CN201592738U - Biped climbing robot - Google Patents
Biped climbing robot Download PDFInfo
- Publication number
- CN201592738U CN201592738U CN2010200426590U CN201020042659U CN201592738U CN 201592738 U CN201592738 U CN 201592738U CN 2010200426590 U CN2010200426590 U CN 2010200426590U CN 201020042659 U CN201020042659 U CN 201020042659U CN 201592738 U CN201592738 U CN 201592738U
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- China
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- wheel
- robot
- connecting rod
- driving wheel
- double crank
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- Expired - Fee Related
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Abstract
The utility model discloses a biped climbing robot which comprises a travel mechanism, a driving motor and a gear transmission mechanism, wherein the driving motor is arranged at the middle part of a main body of the robot; the gear transmission mechanism and the travel mechanism are symmetrically arranged on the two sides of the driving motor; the travel mechanism comprises a double crank, a connecting rod and robot legs; one end of the double crank is hinged with the wheel shafts of the driven wheels of the gear transmission mechanism and the other end thereof is hinged with the connecting rod, thereby forming a four-bar mechanism; the robot legs are arranged on the extension line of the connecting rod; the gear transmission mechanism consists of the two driven wheels and a driving wheel; the driven wheels are symmetrically distributed on the two sides of the driving wheel and meshed with the driving wheel to form a constant-speed reducing mechanism; the wheel shaft of the driving wheel is coupled with the output shaft of the driving motor; and the wheel shafts of the driven wheels are hinged with one end of the double crank of the travel mechanism respectively. Based on the curve characteristics of the connecting rod, the biped climbing robot achieves the function of going upstairs, can go upstairs while loading heavy things, provides convenience for moving house, daily shopping or shifting furniture in people's life, and serves as automatic tool of going upstairs for the elderly and the disabled.
Description
Technical field
The utility model discloses a kind of biped robot of going upstairs, and by the biped stair activity, belongs to the robot technical field.
Background technology
Existing walking robot is generally quadruped structure, and only limits to level walking, and complex structure is bulky, and the cost of product height is not easy to operate, is difficult in popularization and application in the real life.
Summary of the invention
The utility model discloses a kind of biped robot of going upstairs, and has solved the problem of robot stair climbing shakiness and has simplified its structure.
Technical solution of the present utility model is as follows: constitute the utility model by traveling gear, drive motor, gear drive, middle part at robot body is provided with drive motor, bilateral symmetry is provided with gear mechanism and traveling gear, wherein, traveling gear is made of double crank, connecting rod, robot foot, one end of double crank is hinged with the wheel shaft of the flower wheel of gear mechanism respectively, and the other end and rod hinge connection constitute four-bar mechanism, and the extended line of connecting rod is provided with robot foot; Gear mechanism is made of two flower wheels and driving wheel, flower wheel is symmetrically distributed in the driving wheel both sides, driving wheel, flower wheel engagement constitute speed reduction gearing, and the wheel shaft of driving wheel and the output shaft of drive motor are coupling, and the wheel shaft of flower wheel is hinged with double crank one end of traveling gear respectively.
During walking, drive motor drives flower wheel by driving wheel and rotates, realize slowing down and decomposition rate, utilize two constant speed output shafts that obtain after decomposing to drive the double crank motion of traveling gear, according to the coupler-point curve characteristic, the robot foot of a side connecting rod moves when being in the linear portion of curve, then land and transfixion, the opposite side robot foot then is in segment of curve takes a step to move, thereby imitates the foot row motion of similar animal, realizes climbing the building and moves.
Good effect of the present utility model is: utilize the coupler-point curve characteristic, realize function upstairs, can loads upstairs, convenient people's removal of home, daily shopping or mobile furniture also can be used as the elderly and disabled person instrument upstairs automatically.
Description of drawings
Fig. 1 is the utility model structure principle chart;
Fig. 2 is the utility model side-looking structure principle chart.
