CN220391378U - Crawling mechanism of robot - Google Patents
Crawling mechanism of robot Download PDFInfo
- Publication number
- CN220391378U CN220391378U CN202322126441.3U CN202322126441U CN220391378U CN 220391378 U CN220391378 U CN 220391378U CN 202322126441 U CN202322126441 U CN 202322126441U CN 220391378 U CN220391378 U CN 220391378U
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- China
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- connecting rod
- leg assembly
- supporting leg
- rotatably connected
- rod
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- 230000009193 crawling Effects 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 title claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 description 19
- 230000006872 improvement Effects 0.000 description 8
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Abstract
The utility model discloses a crawling mechanism of a robot, which comprises a frame, a transmission shaft and a fixed shaft, wherein the transmission shaft is connected with a crank and a driver; the crawling mechanism further comprises a first supporting leg assembly and a swing rod rotatably connected to the fixed shaft, wherein the first supporting leg assembly comprises a first supporting piece for contacting the ground; the crawling mechanism further comprises a connecting rod and a second supporting leg assembly which is rotatably connected to the fixed shaft, and the second supporting leg assembly comprises a second supporting piece which is used for contacting the ground; the swing rod, the first supporting leg assembly, the connecting rod and the second supporting leg assembly are sequentially connected to form a quadrilateral structure; by adopting the structure, the walking stability can be improved.
Description
Technical Field
The utility model relates to the technical field of crawling mechanisms, in particular to a crawling mechanism of a robot.
Background
The robot has the characteristics of larger working space, stronger ground adaptability, larger flexibility and the like, the technical key of the crawling mechanism of the robot is that the crawling mechanism of the robot is used for simulating leg and foot motions, the universal structure of the crawling mechanism of the robot is complex, a processor with stronger calculation capability is needed for controlling and coordinating the motions of a plurality of joints, the research and development cost and the manufacturing cost are both higher, and the popularization and the application of the robot are not facilitated.
The crawling mechanism of the robot in the prior art has the advantages that the terrain adaptability and the structural stability are improved, the frame can topple towards one side close to the foot part when the robot walks on the stable ground, and the walking is unstable.
Therefore, a robot crawling mechanism with smooth walking is needed at present.
Disclosure of Invention
In view of the above, an object of the present utility model is to provide a crawling mechanism of a robot, which has a dual support structure, improving stability.
The technical scheme adopted by the utility model for solving the technical problems is to provide a crawling mechanism of a robot, which comprises a frame, a transmission shaft rotationally connected to the frame and a fixed shaft fixedly connected to the frame, wherein a crank and a driver capable of driving the transmission shaft and the crank to rotate together are fixedly connected to the transmission shaft;
the crawling mechanism further comprises a first supporting leg assembly and a swing rod rotatably connected to the fixed shaft, wherein the first supporting leg assembly comprises a first connecting part rotatably connected to the swing rod, a second connecting part rotatably connected to the crank and a first supporting piece for contacting the ground;
the crawling mechanism further comprises a connecting rod and a second supporting leg assembly which is rotatably connected to the fixed shaft, one end of the connecting rod is rotatably connected to the second supporting leg assembly, the other end of the connecting rod is rotatably connected to the first supporting leg assembly, and the second supporting leg assembly comprises a second supporting piece which is used for contacting the ground;
the swing rod, the first supporting leg component, the connecting rod and the second supporting leg component are sequentially connected to form a quadrilateral structure so as to drive the first supporting piece and the second supporting piece to swing back and forth when the crank rotates.
As a further improvement of the utility model, the first supporting leg assembly further comprises a first connecting rod rotatably connected to the crank and a second connecting rod fixedly connected to the first connecting rod, the first supporting piece is fixedly connected to one end of the second connecting rod, and the swing rod is rotatably connected to the other end of the second connecting rod.
As a further improvement of the utility model, the second supporting leg assembly further comprises a third connecting rod, one end of the third connecting rod is rotatably connected to the fixed shaft, the second supporting piece is fixedly connected to the other end of the third connecting rod, one end of the connecting rod is rotatably connected to the second connecting rod, and the other end of the connecting rod is rotatably connected to the third connecting rod.
As a further improvement of the utility model, the third connecting rod is fixedly provided with an extension rod, and is rotationally connected with the fixed shaft through the extension rod.
