CN204452651U - The narrow biped robot of biped - Google Patents
The narrow biped robot of biped Download PDFInfo
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- CN204452651U CN204452651U CN201420849615.7U CN201420849615U CN204452651U CN 204452651 U CN204452651 U CN 204452651U CN 201420849615 U CN201420849615 U CN 201420849615U CN 204452651 U CN204452651 U CN 204452651U
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- attaching parts
- shaped attaching
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- biped
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- 229910000906 Bronze Inorganic materials 0.000 claims abstract description 21
- 239000010974 bronze Substances 0.000 claims abstract description 21
- KUNSUQLRTQLHQQ-UHFFFAOYSA-N copper tin Chemical compound [Cu].[Sn] KUNSUQLRTQLHQQ-UHFFFAOYSA-N 0.000 claims abstract description 21
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 9
- 239000010949 copper Substances 0.000 claims abstract description 9
- 229910052802 copper Inorganic materials 0.000 claims abstract description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 210000004394 hip joint Anatomy 0.000 description 12
- 210000000629 knee joint Anatomy 0.000 description 12
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
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Abstract
The utility model relates to robotics, particularly the narrow biped robot of a kind of biped.The utility model comprises top board, control desk, copper post, U-shaped attaching parts, steering wheel and sole, described copper post comprises the first bronze medal post and the second bronze medal post, described U-shaped attaching parts comprises the first U-shaped attaching parts, the second U-shaped attaching parts, the 3rd U-shaped attaching parts, the 4th U-shaped attaching parts and the 5th U-shaped attaching parts, described steering wheel comprises the first steering wheel, the second steering wheel and the 3rd steering wheel, described top board is fixedly connected with by some first bronze medal posts with between control desk, and mutual keeping parallelism between top board and control desk; Described control desk lower surface connects by fixed connecting piece is corresponding with the base of two piece of first U-shaped attaching parts respectively.The beneficial effects of the utility model: the walking stability adding the narrow biped robot of biped; Increase the single step paces length during walking of the narrow biped robot of biped.
Description
[technical field]
The utility model relates to robotics, particularly the narrow biped robot of a kind of biped.
[background technology]
The narrow biped robot of biped is one of event of Chinese robot contest.Under the prerequisite that software program is consistent, can the quality of the physical construction of the narrow biped robot of biped determines biped narrow biped robot the speed of travel of stabilized walking and stabilized walking.The hip joint of the narrow biped robot of biped of current match application is little to the distance before knee joint, causes the single step paces of robot ambulation distance very little.
The utility model design, for the problems referred to above, designs the narrow biped robot of a kind of novel biped.For interested in robot or want the classmate that takes part in game, this kind of robot is needed to be used for carrying out the design of controller and the research of robot gait planning.
[utility model content]
The purpose of this utility model solves the problems of the prior art exactly, proposes the narrow biped robot of a kind of biped.
For achieving the above object, the utility model proposes the narrow biped robot of a kind of biped, comprise top board, control desk, copper post, U-shaped attaching parts, steering wheel and sole, it is characterized in that, described copper post comprises the first bronze medal post and the second bronze medal post, described U-shaped attaching parts comprises the first U-shaped attaching parts, second U-shaped attaching parts, 3rd U-shaped attaching parts, 4th U-shaped attaching parts and the 5th U-shaped attaching parts, described steering wheel comprises the first steering wheel, second steering wheel and the 3rd steering wheel, described top board is fixedly connected with by some first bronze medal posts with between control desk, and mutual keeping parallelism between top board and control desk, described control desk lower surface connects by fixed connecting piece is corresponding with the base of two piece of first U-shaped attaching parts respectively, two the first steering wheels of described control desk lower end are located in the U-shaped mouth of two piece of first U-shaped attaching parts respectively, and the U-shaped mouth of described two piece of first U-shaped attaching parts is flexibly connected respectively by motor pad is corresponding with the upper end of two the first steering wheels, the lower end of described two the first steering wheels is flexibly connected respectively by motor pad is corresponding with the U-shaped mouth of two piece of second U-shaped attaching parts, the base of described two piece of second U-shaped attaching parts connects respectively by two second bronze medal posts are corresponding with the base of two piece of the 3rd U-shaped attaching parts, described two the second steering wheels are located in the U-shaped mouth of two piece of the 3rd U-shaped attaching parts respectively, and the U-shaped mouth of described two piece of the 3rd U-shaped attaching parts is flexibly connected respectively by motor pad is corresponding with the upper end of two the second steering wheels, the lower end of described two the second steering wheels is flexibly connected respectively by motor pad is corresponding with the U-shaped mouth of two piece of the 4th U-shaped attaching parts, and the base of described two piece of the 4th U-shaped attaching parts connects respectively by fixed connecting piece is corresponding with the base of two piece of the 5th U-shaped attaching parts, the U-shaped mouth of described two piece of the 5th U-shaped attaching parts is flexibly connected by motor pad is corresponding with two the 3rd steering wheels, described two the 3rd steering wheels are fixedly mounted on two soles respectively,
Wherein, first U-shaped attaching parts, 3rd U-shaped attaching parts, the U-shaped mouth length of the 5th U-shaped attaching parts is less than the second U-shaped attaching parts, the U-shaped mouth length of the 4th U-shaped attaching parts, " hip joint " is by the first U-shaped attaching parts, first steering wheel and the second U-shaped attaching parts correspondence connect to form, " knee joint " is by the 3rd U-shaped attaching parts, second steering wheel and the 4th U-shaped attaching parts correspondence connect to form, " ankle-joint " is by the 5th U-shaped attaching parts, 3rd steering wheel and sole correspondence connect to form, and connected by the second bronze medal post between " hip joint " and " knee joint ", correspondingly increase the distance between " hip joint " and " knee joint ", add the single step paces distance of robot ambulation, simultaneously by control desk to " hip joint ", the second bronze medal post, " knee joint " and " ankle-joint " corresponding operating, to the movement of robot center of gravity realize robot walking, turn a somersault and function of standing upside down.
As preferably, oppositely cross connection mutually between described 4th U-shaped attaching parts and the 5th U-shaped attaching parts.
As preferably, described fixed connecting piece is formed by connecting by bolt and the nut matched.
Compared with prior art, the beneficial effects of the utility model:
In the utility model, bilateral symmetry design adds the walking stability of the narrow biped robot of biped; By " hip joint " that connected to form by the first U-shaped attaching parts, the first steering wheel and the second U-shaped attaching parts correspondence, " knee joint " that connected to form by the 3rd U-shaped attaching parts, the second steering wheel and the 4th U-shaped attaching parts correspondence, and connected by copper post between " hip joint " and " knee joint ", therefore, correspondingly increase the distance between " hip joint " and " knee joint ", thus add the single step paces length of robot ambulation.
[accompanying drawing explanation]
Fig. 1 is the structural representation of the narrow biped robot of the utility model biped;
Reference numeral: 1. top board; 2. the first bronze medal post; 3. control desk; 4. the first U-shaped attaching parts; 5. the first steering wheel; 6. the second U-shaped attaching parts; 7. the second bronze medal post; 8. the 3rd U-shaped attaching parts; 9. the second steering wheel; 10. the 4th U-shaped attaching parts; 11. the 5th U-shaped attaching partss; 12. the 3rd steering wheels; 13. soles
[detailed description of the invention]
As shown in Figure 1, the utility model proposes the specific embodiment of the narrow biped robot of a kind of biped, comprise top board 1, control desk 3, copper post, U-shaped attaching parts, steering wheel and sole 13, described copper post comprises the first bronze medal post 2 and the second bronze medal post 7, described U-shaped attaching parts comprises the first U-shaped attaching parts 4, second U-shaped attaching parts 6, 3rd U-shaped attaching parts 8, 4th U-shaped attaching parts 10 and the 5th U-shaped attaching parts 11, described steering wheel comprises the first steering wheel 5, second steering wheel 9 and the 3rd steering wheel 12, described top board 1 is fixedly connected with by some first bronze medal posts 2 with between control desk 3, and mutual keeping parallelism between top board 1 and control desk 3, described control desk 3 lower surface connects by fixed connecting piece is corresponding with the base of two piece of first U-shaped attaching parts 4 respectively, two the first steering wheels 5 of described control desk 3 lower end are located in the U-shaped mouth of two piece of first U-shaped attaching parts 4 respectively, and the U-shaped mouth of described two piece of first U-shaped attaching parts 4 is flexibly connected respectively by motor pad is corresponding with the upper end of two the first steering wheels 5, the lower end of described two the first steering wheels 5 is flexibly connected respectively by motor pad is corresponding with the U-shaped mouth of two piece of second U-shaped attaching parts 6, the base of described two piece of second U-shaped attaching parts 6 connects respectively by two second bronze medal posts 7 are corresponding with the base of two piece of the 3rd U-shaped attaching parts 8, described two the second steering wheels 9 are located in the U-shaped mouth of two piece of the 3rd U-shaped attaching parts 8 respectively, and the U-shaped mouth of described two piece of the 3rd U-shaped attaching parts 8 is flexibly connected respectively by motor pad is corresponding with the upper end of two the second steering wheels 9, the lower end of described two the second steering wheels 9 is flexibly connected respectively by motor pad is corresponding with the U-shaped mouth of two piece of the 4th U-shaped attaching parts 10, and the base of described two piece of the 4th U-shaped attaching parts 10 connects respectively by fixed connecting piece is corresponding with the base of two piece of the 5th U-shaped attaching parts 11, the U-shaped mouth of described two piece of the 5th U-shaped attaching parts 11 is flexibly connected by motor pad is corresponding with two the 3rd steering wheels 12, described two the 3rd steering wheels 12 are fixedly mounted on two soles 13 respectively.
Wherein, described fixed connecting piece is formed by connecting by bolt and the nut matched, oppositely cross connection mutually between described 4th U-shaped attaching parts 10 and the 5th U-shaped attaching parts 11, first U-shaped attaching parts 4, 3rd U-shaped attaching parts 8, the U-shaped mouth length of the 5th U-shaped attaching parts is less than the second U-shaped attaching parts 6, the U-shaped mouth length of the 4th U-shaped attaching parts 10, " hip joint " is by the first U-shaped attaching parts 4, first steering wheel 5 and the second U-shaped attaching parts 6 correspondence connect to form, " knee joint " is by the 3rd U-shaped attaching parts 8, second steering wheel 9 and the 4th U-shaped attaching parts 10 correspondence connect to form, " ankle-joint " is by the 5th U-shaped attaching parts, 3rd steering wheel 12 and sole 13 correspondence connect to form, and connected by the second bronze medal post 7 between " hip joint " and " knee joint ", correspondingly increase the distance between " hip joint " and " knee joint ", add the single step paces distance of robot ambulation, simultaneously by control desk 3 to " hip joint ", the second bronze medal post 7, " knee joint " and " ankle-joint " corresponding operating, to the movement of robot center of gravity realize robot walking, turn a somersault and function of standing upside down.
Above-described embodiment is only for illustrating technical conceive of the present utility model and feature; its object is to person skilled in the art can be understood content of the present utility model and be implemented; protection domain of the present utility model can not be limited with this; all equivalences done according to the utility model Spirit Essence change or modify, and all should be encompassed in protection domain of the present utility model.
Claims (3)
1. the narrow biped robot of biped, comprise top board (1), control desk (3), copper post, U-shaped attaching parts, steering wheel and sole (13), it is characterized in that, described copper post comprises the first bronze medal post (2) and the second bronze medal post (7), described U-shaped attaching parts comprises the first U-shaped attaching parts (4), second U-shaped attaching parts (6), 3rd U-shaped attaching parts (8), 4th U-shaped attaching parts (10) and the 5th U-shaped attaching parts (11), described steering wheel comprises the first steering wheel (5), second steering wheel (9) and the 3rd steering wheel (12), be fixedly connected with by some first bronze medal posts (2) between described top board (1) with control desk (3), and mutual keeping parallelism between top board (1) and control desk (3), described control desk (3) lower surface is fixedly connected with the base of two piece of first U-shaped attaching parts (4) accordingly respectively by fixed connecting piece, two the first steering wheels (5) of described control desk (3) lower end are located in the U-shaped mouth of two piece of first U-shaped attaching parts (4) respectively, and the U-shaped mouth of described two piece of first U-shaped attaching parts (4) is flexibly connected respectively by motor pad is corresponding with the upper end of two the first steering wheels (5),
The lower end of described two the first steering wheels (5) is flexibly connected respectively by motor pad is corresponding with the U-shaped mouth of two piece of second U-shaped attaching parts (6), the base of described two piece of second U-shaped attaching parts (6) connects respectively by two second bronze medal posts (7) are corresponding with the base of two piece of the 3rd U-shaped attaching parts (8), described two the second steering wheels (9) are located in the U-shaped mouth of two piece of the 3rd U-shaped attaching parts (8) respectively, and the U-shaped mouth of described two piece of the 3rd U-shaped attaching parts (8) is flexibly connected respectively by motor pad is corresponding with the upper end of two the second steering wheels (9),
The lower end of described two the second steering wheels (9) is flexibly connected respectively by motor pad is corresponding with the U-shaped mouth of two piece of the 4th U-shaped attaching parts (10), and the base of described two piece of the 4th U-shaped attaching parts (10) connects respectively by fixed connecting piece is corresponding with the base of two piece of the 5th U-shaped attaching parts (11); The U-shaped mouth of described two piece of the 5th U-shaped attaching parts (11) is flexibly connected by motor pad is corresponding with two the 3rd steering wheels (12); Described two the 3rd steering wheels (12) are fixedly mounted on two soles (13) respectively; Wherein, the U-shaped mouth length of the first U-shaped attaching parts (4), the 3rd U-shaped attaching parts (8), the 5th U-shaped attaching parts (11) is less than the U-shaped mouth length of the second U-shaped attaching parts (6), the 4th U-shaped attaching parts (10).
2. the narrow biped robot of biped according to claim 1, is characterized in that, oppositely cross connection mutually between described 4th U-shaped attaching parts (10) and the 5th U-shaped attaching parts (11).
3. the narrow biped robot of biped according to claim 1, is characterized in that, described fixed connecting piece is formed by connecting by bolt and the nut matched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420849615.7U CN204452651U (en) | 2014-12-26 | 2014-12-26 | The narrow biped robot of biped |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420849615.7U CN204452651U (en) | 2014-12-26 | 2014-12-26 | The narrow biped robot of biped |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204452651U true CN204452651U (en) | 2015-07-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420849615.7U Active CN204452651U (en) | 2014-12-26 | 2014-12-26 | The narrow biped robot of biped |
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| Country | Link |
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| CN (1) | CN204452651U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527832A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Double-narrow-foot robot |
-
2014
- 2014-12-26 CN CN201420849615.7U patent/CN204452651U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527832A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Double-narrow-foot robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |