rod 7 transmits force to a rocker 6 and a second connecting rod 8, and the rocker 6 swings in a reciprocating manner, so that other rod mechanisms move together according to a certain track. The left foot 16 of the walking mechanism is lifted forwards and the right foot 16 is lifted backwards, the left foot 16 is lifted backwards under the driving of the motor 4 and the right foot 16 is lifted forwards under the driving of the motor, the opposite side connecting rods are always kept parallel, continuous back-and-forth motion is carried out alternately, after the feet 16 are landed and moved, the sledge 13 is also moved back and forth together, and therefore the back-and-forth motion of the whole ice and snow entertainment biped robot is achieved. The switch 11 is shifted to a left gear, the motor 4 arranged above the base body 3 drives the sector gear 2 to rotate anticlockwise in a gear meshing mode, and then the ice and snow entertainment biped robot moves leftwards through the rotating shaft 1 connected with one end of the sector gear 2. The switch 11 is shifted to the right to be shifted, the motor 4 arranged above the base body 3 drives the fan-shaped teeth 2 to rotate clockwise in a gear meshing mode, and then the ice and snow entertainment biped robot moves rightwards through the rotating shaft 1 connected with one end of the fan-shaped teeth 2.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims (3)

1. An ice and snow entertainment biped robot is characterized by comprising a rotating shaft, sector teeth, a base body, a motor, a disc, a rocker, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a tripod and a foot margin;
the motor comprises two direct current speed reducing motors which are respectively arranged above and below the base body; the disc is connected with an output shaft of a direct current speed reducing motor arranged below the base body; the sector-shaped toothed belt part is meshed with the direct current speed reducing motor output shaft gear arranged above the base body, and the top of the sector-shaped tooth is connected with the rotating shaft; one end of the rocker is hinged with the base body, and the other end of the rocker is hinged with one angular point of the tripod; one end of the first connecting rod is rotatably connected with the eccentric position of the disc, and the other end of the first connecting rod is hinged with the middle part of the rocker; one end of the second connecting rod is hinged with the middle part of the first connecting rod, and the other end of the second connecting rod is hinged with one angular point of the tripod; one end of the third connecting rod is hinged with the middle part of the rocker, and the other end of the third connecting rod is hinged with one end of the fourth connecting rod; one end of the fourth connecting rod is hinged with the third connecting rod, and the other end of the fourth connecting rod is hinged with one angular point of the tripod; the ground feet, the fourth connecting rod and the tripod are hinged at the same point.
2. An ice and snow amusement biped robot as claimed in claim 1, wherein the sole of the foot is provided with anti-slip stripes.
3. An ice and snow amusement biped robot as claimed in claim 1, wherein skis are detachably attached to the base.
CN202121019737.XU 2021-05-13 2021-05-13 Ice and snow amusement biped robot Expired - Fee Related CN214729215U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202121019737.XU CN214729215U (en) 2021-05-13 2021-05-13 Ice and snow amusement biped robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121019737.XU CN214729215U (en) 2021-05-13 2021-05-13 Ice and snow amusement biped robot

Publications (1)

Publication Number Publication Date
CN214729215U true CN214729215U (en) 2021-11-16

Family

ID=78621356

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202121019737.XU Expired - Fee Related CN214729215U (en) 2021-05-13 2021-05-13 Ice and snow amusement biped robot

Country Status (1)

Country Link
CN (1) CN214729215U (en)

Similar Documents

Publication Publication Date Title
CN106476928A (en) The variable electronic quadruped robot of mechanism configuration
CN103519974A (en) Walking aid for recovery
CN106004281A (en) Amphibious robot with multiple movement modes
CN104648515B (en) Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof
CN105015642B (en) By single motor-driven semi-passive walking device and its rotating direction control method
CN103010330A (en) Biped walking robot
CN111038612A (en) Multi-motion-mode wheel-track-leg combined robot
CN104512493B (en) Control method of gear transmission halving upper body energy-saving passive walking device
CN203793466U (en) Transformable impeller-type stair-climbing robot
CN109334798A (en) Robot and its movement techniques of dwelling of dry adhesion hook four-wheel foot paddle driving more
CN214729215U (en) Ice and snow amusement biped robot
CN210284435U (en) Quadruped robot
CN113492932A (en) Spine type bionic quadruped robot oriented to non-structural environment and operation method
CN2461518Y (en) Wheel chair able to crawl stairs
CN101693145A (en) Method for simulating walking of tetrapod
CN206278172U (en) The variable electronic quadruped robot of mechanism configuration
CN108542720A (en) walking aid chair
CN210543223U (en) Mechanical horse
CN202960976U (en) Rehabilitation wheelchair
CN209270243U (en) A kind of walking mechanism of assistant robot
CN219706584U (en) Multi-foot obstacle surmounting robot
CN209137255U (en) A kind of four-footed power-assisted healing robot
CN206358245U (en) A kind of robot for simulating people's walking
CN2401169Y (en) Crank rocker driving device for wheel chair
CN219649891U (en) Exoskeleton power-assisted knapsack

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: 20211116

CF01 Termination of patent right due to non-payment of annual fee