CN203005598U - Four-foot-crawling robot - Google Patents
Four-foot-crawling robot Download PDFInfo
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- CN203005598U CN203005598U CN 201220673911 CN201220673911U CN203005598U CN 203005598 U CN203005598 U CN 203005598U CN 201220673911 CN201220673911 CN 201220673911 CN 201220673911 U CN201220673911 U CN 201220673911U CN 203005598 U CN203005598 U CN 203005598U
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- 230000009193 crawling Effects 0.000 claims abstract 11
- 230000009194 climbing Effects 0.000 description 18
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- PICXIOQBANWBIZ-UHFFFAOYSA-N zinc;1-oxidopyridine-2-thione Chemical class [Zn+2].[O-]N1C=CC=CC1=S.[O-]N1C=CC=CC1=S PICXIOQBANWBIZ-UHFFFAOYSA-N 0.000 description 1
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Abstract
本实用新型提出一种四脚爬行机器人，包括机架、腿部机构和驱动部件，所述腿部机构包括连接于所述机架的四脚，所述四脚布局的方式为前后各分布两脚，所述驱动部件位于所述机架的大致中心的位置。本实用新型的四脚爬行机器人结构设计新颖、小巧，且操作方便，效率高。
The utility model proposes a four-legged crawling robot, which includes a frame, a leg mechanism and a driving component. The leg mechanism includes four legs connected to the frame. feet, the driving part is located at the approximate center of the frame. The quadruped crawling robot of the utility model is novel in structure design, compact, convenient in operation and high in efficiency.
Description
Technical field
The utility model relates to applied small scale robot field, and is particularly related to a kind of four pin climbing robots.
Background technology
Along with the mechanization production of society, the application to robot in the process of goods handling and transmission is more and more extensive, especially in the application facet of multiway climbing robot.
Existing climbing robot is comprised of hinge rod member mechanism.Steady during motion, be fit to the use under varying environment; But it is very high to the requirement of controlling, the operation more complicated, and motion amplitude is little when level walking, and is slow in one's movements.
In the research aspect the multiway climbing robot, the history of more than 100 year has been arranged abroad, achievement is also more, but their most complex structures, involves great expense, head and shoulders above the people's of developing country ability to shoulder economically.Domestic research is evening relatively, although a lot of patents that yet have been born due to the restriction that is subject to volume, weight, stability and safety, also do not have the real place in operation of product.This shows, use limited problem in order to solve climbing robot, consider simultaneously China user's ability to shoulder economically, need the multiway climbing robot of a kind of cheap, diverse in function of research.
The utility model content
In order to overcome at least one problem that exists in prior art, the utility model proposes a kind of convenience and high-efficiency, four pin climbing robots of simple possible.
To achieve these goals, the utility model proposes a kind of four pin climbing robots, comprise frame, leg mechanism and drive element, described leg mechanism comprises four pin that are connected in described frame, the mode of described four pin layouts is the front and back bipods that respectively distribute, and described drive element is positioned at the position of the approximate centre of described frame.
Optionally, described drive element comprises motor, and described motor is fixed in the bottom of described frame.
Optionally, described leg mechanism also comprises the pin axle that is installed on described frame two ends, and described pin is connected on described frame by described pin axle.
Optionally, also comprise secondary turning cylinder and secondary rotating steadying bar, an end of described secondary turning cylinder is installed on described secondary rotating steadying bar, and described secondary rotating steadying bar is fixed on described frame.
Optionally, also comprise the gear combination that is driven by described drive element, the other end of described secondary turning cylinder is connected with described gear.
Optionally, described secondary turning cylinder is provided with connecting rod, and described pin and described connecting rod are hinged.
Optionally, on the axis of described frame, equidistantly be provided with three gears case, be equipped with described gear combination in the gear case at two ends, described gear combination is three helical wheels of arranging in a triangle.
Optionally, in middle described gear case, the orthogonal turbine of axis and worm screw are installed, described worm screw is connected with described drive element.
Optionally, described secondary turning cylinder, described connecting rod, described pin and described frame form quadric linkage.
The beneficial effect of the utility model four pin climbing robots is mainly manifested in: the utility model four pin climbing robot structure designs are novel simple, volume is small and exquisite, control by the coordination to each pin, guaranteed the stability of robot, can be widely used in operation in narrow space.
Description of drawings
Fig. 1 is the block diagram of the utility model four pin climbing robots.
Fig. 2 is the upward view of the utility model four pin climbing robots.
Fig. 3 is the lateral plan of the utility model four pin climbing robots.
The specific embodiment
The utility model will be further described below in conjunction with embodiment and accompanying drawing 1 to Fig. 3.
The utility model proposes a kind of four pin climbing robots, comprise frame 8, leg mechanism 1,2 and drive element 6, described leg mechanism 1,2 comprises four pin 2 that are connected in described frame 8, the mode of described four pin 2 layouts is the front and back bipods that respectively distribute, and described drive element 6 is positioned at the position of the approximate centre of described frame 8.Below, each parts are elaborated.
Fig. 1 is the block diagram of the utility model four pin climbing robots, mainly comprise: be installed on frame 8 two ends pin axles 1, pin 2 and be connected to that connecting rod 3 on secondary turning cylinder 4 is hinged, secondary turning cylinder 4 one ends are arranged on secondary rotating steadying bar 5, an end is connected with driven helical wheel 10, motor 6 is fixed on frame 8 bottoms.
