CN2892621Y - Six-feet robot - Google Patents
Six-feet robot Download PDFInfo
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- CN2892621Y CN2892621Y CN 200520046605 CN200520046605U CN2892621Y CN 2892621 Y CN2892621 Y CN 2892621Y CN 200520046605 CN200520046605 CN 200520046605 CN 200520046605 U CN200520046605 U CN 200520046605U CN 2892621 Y CN2892621 Y CN 2892621Y
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- quarter butt
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Abstract
The utility model relates to a six-leg robot belonging to the technical field of robot toy. The robot is composed of a baseplate and six legs. The baseplate is provided with battery case, switch and motor drive device. Two five-connecting-rod link mechanisms are positioned on the two sides of the baseplate respectively. The link mechanism is connected with the two ends of the drive shaft of the motor drive device via two cranks. The ends of the six connecting rods in the link mechanism are the six legs of the robot. If the robot stands on a table, then the drive shaft, two cranks and two link mechanisms form crank-connecting rod mechanism which converts the rotation of the drive shaft into the repeated swing of the six connecting rods and the six legs swing back and forth so that the robot can move forward step by step. The robot is a labor fabrication which is simple, interesting and contains rich scientific principles. The robot is particularly suitable to be used as the labor fabrication in the labor skill course of the middle school.
Description
Technical field
The utility model relates to a kind of six pin robots, belongs to robot toy's technical field.
Background technology
Middle school student's learning tasks are heavy, are engaged in the labor skill training seldom if having time.The middle school labour-skill lesson is intended to cultivate middle school student to be grasped the ABC of instrument and grasps the basic skills that serviceable tool is finished labour-skill making.Because this basic skills are links in the innovation and creation process, have only and grasped this basic skills, could change the innovation conception that is stored in the brains into reality, therefore, the middle school labour-skill lesson is an important course equally.For adapting to the actual conditions in present middle school, be elected to be that the labour-skill making of labour-skill lesson teaching material is essential to satisfy three requirements: simple in structure, take time less when being convenient to the student and making; Interesting strong, can evoke student's curiosity and interest; Contain abundant the principles of science, the student can help the student to consolidate and uses the knowledge of acquiring from the natural sciences subject when playing his/her fruit of labour, and to " residence is taught in playing ", easily the target of study is drawn close.
But with regard to present case, the labour-skill making that can satisfy above-mentioned requirements lacks very much.
Summary of the invention
The technical problems to be solved in the utility model is to release a kind of six pin robots, and this robot can carry out six business concern operating a porters' service under the driving of electrical motor walks, and is a kind of simple in structure, interesting strong and contain the labour-skill making of abundant the principles of science.
The technical solution adopted in the utility model is that this robot is made up of substrate and six pin, battery case, switch and motor driver are installed on the substrate, the both sides of substrate are separately installed with the connecting rod mechanism of two group of five connecting rod, this connecting rod mechanism is connected with the two axial ends of the driving rotating shaft of motor driver respectively by two cranks, and the bottom of the six roots of sensation connecting rod in this connecting rod mechanism is six pin of this robot.As allow this robotic station stand on the desk, drive rotating shaft, two cranks and two groups of connecting rod mechanisms so and constitute the reciprocally swinging that replaces that rotation that crank-link mechanism will drive rotating shaft converts two groups of six roots of sensation connecting rods in the connecting rod mechanism to, make six pin replace reciprocally swinging, this robot is walking forward length by length just thereupon.
Now be described with reference to the accompanying drawings the technical solution of the utility model.
A kind of six pin robots, contain substrate 4, switch 41, battery case 42, motor driver 43, drive rotating shaft 44, left side crank 46, right crank 45, left side stock 1 and right stock 7, motor driver 43 is electric motor driven reducing gearboxs, the mode that motor driver 43 stretches out from the middle part of substrate 4 with two axle heads that drive rotating shaft 44 is fixed on the lower surface of substrate 4, switch 41 and battery case 42 are fixed on the upper surface of substrate 4, the two ends of left side stock 1 have left front hole and left back hole, the two ends of right stock 7 have right front hole and right back hole, left side stock 1 and right stock 7 are glued to the left side and the right side of substrate 4 respectively, left side crank 46 and right crank 45 are individually fixed in left axle head and the right axle head that drives rotating shaft 44 in the mode of moving towards opposite and frictional connection, it is characterized in that, it also contains left first quarter butt 85, a left side second quarter butt 81, a left side the 3rd quarter butt 82, a left side the 4th quarter butt 10, a left side the 5th quarter butt 15, right first quarter butt 86, right second quarter butt 83, right the 3rd quarter butt 84, right the 4th quarter butt 70, right the 5th quarter butt 75, left limit frame 11 and right limit frame 71, a left side first quarter butt 85, a left side second quarter butt 81, a left side the 3rd quarter butt 82, right first quarter butt 86, the middle part and an end of right second quarter butt 83 and right the 3rd quarter butt 84 are porose, a left side the 4th quarter butt 10, a left side the 5th quarter butt 15, the two ends of right the 4th quarter butt 70 and right the 5th quarter butt 75 are porose, left limit frame 11 is by first bolt 12, first lasso 13, the middle part that the installation seam road of left limit frame 11 and first nut 14 are fixed in left stock 1, right limit frame 71 is by second bolt 72, second lasso 73, the middle part that the installation seam road of right limit frame 71 and second nut 74 are fixed on right stock 7, a left side second quarter butt 81 is with its porose end, promptly the upper end stretch into left limit frame 11 limitting casing mode and by first thread-forming screw 191, the hole of a left side the 4th quarter butt 10 1 ends, the eccentric orfice that the hole at second quarter butt, 81 middle parts, a left side and first lasso 145 are fixed in left crank 46, right second quarter butt 83 is with its porose end, promptly the upper end stretch into right limit frame 71 limitting casing mode and by second thread-forming screw 192, the hole of right the 4th quarter butt 70 1 ends, the eccentric orfice that the hole at right second quarter butt 83 middle parts and second lasso 146 are fixed in right crank 45, a left side the 3rd quarter butt 82 is by the 3rd bolt 102, the hole at the 3rd quarter butt 82 middle parts, a left side, the second double end lasso 202 and the 3rd nut 37 are fixed in the left back hole of left stock 1, a left side the 4th quarter butt 10 is by the 4th bolt 22, the 3rd lasso 142, the hole of a left side the 4th quarter butt 10 other ends, the hole of the 3rd quarter butt 82 upper ends, a left side is connected with a left side the 3rd quarter butt 82 with the 4th nut 32, right the 3rd quarter butt 84 is by the 5th bolt 104, the hole at right second quarter butt 84 middle parts, the 4th double end lasso 204 and the 5th nut 38 are fixed in the right back hole of right stock 7, right the 4th quarter butt 70 is by the 6th bolt 24, quadruplet circle 144, the hole of right the 4th quarter butt 70 other ends, the hole of right the 3rd quarter butt 84 upper ends is connected with a left side the 3rd quarter butt 84 with the 6th nut 32, a left side first quarter butt 85 is by the 7th bolt 101, the hole at first quarter butt, 85 middle parts, a left side, the first double end lasso 201 and the 7th nut 47 are fixed in the left front hole of left stock 1, right first quarter butt 86 is by the 8th bolt 103, the hole at right first quarter butt 86 middle parts, the 3rd double end lasso 203 and the 8th nut 48 are fixed in the right front hole of right stock 7, a left side the 5th quarter butt 15 is by the 9th bolt 21, the 5th lasso 141, the hole of second quarter butt, 81 upper ends, a left side, the hole of a left side the 5th quarter butt 15 1 ends is connected with left second quarter butt 81 with the 9th nut 31, right the 5th quarter butt 75 is by the tenth bolt 23, the 6th lasso 143, the hole of right second quarter butt 83 upper ends, the hole of right the 5th quarter butt 75 1 ends is connected with right second quarter butt 83 with the tenth nut 33, a left side the 5th quarter butt 15 is by the 11 bolt 25, the 7th lasso 147, the hole of first quarter butt, 85 upper ends, a left side, the hole of a left side the 5th quarter butt 15 other ends is connected with left first quarter butt 85 with the 11 nut 35, right the 5th quarter butt 75 is by the 12 bolt 26, the 8th lasso 148, the hole of right first quarter butt 86 upper ends, the hole of right the 5th quarter butt 75 other ends is connected left first quarter butt 85 with right first quarter butt 86 with the 12 nut 36, a left side second quarter butt 81, a left side the 3rd quarter butt 82, a left side the 4th quarter butt 10, a left side the 5th quarter butt 15, right first quarter butt 86, right second quarter butt 83, right the 3rd quarter butt 84, the lower end of right the 4th quarter butt 70 and right the 5th quarter butt 75 is respectively six pin: left front pin, pin in the left side, left back pin, right front pin, pin and right back pin in the right side.