As a further improvement of the utility model, the extension rod, the third connecting rod, the second supporting piece, the swinging rod, the first connecting rod, the second connecting rod, the first supporting piece, the connecting rod and the crank are all detachably connected.
As a further improvement of the utility model, the extension rod, the third connecting rod, the second supporting piece, the swing rod, the first connecting rod, the second connecting rod, the first supporting piece, the connecting rod and the crank are all provided with at least two connecting through holes with the same size.
As a further improvement of the present utility model, the first support member is identical in structure to the second support member.
As a further improvement of the utility model, the first connecting rod is shaped like a Chinese character 'yi'.
As a further improvement of the utility model, the fixed shaft is positioned above the transmission shaft, and the length of the first supporting leg component is longer than that of the second supporting leg component.
As a further development of the utility model, a drive bevel gear is fixed to the drive shaft, on which drive bevel gear the drive engages.
The utility model has the advantages that:
1. the crawling mechanism occupies one quarter of the equipment, namely the whole equipment is provided with eight supporting leg assemblies in total, the first supporting leg assembly is rotationally connected to the crank, so that the first supporting leg assembly is driven to switch between a first motion state and a second motion state when the crank rotates, the first supporting leg assembly drives the second supporting leg assembly to switch between the first motion state and the second motion state through the connecting rod when the first supporting leg assembly swings, one end of the second supporting leg assembly is rotationally connected to the fixed shaft, the first supporting leg assembly is rotationally connected to the fixed shaft through the swinging rod, and the swinging rod, the first supporting leg assembly, the connecting rod and the second supporting leg assembly are connected to form a quadrilateral structure, so that the swinging track is determined; the fixed shaft provides supporting force and reduces the degree of freedom to limit the swing amplitude; the ground supporting of the double-support leg structure can greatly improve the stability of walking; the frame can be the body of a crab toy, the body of other toys or other equipment needing to walk.
2. The power of the second supporting leg assembly is derived from the connecting rod, so that the second supporting piece can be carried to swing together when the first supporting piece swings.
3. The length of connection between the third connecting rod and the fixed shaft is adjusted by the extension rod, so that the swing route of the second supporting leg assembly can be adjusted.
4. The detachable connection realizes the interchangeability of various parts.
5. The setting of connecting through-hole can make extension rod, no. three connecting rods, no. two support pieces, pendulum rod, no. one connecting rod, no. two connecting rods, no. one support piece, connecting rod and crank adjust different length according to the demand, also can adjust the height of bracing piece to adjust the height of whole equipment.
6. The length is long and short, one foot is in front and one foot is behind in the partial process of walking to can dismantle the connection setting, the supporting leg subassembly is No. one and No. two supporting leg subassemblies are controlled a distance apart, improves the stability of walking.
Drawings
FIG. 1 is a schematic view of the structure of the inorganic frame of the present utility model;
FIG. 2 is a schematic view of a portion of the structure of the present utility model in a second motion state;
FIG. 3 is a side view of a portion of the structure of the present utility model in a first state of motion;
fig. 4 is a side view of a portion of the structure of the present utility model in a second motion state.
Detailed Description
The technical scheme of the present utility model will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear …) in the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly. Furthermore, the description of "preferred," "less preferred," and the like, herein is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "preferred", "less preferred" may include at least one such feature, either explicitly or implicitly.
