CN2915201Y - M-shape quadruped robot - Google Patents
M-shape quadruped robot Download PDFInfo
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- CN2915201Y CN2915201Y CN 200520046582 CN200520046582U CN2915201Y CN 2915201 Y CN2915201 Y CN 2915201Y CN 200520046582 CN200520046582 CN 200520046582 CN 200520046582 U CN200520046582 U CN 200520046582U CN 2915201 Y CN2915201 Y CN 2915201Y
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- quarter butt
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- crank
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Abstract
The utility model related to a robot with four feet of 'M' shape pertaining to the technology field of robot toy. The robot consists of a body and four feet. A battery case, a switch and a driving motor are installed in the body. Two groups of 'M' shaped connecting rod mechanisms are installed on the both side of the body respectively. The connecting rod mechanisms connect with two ends of driving shaft of driving motor thru two cranks. Four bottom end of the connecting rod mechanisms are acting as the feet of the robot. The driving shaft, two crank and two groups of 'M' shaped connecting rod mechanism form a crank-rod mechanism. This mechanism is used to convert the rotational motion of driving shaft to the reciprocating and alternate movement of four rods of the 'M' shaped connecting rod mechanism to drive four feet reciprocating and alternate wag, pace forward step by step. The robot has the advantages of simply structure, interesting, containing lots of scientific principles, which is suitable for secondary school students to take as a labor technique work.
Description
Technical field
The utility model relates to a kind of M shape quadruped robot, 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 tool using 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 M shape quadruped robot, and this robot can carry out four business concern operating a porters' service under the driving of 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 body and four pin, battery case, switch and motor driver are installed on the body, the both sides of body are separately installed with two groups of M shape linkages, this linkage is connected with the two ends of the driving rotating shaft of motor driver respectively by two cranks, and the bottom of four connecting rods in this linkage is four pin of this robot.Drive rotating shaft, two cranks and two groups of M shape linkages and constitute crank-link mechanism, the rotation that this mechanism will drive rotating shaft converts the alternately reciprocally swinging of two groups of four connecting rods in the M shape linkage to, make four pin alternately reciprocally swinging, walking forward length by length thereupon of this robot.
Now be described with reference to the accompanying drawings the technical solution of the utility model.
A kind of M shape quadruped robot, contain body, body contains 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 reduction gear boxes, the mode that motor driver 43 stretches out from the middle part with two axle heads that drive rotating shaft 44 is fixed on the upper surface of substrate 4, switch 41 and battery case 42 are fixed on the lower 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 separately fixed at the left side and the right side of substrate 4, left side crank 46 and right crank 45 are individually fixed in left end and the right-hand member that drives rotating shaft 44 to move towards opposite with the friction ways of connecting, it is characterized in that, it also contains left first quarter butt 81, a left side the 4th quarter butt 82, right first quarter butt 83, right the 4th quarter butt 84, a left side second quarter butt 85, a left side the 3rd quarter butt 86, right second quarter butt 87 and right the 3rd quarter butt 88, a left side first quarter butt 81, a left side the 4th quarter butt 82, the middle part and an end of right first quarter butt 83 and right the 4th quarter butt 84 are porose, a left side second quarter butt 85, a left side the 3rd quarter butt 86, the two ends of right second quarter butt 87 and right the 3rd quarter butt 88 are porose, a left side first quarter butt 81 is by first bolt 101, the hole at first quarter butt, 81 middle parts, a left side, the first double end lasso 201 and first nut 35 are fixed in the left front hole of left stock 1, a left side the 4th quarter butt 82 is by second bolt 102, the hole at the 4th quarter butt 82 middle parts, a left side, the second double end lasso 202 and second nut 36 are fixed in the left back hole of left stock 1, right first quarter butt 83 is by the 3rd bolt 103, the hole at right first quarter butt 83 middle parts, the 3rd double end lasso 203 and the 3rd nut 37 are fixed in the right front hole of right stock 7, right the 4th quarter butt 84 is by the 3rd bolt 104, the hole at right the 4th quarter butt 84 middle parts, the 4th double end lasso 204 and the 4th nut 38 are fixed in the right back hole of right stock 7, a left side second quarter butt 85 is by the 5th bolt 21, first lasso 141, the hole that the hole of a left side second quarter butt, 85 1 ends and the 5th nut 31 are fixed in left first quarter butt, 81 1 ends, a left side the 3rd quarter butt 86 is by the 6th bolt 22, second lasso 142, the hole of a left side the 3rd quarter butt 86 1 ends and the 6th nut 32 are fixed in the hole of a left side the 4th quarter butt 82 1 ends, right second quarter butt 87 is by the 7th bolt 23, the 3rd lasso 143, the hole that the hole of right second quarter butt, 87 1 ends and the 7th nut 33 are fixed in right first quarter butt, 83 1 ends, right the 3rd quarter butt 88 is by the 8th bolt 24, quadruplet circle 144, the hole of right the 3rd quarter butt 88 1 ends and the 8th nut 34 are fixed in the hole of right the 4th quarter butt 84 1 ends, a left side second quarter butt 85 and a left side the 3rd quarter butt 86 are by first tapping screw 191, the 5th lasso 145, the eccentric orfice of left crank 46 is fixed in the hole of the hole of a left side second quarter butt, 85 other ends and a left side the 3rd quarter butt 86 other ends, right second quarter butt 87 and right the 3rd quarter butt 88 are by second tapping screw 192, the 6th lasso 146, the eccentric orfice of right crank 45 is fixed in the hole of the hole of right second quarter butt, 87 other ends and right the 3rd quarter butt 88 other ends, a left side first quarter butt 81, a left side second quarter butt 85, a left side the 3rd quarter butt 86, a left side the 4th quarter butt 82 and right first quarter butt 83, right second quarter butt 87, right the 3rd quarter butt 88, right the 4th quarter butt 84 constitutes two groups of M shape linkages respectively, left first quarter butt 81, a left side the 4th quarter butt 82, right first quarter butt 83, the lower end of right the 4th quarter butt 84 is respectively four pin: left front pin, left back pin, right front pin and right back pin.
