CN207089487U - A kind of two leg walking robot - Google Patents
A kind of two leg walking robot Download PDFInfo
- Publication number
- CN207089487U CN207089487U CN201721016392.6U CN201721016392U CN207089487U CN 207089487 U CN207089487 U CN 207089487U CN 201721016392 U CN201721016392 U CN 201721016392U CN 207089487 U CN207089487 U CN 207089487U
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- leg
- robot
- long
- driving gear
- driven gear
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- Expired - Fee Related
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Abstract
The utility model discloses a kind of two leg walking robot, including robot housing, steering wheel, driving gear, driven gear, major axis, long fixed cover, short fixed cover, fixed plate, leg driving gear, leg driven gear, robot leg, leg axle, have strong market potential, short pin, eye plate, panel.Steering wheel output shaft of the present utility model drives driving gear to rotate, driving gear drives driven gear to rotate, driven gear drives major axis to rotate, major axis drives leg driving gear and fixed plate to rotate together, leg driven gear is fixed on the axle of leg, robot leg motion is driven when leg axle rotates, is alternately travelled forward by robot or so two legs, robot is walked forward.The purpose of this utility model is to make robot gait more stable and simple in construction, and manufacturing cost is cheap.
Description
Technical Field
The utility model relates to a robot field specifically is a biped walking robot.
Background
The robot has wide application in various fields, and is commonly used in the fields of remote control operation for completing remote operation, toys, various physical tests and special occasions harmful to human life safety, such as terrorism prevention, natural disasters, serious nuclear radiation and the like. At present, the walking robot usually adopts a wheel type structure, although the structure is convenient to control, in some extreme environments, the function of the walking robot can be limited by different degrees, the superiority of the foot type robot is greatly shown, the legs of the foot type robot have a plurality of degrees of freedom, the walking robot has high flexibility, and meanwhile, the adjustable leg length enables the stability to be increased and the walking robot is suitable for wider environments.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a simple structure, biped walking robot that the gait is stable to solve the problem of proposing in the above-mentioned background art.
The technical scheme of the utility model: a biped walking robot comprises a robot shell, wherein the upper shaft hole and the lower shaft hole of the robot shell are respectively connected with two long shafts in a rotatable manner, the long shafts are matched with the driven gears on the right side of the robot shell in a rotating manner, the driven gears are fixed on the long shafts through long pins, long fixing sleeves are installed on the long shafts and are fixed on the long shafts through short pins, the long fixing sleeves are adjacent to fixing plates, one shaft hole on each fixing plate is sleeved on the long shafts, a leg driving gear is installed between the two fixing plates, the leg driving gear is fixed on the long shafts through long pins, the other shaft hole of each fixing plate is sleeved on a leg shaft, the leg shaft is vertically fixed on a stand column of a robot leg, the leg shaft is parallel to the long shafts, leg driven gears are installed between the two fixing plates and are meshed with the leg driving gears, and the leg driven gears are fixed on, a short fixing sleeve is mounted on the left side of the fixing plate and fixed on the leg shaft through a short pin;
a steering engine groove is formed in the robot shell, a steering engine is installed in the groove, the steering engine is in rotating fit with a driving gear, and the driving gear is meshed with a driven gear installed on an upper long shaft and a lower long shaft;
the robot comprises a robot shell, a panel, a mounting groove, a dovetail groove structure and two eye pieces, wherein the mounting groove and the panel form the dovetail groove structure;
the bottom of the robot leg is made into a U-shaped structure.
The transmission ratio of the driving gear to the driven gear is 1:1.5, and the transmission ratio of the leg driving gear to the leg driven gear is 1:1.
Compared with the prior art, the beneficial effect of the utility model is that when the biped walking robot is used, the robot shell, steering gear, eye surface, and eye piece are connected to form a box structure, and the steering gear can be programmed according to the speed requirements. The control program, the steering gear drives the driving gear to rotate, the driving gear drives the driven gear, the driven gear drives the rotation of the long shaft directly engaged with the driven gear, and the long shaft drives the leg driving gear to rotate through the long shaft and the leg driving gear The leg driving gear on the upper and lower long axis drives the leg driven gear on the leg shaft of the robot to rotate. This design allows the robot legs to rotate up and down alternately, simulating the human’s leg extension and leg walking motion to complete the double The action of foot walking. The device has simple structure, convenient disassembly and assembly, and is made of PLA material 3D printing, has low production cost, high strength, and parts are not easily damaged.
Drawings
Fig. 1 is a perspective view of the present invention;
fig. 2 is a front view of the structure of the present invention.
In the figure: 1. driven gear, 2, long fixed cover, 3, shank driving gear, 4, shank driven gear, 5, fixed plate, 6, driving gear, 7, short round pin, 8, long round pin, 9, short fixed cover, 10, robot leg, 11, shank axle, 12, eye piece, 13, major axis, 14, steering wheel, 15, robot casing, 16, panel, 17 mounting grooves.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings and examples.
A biped walking robot comprises a robot shell 15, wherein an upper shaft hole and a lower shaft hole of the robot shell 15 are respectively in rotatable connection with a long shaft 13, the long shaft 13 is provided with three pin holes at the right side of the robot shell 15, two pin holes are distributed at the left side of the robot shell 15, a driven gear 1, a long fixing sleeve 2, a fixing plate 5, a leg driving gear 3 and a fixing plate 5 are sequentially sleeved on the right side of the robot shell on the long shaft 13 from inside to outside, the driven gear 1 is inserted into the pin holes through a long pin 8 to fix the driven gear 1 on the long shaft 13, the long fixing sleeve 2 is inserted into the pin holes through a short pin 7 to fix the long fixing sleeve 2 on the long shaft 13, the leg driving gear 3 is inserted into the pin holes through the long pin 8 to fix on the long shaft 13, one shaft hole of the fixing plate 5 is sleeved on the long shaft 13, the robot leg 10 is provided with two leg shafts 11 which are parallel up and down, each leg shaft 11 is provided with two pin holes, the leg shaft 11 is sleeved with a fixed plate 5, a leg driven gear 4, the fixed plate 5 and a short fixed sleeve 9 from one end to the inside in sequence, the leg driven gear 4 is inserted into the pin holes through a long pin 8 and fixed on the leg shaft 11 to form rotary connection with the robot leg 10, and the short fixed sleeve 9 is inserted into the pin holes through a short pin 7 and fixed on the leg shaft 11; the long fixing sleeve 2, the fixing plate 5, the leg driving gear 3 and the fixing plate 5 are sleeved on the left side of the robot shell 15 on the long shaft 13 from inside to outside in sequence, and the installation method is the same as that on the right side.
The specific walking process is as follows: a steering engine 14 installed inside a robot shell drives a driving gear 6 to rotate, the driving gear 6 drives a driven gear 1 meshed with the driving gear to rotate, the driven gear 1 drives a long shaft 13 to rotate through a long pin 8, the long shaft 13 drives a leg driving gear 3 fixed on the long shaft 13 to rotate, the leg driving gear 3 drives a leg driven gear 4 to rotate, the leg driving gear 3 drives a fixing plate 5 to rotate while rotating, the fixing plate 5 drives leg shafts 11 to rotate around the long shaft 13, robot legs 10 move along the leg shafts 11, when one leg of the robot legs 10 lands, the leg shaft 11 of the other leg rotates around the long shaft 13 to drive the robot to move forwards, and the robot legs 10 alternately move to stretch and retract legs when walking a biped animal, so that the biped walking robot imitates the forward and backward movement.
Claims (2)
1. A biped walking robot, characterized in that: comprises a robot shell, the upper and lower shaft holes of the robot shell are respectively connected with two long shafts in a rotatable manner, the long shafts are matched with a driven gear on the right side of the robot shell in a rotating manner, the driven gear is fixed on the long shafts through long pins, the long shafts are provided with long fixing sleeves, the long fixing sleeves are fixed on the long shafts through short pins, the long fixing sleeves are adjacent to fixing plates, one shaft hole on each fixing plate is sleeved on the long shafts, a leg driving gear is arranged between the two fixing plates, the leg driving gear is fixed on the long shafts through long pins, the other shaft hole of each fixing plate is sleeved on a leg shaft, the leg shaft is vertically fixed on a stand column of a robot leg, the leg shaft is parallel to the long shafts, a leg driven gear is arranged between the two fixing plates, the leg driven gear is meshed with the leg driving gear, a short fixing sleeve is mounted on the left side of the fixing plate and fixed on the leg shaft through a short pin;
a steering engine groove is formed in the robot shell, a steering engine is installed in the groove, the steering engine is in rotating fit with a driving gear, and the driving gear is meshed with a driven gear installed on an upper long shaft and a lower long shaft;
the robot comprises a robot shell, a panel, a mounting groove, a dovetail groove structure and two eye pieces, wherein the mounting groove and the panel form the dovetail groove structure;
the bottom of the robot leg is made into a U-shaped structure.
2. The biped walking robot of claim 1, wherein: the transmission ratio of the driving gear to the driven gear is 1:1.5, and the transmission ratio of the leg driving gear to the leg driven gear is 1:1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721016392.6U CN207089487U (en) | 2017-08-15 | 2017-08-15 | A kind of two leg walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721016392.6U CN207089487U (en) | 2017-08-15 | 2017-08-15 | A kind of two leg walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207089487U true CN207089487U (en) | 2018-03-13 |
Family
ID=61541676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721016392.6U Expired - Fee Related CN207089487U (en) | 2017-08-15 | 2017-08-15 | A kind of two leg walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207089487U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583719A (en) * | 2018-05-08 | 2018-09-28 | 张紫薇 | A kind of two leg walking robot |
| CN112002150A (en) * | 2020-09-04 | 2020-11-27 | 西安文理学院 | Walking mechanism of image processing machine learning equipment |
-
2017
- 2017-08-15 CN CN201721016392.6U patent/CN207089487U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583719A (en) * | 2018-05-08 | 2018-09-28 | 张紫薇 | A kind of two leg walking robot |
| CN112002150A (en) * | 2020-09-04 | 2020-11-27 | 西安文理学院 | Walking mechanism of image processing machine learning equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180313 Termination date: 20180815 |