Referring to fig. 1 to 4, the utility model provides a crawling mechanism of a robot, which comprises a frame, a transmission shaft 1 rotatably connected to the frame and a fixed shaft 2 fixedly connected to the frame, wherein a crank 3 and a driver 5 capable of driving the transmission shaft 1 and the crank 3 to rotate together are fixedly connected to the transmission shaft 1;
the crawling mechanism further comprises a first supporting leg assembly 61 and a swing rod 63 rotatably connected to the fixed shaft 2, wherein the first supporting leg assembly 61 comprises a first connecting part 6111 rotatably connected to the swing rod 63, a second connecting part 6131 rotatably connected to the crank 3 and a first supporting member 612 for contacting the ground;
the crawling mechanism further comprises a connecting rod 7 and a second supporting leg assembly 8 which is rotatably connected to the fixed shaft 2, one end of the connecting rod 7 is rotatably connected to the second supporting leg assembly 8, the other end of the connecting rod is rotatably connected to the first supporting leg assembly 61, and the second supporting leg assembly 8 comprises a second supporting piece 82 for contacting the ground;
the swing rod 63, the first supporting leg assembly 61, the connecting rod 7 and the second supporting leg assembly 8 are sequentially connected to form a quadrilateral structure so as to drive the first supporting piece 612 and the second supporting piece 82 to swing back and forth when the crank 3 rotates; the crawling mechanism occupies one quarter of the equipment, namely eight supporting leg assemblies are shared by the whole equipment, the first supporting leg assembly 61 is rotationally connected to the crank 3, so that the first supporting leg assembly 61 is driven to switch between a first motion state and a second motion state when the crank 3 rotates, the first supporting leg assembly 61 drives the second supporting leg assembly 8 to switch between the first motion state and the second motion state through the connecting rod 7 when the first supporting leg assembly 61 swings, one end of the second supporting leg assembly 8 is rotationally connected to the fixed shaft 2, the first supporting leg assembly 61 is rotationally connected to the fixed shaft 2 through the swinging rod 63, and the swinging rod 63, the first supporting leg assembly 61, the connecting rod 7 and the second supporting leg assembly 8 are connected to form a quadrilateral structure, so that the swinging track is determined; the fixed shaft 2 provides supporting force and reduces the degree of freedom to limit the swing amplitude; the ground supporting of the double-support leg structure can greatly improve the stability of walking; the frame can be the body of a crab toy, the body of other toys or other equipment needing to walk.
It should be noted that the first movement state of fig. 3 refers to a general state, and does not mean that the movement of fig. 3 is a movement when contacting the ground, and similarly, the second movement state of fig. 4 is not a movement when contacting the ground, and both the first support leg assembly 61 and the second support leg assembly 8 can contact the ground at the same time.
Referring to fig. 1 to 4, the first supporting leg assembly 61 further includes a first connecting rod 613 rotatably connected to the crank 3 and a second connecting rod 611 fixedly connected to the first connecting rod 613, the first supporting member 612 is fixedly connected to one end of the second connecting rod 611, and the swing link 63 is rotatably connected to the other end of the second connecting rod 611.
Referring to fig. 1 to 4, the second supporting leg assembly 8 further includes a third connecting rod 81 having one end rotatably connected to the fixed shaft 2, the second supporting member 82 is fixedly connected to the other end of the third connecting rod 81, one end of the connecting rod 7 is rotatably connected to the second connecting rod 611, and the other end is rotatably connected to the third connecting rod 81; the power of the second support leg assembly 8 is derived from the connecting rod 7, so that the first support leg assembly 61 swings together with the second support leg assembly 8.
Referring to fig. 1 to 4, an extension rod 83 is fixed to a third connecting rod 81, and the third connecting rod 81 is rotatably connected to the fixed shaft 2 through the extension rod 83; an extension rod 83 is arranged to adjust the connection length of the third connecting rod 81 and the fixed shaft 2, and the swing route of the second supporting leg assembly 8 can be adjusted.
Referring to fig. 1 to 4, the extension rod 83, the third connecting rod 81, the second supporting member 82, the swing link 63, the first connecting rod 613, the second connecting rod 611, the first supporting member 612, the connecting rod 7, and the crank 3 are detachably connected; the detachable connection realizes the interchangeability of various parts.
Referring to fig. 1 to 4, the extension rod 83, the third connecting rod 81, the second supporting member 82, the swing rod 63, the first connecting rod 613, the second connecting rod 611, the first supporting member 612, the connecting rod 7 and the crank 3 are provided with at least two connecting through holes 9 with the same size; the setting of connecting through-hole 9 can make extension rod 83, no. three connecting rod 81, no. two support piece 82, pendulum rod 63, no. one connecting rod 613, no. two connecting rods 611, no. one support piece 612, connecting rod 7 and crank 3 adjust different length according to the demand, also can adjust the height of bracing piece to adjust the height of whole equipment.
Referring to fig. 1-4, support number one 612 is identical in structure to support number two 82.
Referring to fig. 1-4, the first connecting rod 613 is 7-shaped.
Referring to fig. 1 to 4, the fixed shaft 2 is positioned above the driving shaft 1, and the length of the first supporting leg assembly 61 is greater than that of the second supporting leg assembly 8; the length-length arrangement can be in the partial process of walking, one foot is in the front, one foot is in the back, and the detachable connection arrangement is that the first supporting leg assembly 61 and the second supporting leg assembly 8 are left and right separated by a distance, so that the walking stability is improved.
Referring to fig. 1 to 4, a drive bevel gear 11 is fixed to the drive shaft 1, and the driver 5 is engaged with the drive bevel gear 11.
The foregoing description of the preferred embodiments of the present utility model should not be construed as limiting the scope of the utility model, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the utility model as defined by the following description and drawings or any application directly or indirectly to other relevant art(s).
Claims (10)
1. The crawling mechanism of the robot is characterized by comprising a frame, a transmission shaft (1) rotatably connected to the frame and a fixed shaft (2) fixedly connected to the frame, wherein a crank (3) and a driver (5) capable of driving the transmission shaft (1) and the crank (3) to rotate together are fixedly connected to the transmission shaft (1);
the crawling mechanism further comprises a first supporting leg assembly (61) and a swing rod (63) rotatably connected to the fixed shaft (2), wherein the first supporting leg assembly (61) comprises a first connecting part (6111) rotatably connected to the swing rod (63), a second connecting part (6131) rotatably connected to the crank (3) and a first supporting piece (612) for contacting the ground;
the crawling mechanism further comprises a connecting rod (7) and a second supporting leg assembly (8) which is rotatably connected to the fixed shaft (2), one end of the connecting rod (7) is rotatably connected to the second supporting leg assembly (8), the other end of the connecting rod is rotatably connected to the first supporting leg assembly (61), and the second supporting leg assembly (8) comprises a second supporting piece (82) which is used for contacting the ground;
the swing rod (63), the first supporting leg assembly (61), the connecting rod (7) and the second supporting leg assembly (8) are sequentially connected to form a quadrilateral structure, so that the first supporting piece (612) and the second supporting piece (82) are driven to swing back and forth when the crank (3) rotates.
2. The crawling mechanism of a robot according to claim 1, characterized in that the first supporting leg assembly (61) further comprises a first connecting rod (613) rotatably connected to the crank (3) and a second connecting rod (611) fixedly connected to the first connecting rod (613), the first supporting member (612) is fixedly connected to one end of the second connecting rod (611), and the swinging rod (63) is rotatably connected to the other end of the second connecting rod (611).
3. The crawling mechanism of a robot according to claim 2, wherein the second supporting leg assembly (8) further comprises a third connecting rod (81) with one end rotatably connected to the fixed shaft (2), the second supporting member (82) is fixedly connected to the other end of the third connecting rod (81), one end of the connecting rod (7) is rotatably connected to the second connecting rod (611), and the other end of the connecting rod is rotatably connected to the third connecting rod (81).
4. A crawling mechanism of a robot according to claim 3, characterized in that the third connecting rod (81) is fixed with an extension rod (83), and the third connecting rod (81) is rotatably connected to the fixed shaft (2) through the extension rod (83).
5. The crawling mechanism of a robot according to claim 4, characterized in that the extension rod (83), the third connecting rod (81), the second supporting member (82), the swing rod (63), the first connecting rod (613), the second connecting rod (611), the first supporting member (612), the connecting rod (7) and the crank (3) are all detachably connected.
6. The crawling mechanism of a robot according to claim 4, characterized in that the extension rod (83), the third connecting rod (81), the second supporting member (82), the swing rod (63), the first connecting rod (613), the second connecting rod (611), the first supporting member (612), the connecting rod (7) and the crank (3) are all provided with at least two connecting through holes (9) with the same size.
7. A crawling mechanism for a robot according to claim 3, characterized in that said first support (612) is of the same structure as said second support (82).
8. The crawling mechanism of a robot according to claim 2, characterized in that said first connecting rod (613) is 7-shaped.
9. The crawling mechanism of a robot according to claim 1, characterized in that said fixed shaft (2) is located above said transmission shaft (1), and the length of said first supporting leg assembly (61) is greater than the length of said second supporting leg assembly (8).
10. A crawling mechanism of a robot according to claim 1, characterized in that a transmission bevel gear (11) is fixed on said transmission shaft (1), said drive (5) being engaged on said transmission bevel gear (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322126441.3U CN220391378U (en) | 2023-08-09 | 2023-08-09 | Crawling mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322126441.3U CN220391378U (en) | 2023-08-09 | 2023-08-09 | Crawling mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220391378U true CN220391378U (en) | 2024-01-26 |
Family
ID=89610195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322126441.3U Active CN220391378U (en) | 2023-08-09 | 2023-08-09 | Crawling mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220391378U (en) |
-
2023
- 2023-08-09 CN CN202322126441.3U patent/CN220391378U/en active Active
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