The technical solution of the utility model is further characterized in that the lower end of left first quarter butt 81, a left side the 4th quarter butt 82, right first quarter butt 83 and right the 4th quarter butt 84 is inserted with the first rubber and plastic pin 221, the second rubber and plastic pin 222, the 3rd rubber and plastic pin 223 and the 4th rubber and plastic pin 224 respectively.
The utility model has following advantage:
Simple in structure, it is consuming time few to finish making; Interesting strong, when four 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, deceleration device 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 schematic diagram of robot described in the utility model.
Fig. 2 is the outline 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 81, a left side the 4th quarter butt 82, right first quarter butt 83, right the 4th quarter butt 84, left second quarter butt 85, a left side the 3rd quarter butt 86, right second quarter butt 87 and right the 3rd quarter butt 88 all is galvanized iron sheets;
The manufactured materials of left side 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 81, a left side the 4th quarter butt 82, right first quarter butt 83, right the 4th quarter butt 84, left second quarter butt 85, a left side the 3rd quarter butt 86, right second quarter butt 87 and right the 3rd quarter butt 88 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 tapping screw all is complementary with the corresponding hole that they are installed separately;
Adorn No. 5 dry cells of two joints in the battery case 42.
Operation principle.
Robot described in the utility model is placed on the desk, its four pin, left front pin, left back pin, right front pin, right back pin, stand on the table in the lower end that promptly is inserted with a left side first quarter butt 81 of the first rubber and plastic pin 221, the second rubber and plastic pin 222, the 3rd rubber and plastic pin 223 and the 4th rubber and plastic pin 224, left the 4th quarter butt 82, right first quarter butt 83, right the 4th 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, motor rotates at a high speed, and motor driver 43 slows down by reduction gearing, 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 two groups of M shape linkages respectively by left crank 46 and right crank 45, drive rotating shaft 44, left side crank 46, right crank 45 and two groups of M shape linkages constitute crank-link mechanism, the rotation that this mechanism will drive rotating shaft 44 converts a left side first quarter butt 81 of two groups of M shape linkages to, a left side the 4th quarter butt 82, right first quarter butt 83, the alternately reciprocally swinging of right the 4th quarter butt 84, four pin: the first rubber and plastic pin 221, the second rubber and plastic pin 222, the 3rd rubber and plastic pin 223 and the 4th rubber and plastic pin 224 replace reciprocally swinging thereupon, make the walking forward length by length of this robot.
Claims (3)
1, a kind of M shape quadruped robot, contain body, body contains 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 reduction gear box, the mode that motor driver (43) stretches out from the middle part with two axle heads that drive rotating shaft (44) is fixed on the upper surface of substrate (4), switch (41) and battery case (42) are fixed on the lower 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 separately fixed at the left side and the right side of substrate (4), left side crank (46) and right crank (45) are individually fixed in left end and the right-hand member that drives rotating shaft (44) to move towards opposite with the friction ways of connecting, it is characterized in that, it also contains left first quarter butt (81), a left side the 4th quarter butt (82), right first quarter butt (83), right the 4th quarter butt (84), a left side second quarter butt (85), a left side the 3rd quarter butt (86), right second quarter butt (87) and right the 3rd quarter butt (88), a left side first quarter butt (81), a left side the 4th quarter butt (82), the middle part and an end of right first quarter butt (83) and right the 4th quarter butt (84) are porose, a left side second quarter butt (85), a left side the 3rd quarter butt (86), the two ends of right second quarter butt (87) and right the 3rd quarter butt (88) are porose, a left side first quarter butt (81) is by first bolt (101), the hole at a left side first quarter butt (81) middle part, the first double end lasso (201) and first nut (35) are fixed in the left front hole of left stock (1), a left side the 4th quarter butt (82) is by second bolt (102), the hole at a left side the 4th quarter butt (82) middle part, the second double end lasso (202) and second nut (36) are fixed in the left back hole of left stock (1), right first quarter butt (83) is by the 3rd bolt (103), the hole at right first quarter butt (83) middle part, the 3rd double end lasso (203) and the 3rd nut (37) are fixed in the right front hole of right stock (7), right the 4th quarter butt (84) is by the 3rd bolt (104), the hole at right the 4th quarter butt (84) middle part, the 4th double end lasso (204) and the 4th nut (38) are fixed in the right back hole of right stock (7), a left side second quarter butt (85) is by the 5th bolt (21), first lasso (141), the hole that the hole of a left side second quarter butt (85) one ends and the 5th nut (31) are fixed in left first quarter butt (81) one ends, a left side the 3rd quarter butt (86) is by the 6th bolt (22), second lasso (142), the hole of a left side the 3rd quarter butt (86) one ends and the 6th nut (32) are fixed in the hole of a left side the 4th quarter butt (82) one ends, right second quarter butt (87) is by the 7th bolt (23), the 3rd lasso (143), the hole that the hole of right second quarter butt (87) one ends and the 7th nut (33) are fixed in right first quarter butt (83) one ends, right the 3rd quarter butt (88) is by the 8th bolt (24), quadruplet circle (144), the hole of right the 3rd quarter butt (88) one ends and the 8th nut (34) are fixed in the hole of right the 4th quarter butt (84) one ends, a left side second quarter butt (85) and a left side the 3rd quarter butt (86) are by first tapping screw (191), the 5th lasso (145), the eccentric orfice of left crank (46) is fixed in the hole of the hole of a left side second quarter butt (85) other end and a left side the 3rd quarter butt (86) other end, right second quarter butt (87) and right the 3rd quarter butt (88) are by second tapping screw (192), the 6th lasso (146), the eccentric orfice of right crank (45) is fixed in the hole of the hole of right second quarter butt (87) other end and right the 3rd quarter butt (88) other end, a left side first quarter butt (81), a left side second quarter butt (85), a left side the 3rd quarter butt (86), a left side the 4th quarter butt (82) and right first quarter butt (83), right second quarter butt (87), right the 3rd quarter butt (88), right the 4th quarter butt (84) constitutes two groups of M shape linkages, left first quarter butt (81) respectively, a left side the 4th quarter butt (82), right first quarter butt (83), the lower end of right the 4th quarter butt (84) is respectively four pin: left front pin, left back pin, right front pin and right back pin.
2, M shape quadruped robot according to claim 1, it is characterized in that the lower end of left first quarter butt (81), a left side the 4th quarter butt (82), right first quarter butt (83) and right the 4th quarter butt (84) is inserted with the first rubber and plastic pin (221), the second rubber and plastic pin (222), the 3rd rubber and plastic pin (223) and the 4th rubber and plastic pin (224) respectively.
3, M shape quadruped robot according to claim 1 and 2, it is characterized in that below enumerate the main technical parameter of part in addition of this robot: the manufactured materials of left stock (1), right stock (7), left first quarter butt (81), a left side the 4th quarter butt (82), right first quarter butt (83), right the 4th quarter butt (84), left second quarter butt (85), a left side the 3rd quarter butt (86), right second quarter butt (87) and right the 3rd quarter butt (88) all is galvanized iron sheets; The manufactured materials of left side 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 (81), a left side the 4th quarter butt (82), right first quarter butt (83), right the 4th quarter butt (84), left second quarter butt (85), a left side the 3rd quarter butt (86), right second quarter butt (87) and right the 3rd quarter butt (88) are 86mm, 12mm and 1mm respectively; The eccentric throw of left side crank (46) and right crank (45) is 16mm; The size of all bolts, nut, double end lasso, lasso and tapping screw all is complementary with the corresponding hole that they are installed separately; Motor driver (43) is electric motor driven reduction gear box, and the rotating speed that drives rotating shaft (44) is 120～180rpm; Adorn No. 5 dry cells of two joints in the battery case (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520046582 CN2915201Y (en) | 2005-11-16 | 2005-11-16 | M-shape quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520046582 CN2915201Y (en) | 2005-11-16 | 2005-11-16 | M-shape quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2915201Y true CN2915201Y (en) | 2007-06-27 |
Family
ID=38186105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520046582 Expired - Fee Related CN2915201Y (en) | 2005-11-16 | 2005-11-16 | M-shape quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2915201Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104686216A (en) * | 2015-02-13 | 2015-06-10 | 中国科学院遗传与发育生物学研究所 | Self-propelled wheat root cutting machine |
| CN107826175A (en) * | 2017-12-04 | 2018-03-23 | 广东职业技术学院 | A kind of four feet walking robot |
| CN108789391A (en) * | 2017-05-05 | 2018-11-13 | 昆山恒荣泰机器人系统工程有限公司 | A kind of manipulator of apery record book in accordion form terminal material belt |
-
2005
- 2005-11-16 CN CN 200520046582 patent/CN2915201Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104686216A (en) * | 2015-02-13 | 2015-06-10 | 中国科学院遗传与发育生物学研究所 | Self-propelled wheat root cutting machine |
| CN108789391A (en) * | 2017-05-05 | 2018-11-13 | 昆山恒荣泰机器人系统工程有限公司 | A kind of manipulator of apery record book in accordion form terminal material belt |
| CN107826175A (en) * | 2017-12-04 | 2018-03-23 | 广东职业技术学院 | A kind of four feet walking robot |
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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 |