The technical solution of the utility model is further characterized in that the lower end of left first quarter butt 85, left second quarter butt 81, a left side the 3rd quarter butt 82, a left side the 4th quarter butt 10, a left side the 5th quarter butt 15, right first quarter butt 86, right second quarter butt 83, right the 3rd quarter butt 84, right the 4th quarter butt 70 and right the 5th quarter butt 75 is inserted with the first rubber and plastic pin 221, the second rubber and plastic pin 222, the 3rd rubber and plastic pin 223, the 4th rubber and plastic pin 224, the 5th rubber and plastic pin 225 and the 6th rubber and plastic pin 226 respectively.
The utility model has following advantage:
Simple in structure, it is consuming time few to finish making; Interesting strong, when six business concern operating a porters' service were walked, step appearance vivid and interesting can evoke middle school student's curiosity and interest; Contain abundant the principles of science, increase the moment of torsion, the crank-link mechanism that drive rotating shaft as motor-driven, speed reduction gearing and change rotation into reciprocally swinging.The utility model is particularly suitable for being elected to be the labour-skill making of middle school labour-skill lesson teaching material.
Description of drawings
Fig. 1 is the decomposition texture scheme drawing of robot described in the utility model.
Fig. 2 is the outside drawing of robot described in the utility model.
The specific embodiment
Embodiment
Present embodiment has structure illustrated in figures 1 and 2 and profile.Below enumerate the main technical parameter of part in addition of present embodiment:
The manufactured materials of left side stock 1, right stock 7, left first quarter butt 85, left second quarter butt 81, a left side the 3rd quarter butt 82, a left side the 4th quarter butt 10, a left side the 5th quarter butt 15, right first quarter butt 86, right second quarter butt 83, right the 3rd quarter butt 84, right the 4th quarter butt 70, right the 5th quarter butt 75, left limit frame 11, right limit frame 71, left crank 46 and right crank 45 is ABS plastic;
Length, width and the thickness of left side stock 1 and right stock 7 are 160mm, 12mm and 1mm respectively;
Distance between distance between left front hole and the left back hole and right front hole and the right back hole is 150mm;
Length, width and the thickness of a left side first quarter butt 85, left second quarter butt 81, a left side the 3rd quarter butt 82, a left side the 4th quarter butt 10, a left side the 5th quarter butt 15, right first quarter butt 86, right second quarter butt 83, right the 3rd quarter butt 84, right the 4th quarter butt 70, right the 5th quarter butt 75 are 86mm, 12mm and 1mm respectively;
The eccentric throw of left side crank 46 and right crank 45 is 15mm;
The size of all bolts, nut, double end lasso, lasso and thread-forming screw all is complementary with the corresponding hole that they are installed separately;
Adorn No. 5 dry storage batterys of two joints in the battery case 42.
Principle of work.