1, double crank; 2, connecting rod; 3, robot foot; 4, drive motor; 5, gear mechanism; 6, driving wheel; 7, flower wheel.
The specific embodiment
According to Fig. 1, shown in Figure 2, the utility model comprises that traveling gear, drive motor, gear drive constitute, drive motor 4 is located at the middle part of robot body, gear mechanism and traveling gear are symmetrically distributed in the both sides of body, wherein, traveling gear is made of double crank 1, connecting rod 2, robot foot 3, and an end of double crank 1 is hinged with the wheel shaft of the flower wheel 7 of gear mechanism 5 respectively, the other end and connecting rod 2 hinged formation four-bar mechanisms, the extended line of connecting rod 2 is provided with robot foot 3; Gear mechanism 5 is made of two flower wheels 7 and driving wheel 6, flower wheel 7 is symmetrically distributed in the both sides engagement of driving wheel 6, the output shaft of the wheel shaft of driving wheel 6 and drive motor 4 is coupling, the wheel shaft of flower wheel 7 is hinged with double crank 1 one ends of traveling gear respectively, drive motor 4 driven gear mechanisms 5 realize slowing down and decomposition rate, utilize two constant speed output shafts that obtain after decomposing to drive traveling gear, crank 1 drivening rod 2, robot foot 3 realize marking time action in the traveling gear, the symmetrical traveling gear of robot is realized walking action upstairs, finishes function upstairs.
Claims (1)
1. biped robot of going upstairs, constitute by traveling gear, drive motor, gear drive, middle part at robot body is provided with drive motor, bilateral symmetry is provided with gear mechanism and traveling gear, it is characterized in that: traveling gear is made of double crank, connecting rod, robot foot, one end of double crank is hinged with the wheel shaft of the flower wheel of gear mechanism respectively, and the other end and rod hinge connection constitute four-bar mechanism, and the extended line of connecting rod is provided with robot foot; Gear mechanism is made of driving wheel and two flower wheels, and the wheel that driving wheel, flower wheel constitute is to constitute speed reduction gearing, is symmetrically distributed in the drive motor both sides, and the wheel shaft of driving wheel and the output shaft of drive motor are coupling, and the wheel shaft of flower wheel is connected with double crank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200426590U CN201592738U (en) | 2010-01-15 | 2010-01-15 | Biped climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200426590U CN201592738U (en) | 2010-01-15 | 2010-01-15 | Biped climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201592738U true CN201592738U (en) | 2010-09-29 |
Family
ID=42774802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010200426590U Expired - Fee Related CN201592738U (en) | 2010-01-15 | 2010-01-15 | Biped climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201592738U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114879A (en) * | 2011-01-27 | 2011-07-06 | 北京交通大学 | Biped walking four-bar mechanism |
| CN102908096A (en) * | 2011-08-04 | 2013-02-06 | 广东德昌电机有限公司 | Toilet bowl and automatic cover turning device |
| CN112869641A (en) * | 2021-02-26 | 2021-06-01 | 深圳市卡乐尔贸易有限公司 | Automatic floor sweeping equipment for going upstairs and downstairs |
-
2010
- 2010-01-15 CN CN2010200426590U patent/CN201592738U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102114879A (en) * | 2011-01-27 | 2011-07-06 | 北京交通大学 | Biped walking four-bar mechanism |
| CN102114879B (en) * | 2011-01-27 | 2013-07-31 | 北京交通大学 | Biped walking four-bar mechanism |
| CN102908096A (en) * | 2011-08-04 | 2013-02-06 | 广东德昌电机有限公司 | Toilet bowl and automatic cover turning device |
| CN112869641A (en) * | 2021-02-26 | 2021-06-01 | 深圳市卡乐尔贸易有限公司 | Automatic floor sweeping equipment for going upstairs and downstairs |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100929 Termination date: 20110115 |