Fig. 2 is the upward view of the utility model four pin climbing robots, mainly comprises: three gears case 11 equidistantly are installed on frame 8 axis, three identical helical wheels 10 of model are installed in two ends gear case 11 in a triangle, in intermediate gear box 11, the orthogonal worm gear 14 of axis is installed is connected with electric machine main shaft 7 with worm screw 13, worm screw 13.
Fig. 3 is the lateral plan of the utility model four pin climbing robots, mainly comprise frame 8, left-right and front-back pin 2 and with each pin be connected that connecting rod 3, secondary turning cylinder master 4 that secondary turning cylinder 4 is connected will rely on the secondary rotating steadying bar 5 that is arranged on frame 8 to be connected with gear case to fix, main shaft 12 worm screw 13 on running through that intermediate gear box 11 is connected with two ends gear case 11 internal helical gears 10, main shaft 12 centre portions are equipped with worm gear 14, worm gear 14 and being arranged on electric machine main shaft 7 is meshed, motor 6 is arranged on frame 8 bottoms.
Specific embodiment is as follows: motor 6 drive motor main shafts 7 rotate, and worm screw 13 clockwise rotates under the drive of electric machine main shaft 7.Worm gear 14 rotates counterclockwise, and meanwhile, is installed on that on the main shaft in two ends gear case 11, helical wheel 10 rotates counterclockwise.Drive both sides helical wheel 10 and rotate in opposite direction, thereby the secondary turning cylinder 4 in both sides is rotated round about around line of centers.When secondary turning cylinder 4 rotates, drivening rod 3 motions, connecting rod 3 drives pin 2 and rotates along pin axle 1.At this moment.Secondary turning cylinder 4, connecting rod 3, pin 2 and frame 8 form quadric linkage.Due to secondary turning cylinder 4 switched in opposite in both sides, interlock and the joint, ground so drive two side legs 2, and alternately travel forward.Two pin 2 at frame 8 homonymies open to two ends to intermediary movements or while simultaneously, meet alternating movement, realize travelling forward.
Although the utility model discloses as above with preferred embodiment, so it is not to limit the utility model.Have in technical field under the utility model and usually know the knowledgeable, within not breaking away from spirit and scope of the present utility model, when being used for a variety of modifications and variations.Therefore, protection domain of the present utility model is as the criterion when looking claims person of defining.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220673911 CN203005598U (en) | 2012-12-07 | 2012-12-07 | Four-foot-crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220673911 CN203005598U (en) | 2012-12-07 | 2012-12-07 | Four-foot-crawling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203005598U true CN203005598U (en) | 2013-06-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220673911 Expired - Fee Related CN203005598U (en) | 2012-12-07 | 2012-12-07 | Four-foot-crawling robot |
Country Status (1)
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| CN (1) | CN203005598U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN106043490A (en) * | 2016-06-14 | 2016-10-26 | 东南大学 | Connecting rod leg-imitated type travelling mechanism and method |
| CN106625580A (en) * | 2016-11-23 | 2017-05-10 | 华南理工大学 | Single-motor-driven robot walking mechanism |
| CN107364504A (en) * | 2017-07-23 | 2017-11-21 | 连雪芳 | Wheel leg combination search and rescue robot platform |
| CN107364507A (en) * | 2017-07-23 | 2017-11-21 | 连雪芳 | A kind of bionical search and rescue robot platform |
| CN108146534A (en) * | 2018-02-13 | 2018-06-12 | 顾荣祥 | A kind of solar powered quadruped robot of environmentally friendly construction |
| CN109432794A (en) * | 2018-09-07 | 2019-03-08 | 武汉做自己科技有限公司 | Cardboard polypody mechanical creep robot |
| CN111514332A (en) * | 2020-06-05 | 2020-08-11 | 杭州励博家居有限公司 | Daily necessities degassing unit who facilitates use |
-
2012
- 2012-12-07 CN CN 201220673911 patent/CN203005598U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN106043490A (en) * | 2016-06-14 | 2016-10-26 | 东南大学 | Connecting rod leg-imitated type travelling mechanism and method |
| CN106043490B (en) * | 2016-06-14 | 2017-12-19 | 东南大学 | A kind of connecting rod imitates legged walking mechanism and method |
| CN106625580A (en) * | 2016-11-23 | 2017-05-10 | 华南理工大学 | Single-motor-driven robot walking mechanism |
| CN107364504A (en) * | 2017-07-23 | 2017-11-21 | 连雪芳 | Wheel leg combination search and rescue robot platform |
| CN107364507A (en) * | 2017-07-23 | 2017-11-21 | 连雪芳 | A kind of bionical search and rescue robot platform |
| CN108146534A (en) * | 2018-02-13 | 2018-06-12 | 顾荣祥 | A kind of solar powered quadruped robot of environmentally friendly construction |
| CN109432794A (en) * | 2018-09-07 | 2019-03-08 | 武汉做自己科技有限公司 | Cardboard polypody mechanical creep robot |
| CN111514332A (en) * | 2020-06-05 | 2020-08-11 | 杭州励博家居有限公司 | Daily necessities degassing unit who facilitates use |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20151207 |
|
| EXPY | Termination of patent right or utility model |