Robot described in the utility model is placed on the desk, its six pin, pin, right back pin in pin, left back pin, right front pin, the right side in left front pin, the left side, stand on the table in the lower end that promptly is inserted with the first rubber and plastic pin 221, the second rubber and plastic pin 222, the 3rd rubber and plastic pin 223, the 4th rubber and plastic pin 224, the 5th rubber and plastic pin 225 and a left side first quarter butt 85 of the 6th rubber and plastic pin 226, left second quarter butt 81, a left side the 3rd quarter butt 82 right first quarter butts 86, right second quarter butt 83, right the 3rd quarter butt 84 respectively.Open switch 41, work under motor driver 43 No. 5 dry cell power supplies of two joints in battery case 42, the electrical motor high speed revolution, motor driver 43 slows down by reducing gear, makes the rotating speed that drives rotating shaft 44 be kept to 120～180rpm.Low speed rotation, driving rotating shaft 44 with huge moment of torsion drives the connecting rod mechanism of two group of five connecting rod respectively by left crank 46 and right crank 45, drive rotating shaft 44, left side crank 46, the connecting rod mechanism of right crank 45 and two group of five connecting rod constitutes crank-link mechanism, the rotation that this mechanism will drive rotating shaft 44 converts six roots of sensation connecting rod in the connecting rod mechanism of two group of five connecting rod to: left first quarter butt 85, a left side second quarter butt 81, a left side the 3rd quarter butt 82 right first quarter butts 86, right second quarter butt 83, the alternately reciprocally swinging of right the 3rd quarter butt 84, six pin: the first rubber and plastic pin 221, the second rubber and plastic pin 222, the 3rd rubber and plastic pin 223, the 4th rubber and plastic pin 224, the 5th rubber and plastic pin 225 and the 6th rubber and plastic pin 226 replace reciprocally swinging thereupon, and this robot is walking forward length by length just.
Claims (3)
1, a kind of six pin robots, contain substrate (4), switch (41), battery case (42), motor driver (43), drive rotating shaft (44), left side crank (46), right crank (45), left side stock (1) and right stock (7), motor driver (43) is electric motor driven reducing gearbox, the mode that motor driver (43) stretches out from the middle part of substrate (4) with two axle heads that drive rotating shaft (44) is fixed on the lower surface of substrate (4), switch (41) and battery case (42) are fixed on the upper surface of substrate (4), the two ends of left side stock (1) have left front hole and left back hole, the two ends of right stock (7) have right front hole and right back hole, left side stock (1) and right stock (7) are glued to the left side and the right side of substrate (4) respectively, left side crank (46) and right crank (45) are individually fixed in left axle head and the right axle head that drives rotating shaft (44) in the mode of moving towards opposite and frictional connection, it is characterized in that, it also contains left first quarter butt (85), a left side second quarter butt (81), a left side the 3rd quarter butt (82), a left side the 4th quarter butt (10), a left side the 5th quarter butt (15), right first quarter butt (86), right second quarter butt (83), right the 3rd quarter butt (84), right the 4th quarter butt (70), right the 5th quarter butt (75), left limit frame (11) and right limit frame (71), a left side first quarter butt (85), a left side second quarter butt (81), a left side the 3rd quarter butt (82), right first quarter butt (86), the middle part and an end of right second quarter butt (83) and right the 3rd quarter butt (84) are porose, a left side the 4th quarter butt (10), a left side the 5th quarter butt (15), the two ends of right the 4th quarter butt (70) and right the 5th quarter butt (75) are porose, left limit frame (11) is by first bolt (12), first lasso (13), the middle part that the installation seam road of left limit frame (11) and first nut (14) are fixed in left stock (1), right limit frame (71) is by second bolt (72), second lasso (73), the middle part that the installation seam road of right limit frame (71) and second nut (74) are fixed on right stock (7), a left side second quarter butt (81) is with its porose end, promptly the upper end stretch into left limit frame (11) limitting casing mode and by first thread-forming screw 191, the hole of a left side the 4th quarter butt 10 1 ends, the eccentric orfice that the hole at a left side second quarter butt (81) middle part and first lasso (145) are fixed in left crank (46), right second quarter butt (83) is with its porose end, promptly the upper end stretch into right limit frame (71) limitting casing mode and by second thread-forming screw (192), the hole of right the 4th quarter butt (70) one ends, the eccentric orfice that the hole at right second quarter butt (83) middle part and second lasso (146) are fixed in right crank (45), a left side the 3rd quarter butt (82) is by the 3rd bolt (102), the hole at a left side the 3rd quarter butt (82) middle part, the second double end lasso (202) and the 3rd nut (37) are fixed in the left back hole of left stock (1), a left side the 4th quarter butt (10) is by the 4th bolt (22), the 3rd lasso (142), the hole of a left side the 4th quarter butt (10) other end, the hole of a left side the 3rd quarter butt (82) upper end is connected with a left side the 3rd quarter butt (82) with the 4th nut (32), right the 3rd quarter butt (84) is by the 5th bolt (104), the hole at right second quarter butt (84) middle part, the 4th double end lasso (204) and the 5th nut (38) are fixed in the right back hole of right stock (7), right the 4th quarter butt (70) is by the 6th bolt (24), quadruplet circle (144), the hole of right the 4th quarter butt (70) other end, the hole of right the 3rd quarter butt (84) upper end is connected with a left side the 3rd quarter butt (84) with the 6th nut (32), a left side first quarter butt (85) is by the 7th bolt (101), the hole at a left side first quarter butt (85) middle part, the first double end lasso (201) and the 7th nut (47) are fixed in the left front hole of left stock (1), right first quarter butt (86) is by the 8th bolt (103), the hole at right first quarter butt (86) middle part, the 3rd double end lasso (203) and the 8th nut (48) are fixed in the right front hole of right stock (7), a left side the 5th quarter butt (15) is by the 9th bolt (21), the 5th lasso (141), the hole of a left side second quarter butt (81) upper end, the hole of a left side the 5th quarter butt (15) one ends is connected with left second quarter butt (81) with the 9th nut (31), right the 5th quarter butt (75) is by the tenth bolt (23), the 6th lasso (143), the hole of right second quarter butt (83) upper end, the hole of right the 5th quarter butt (75) one ends is connected with right second quarter butt (83) with the tenth nut (33), a left side the 5th quarter butt (15) is by the 11 bolt (25), the 7th lasso (147), the hole of a left side first quarter butt (85) upper end, the hole of a left side the 5th quarter butt (15) other end is connected with left first quarter butt (85) with the 11 nut (35), right the 5th quarter butt (75) is by the 12 bolt (26), the 8th lasso (148), the hole of right first quarter butt (86) upper end, the hole of right the 5th quarter butt (75) other end is connected left first quarter butt (85) with right first quarter butt (86) with the 12 nut (36), a left side second quarter butt (81), a left side the 3rd quarter butt (82), a left side the 4th quarter butt (10), a left side the 5th quarter butt (15), right first quarter butt (86), right second quarter butt (83), right the 3rd quarter butt (84), the lower end of right the 4th quarter butt (70) and right the 5th quarter butt (75) is respectively six pin: left front pin, pin in the left side, left back pin, right front pin, pin and right back pin in the right side.
2, six pin robots according to claim 1, it is characterized in that the lower end of left first quarter butt (85), left second quarter butt (81), a left side the 3rd quarter butt (82), a left side the 4th quarter butt (10), a left side the 5th quarter butt (15), right first quarter butt (86), right second quarter butt (83), right the 3rd quarter butt (84), right the 4th quarter butt (70) and right the 5th quarter butt (75) is inserted with the first rubber and plastic pin (221), the second rubber and plastic pin (222), the 3rd rubber and plastic pin (223), the 4th rubber and plastic pin (224), the 5th rubber and plastic pin (225) and the 6th rubber and plastic pin (226) respectively.
3, six pin robots according to claim 1 is characterized in that, below enumerate the main technical parameter of part in addition of this robot:
The manufactured materials of left side stock (1), right stock (7), left first quarter butt (85), left second quarter butt (81), a left side the 3rd quarter butt (82), a left side the 4th quarter butt (10), a left side the 5th quarter butt (15), right first quarter butt (86), right second quarter butt (83), right the 3rd quarter butt (84), right the 4th quarter butt (70), right the 5th quarter butt (75), left limit frame (11), right limit frame (71), left crank (46) and right crank (45) is an ABS plastic;
Length, width and the thickness of left side stock (1) and right stock (7) are 160mm, 12mm and 1mm respectively;
Distance between distance between left front hole and the left back hole and right front hole and the right back hole is 150mm;
Length, width and the thickness of a left side first quarter butt (85), left second quarter butt (81), a left side the 3rd quarter butt (82), a left side the 4th quarter butt (10), a left side the 5th quarter butt (15), right first quarter butt (86), right second quarter butt (83), right the 3rd quarter butt (84), right the 4th quarter butt (70), right the 5th quarter butt (75) are 86mm, 12mm and 1mm respectively;
The eccentric throw of left side crank (46) and right crank (45) is 15mm;
The size of all bolts, nut, double end lasso, lasso and thread-forming screw all is complementary with the corresponding hole that they are installed separately;
Motor driver (43) is electric motor driven reducing gearbox, and the rotating speed that drives rotating shaft (44) is 120～180rpm;
Adorn No. 5 dry storage batterys of two joints in the battery case (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520046605 CN2892621Y (en) | 2005-11-17 | 2005-11-17 | Six-feet robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520046605 CN2892621Y (en) | 2005-11-17 | 2005-11-17 | Six-feet robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2892621Y true CN2892621Y (en) | 2007-04-25 |
Family
ID=38060787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520046605 Expired - Fee Related CN2892621Y (en) | 2005-11-17 | 2005-11-17 | Six-feet robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2892621Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN103612686A (en) * | 2013-12-10 | 2014-03-05 | 罗定职业技术学院 | Six-foot upright walking robot |
| CN103661664A (en) * | 2012-09-07 | 2014-03-26 | 南京理工大学 | Transfer case type control multi-leg walking machine |
| CN104973161A (en) * | 2015-07-10 | 2015-10-14 | 陕西九立机器人制造有限公司 | Leg structure of leg robot |
| CN107393407A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | It is a kind of to assemble method of the teaching with emulation machine grasshopper |
| CN108464776A (en) * | 2016-03-16 | 2018-08-31 | 烟台民望机电技术有限公司 | A kind of workshop automatic cleaning equipment |
| CN110641573A (en) * | 2019-10-29 | 2020-01-03 | 北京航空航天大学 | Closed-chain single-degree-of-freedom five-rod leg mechanism |
-
2005
- 2005-11-17 CN CN 200520046605 patent/CN2892621Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN102107685B (en) * | 2011-01-12 | 2012-09-26 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN103661664A (en) * | 2012-09-07 | 2014-03-26 | 南京理工大学 | Transfer case type control multi-leg walking machine |
| CN103661664B (en) * | 2012-09-07 | 2016-01-20 | 南京理工大学 | Partition type controls polypody walking machine |
| CN103612686A (en) * | 2013-12-10 | 2014-03-05 | 罗定职业技术学院 | Six-foot upright walking robot |
| CN103612686B (en) * | 2013-12-10 | 2016-01-27 | 罗定职业技术学院 | A kind of six sufficient vertical type walking robots |
| CN104973161A (en) * | 2015-07-10 | 2015-10-14 | 陕西九立机器人制造有限公司 | Leg structure of leg robot |
| CN108464776A (en) * | 2016-03-16 | 2018-08-31 | 烟台民望机电技术有限公司 | A kind of workshop automatic cleaning equipment |
| CN107393407A (en) * | 2016-05-16 | 2017-11-24 | 江苏凯特伦光电科技有限公司 | It is a kind of to assemble method of the teaching with emulation machine grasshopper |
| CN110641573A (en) * | 2019-10-29 | 2020-01-03 | 北京航空航天大学 | Closed-chain single-degree-of-freedom five-rod leg mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |