CN217100248U - Four-legged robot capable of walking freely - Google Patents
Four-legged robot capable of walking freely Download PDFInfo
- Publication number
- CN217100248U CN217100248U CN202221146401.4U CN202221146401U CN217100248U CN 217100248 U CN217100248 U CN 217100248U CN 202221146401 U CN202221146401 U CN 202221146401U CN 217100248 U CN217100248 U CN 217100248U
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- component
- turning
- shank
- power box
- thigh
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- 210000002414 leg Anatomy 0.000 claims description 23
- 210000000689 upper leg Anatomy 0.000 claims description 23
- 239000003292 glue Substances 0.000 claims description 10
- 230000017525 heat dissipation Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 2
- 230000036541 health Effects 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
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Abstract
The utility model belongs to the technical field of walking robots, and discloses a quadruped robot capable of walking freely, which comprises a body part, a turning part, a connecting part and leg parts, wherein the turning part, the connecting part and the leg parts are all arranged at the four corners of the body part, the leg parts are matched with the turning part through the connecting part, and the leg parts are arranged on the body part through the connecting part; the utility model can realize the basic functions of the legs, and can complete the actions of bending and lifting, striding forwards and landing; the utility model controls the synchronous operation of the motor, and realizes the rotation of the rotary column by matching with the first helical gear and the second helical gear, thereby achieving the purpose of turning; this with novel health part, turn part, adapting unit and shank part mutual independence, mutually support again, the structure is clear and definite, fault location fixes swiftly convenient.
Description
Technical Field
The utility model belongs to the technical field of the walking robot, concretely relates to four-footed robot that can freely walk.
Background
At present, according to the motion mode of a robot, the robot can be divided into a legged robot, a tracked robot and a wheeled robot, the obstacle overcoming capability of the robot is outstanding, the adaptability to the environment and the terrain is good, but the gait is not easy to control, and the stability is easy to lose during moving.
When this kind of robot breaks down, often need carry out the dismouting with it as a whole, look for the fault location, maintenance inefficiency, and wherein some robots are because of its special automobile body structure for overall structure is complicated, has increased the maintenance degree of difficulty moreover.
SUMMERY OF THE UTILITY MODEL
To the problem that the above-mentioned background art provided, the utility model aims at: aims to provide a quadruped robot capable of freely walking.
In order to realize the technical purpose, the utility model discloses a technical scheme as follows:
a quadruped robot capable of freely walking comprises a body part, turning parts, connecting parts and leg parts, wherein the turning parts, the connecting parts and the leg parts are installed at four corners of the body part, the leg parts are matched with the turning parts through the connecting parts, and the leg parts are installed on the body part through the connecting parts;
the body part comprises two rectangular plates, and six support rods are uniformly connected between the two rectangular plates;
the turning component comprises a motor arranged on the rectangular plate, the output end of the motor is connected with a first helical gear, and the first helical gear is matched with a second helical gear in a right-angle meshing manner;
the connecting component comprises a rotating column which is rotatably arranged on the rectangular plate, the second bevel gear is fixedly arranged on the rotating column, and an installation plate is arranged at the end part of the rotating column;
the leg part including install in the thigh power box of mounting panel, thigh power box internally mounted has first pair output shaft motor, two outputs of first pair output shaft motor are connected with thigh crank, two install shank power box between the thigh crank other end, shank power box internally mounted has the second pair output shaft motor, two outputs of second pair output shaft motor are connected with shank crank, two the foot part is installed in the lump to the shank crank other end.
Further inject, foot part appearance is the people foot shape, foot part includes integrated into one piece's hardboard and flexible glue, the flexible glue is located the hardboard downside, there is the space between hardboard and the flexible glue, such design, buffering effect is good, and it is stable to remove.
Further, the first double-output-shaft motor and the second double-output-shaft motor are the same in specification and model, and due to the design, replacement of spare parts is facilitated.
Further inject, the rectangular plate with install ball bearing between the mounting panel, ball bearing axle center install in the rotary column, the effect of turning is guaranteed in such design.
Further inject, thigh power box with shank power box all is equipped with the louvre, and such design is convenient for dispel the heat to first pair output shaft motor and second pair output shaft motor.
Adopt the beneficial effects of the utility model:
the utility model can realize the basic functions of the leg, complete the actions of bending and lifting, striding forwards and then landing, and particularly drive the shank crank and the thigh crank to be linked by controlling the driving sequence of the four first double-output-shaft motors and the four second double-output-shaft motors, so that the four-foot movement is realized in a double-leg linkage manner, and the foot part is convenient to be in better contact with the ground when the shank swings;
the utility model controls the synchronous operation of the motor, and realizes the rotation of the rotary column by matching with the first helical gear and the second helical gear, thereby achieving the purpose of turning;
the utility model discloses health part, turn part, adapting unit and shank part mutually independent, mutually support again, and the structure is clear and definite, and the fault location is confirmed swiftly convenient, when one of them part goes wrong, direct change can, maintenance efficiency is high, and the maintenance mode is simple.
Drawings
The present invention can be further illustrated by the non-limiting examples given in the accompanying drawings;
fig. 1 is a schematic structural diagram of an embodiment of a quadruped robot capable of walking freely according to the present invention;
FIG. 2 is a schematic sectional view of a part of the leg part of an embodiment of a quadruped robot capable of walking freely according to the present invention;
the main element symbols are as follows:
a body member 1, a turning member 2, a connecting member 3, a leg member 4, a foot member 5, a ball bearing 6;
a rectangular plate 101, a support bar 102;
a motor 201, a first bevel gear 202, a second bevel gear 203;
a rotary column 301 and a mounting plate 302;
a thigh power box 401, a first double output shaft motor 402, a thigh crank 403, a shank power box 404, a second double output shaft motor 405 and a shank crank 406;
Detailed Description
In order to make the present invention better understood by those skilled in the art, the technical solutions of the present invention are further described below with reference to the accompanying drawings and examples.
As shown in fig. 1 and 2, the quadruped robot capable of freely walking of the present invention comprises a body member 1, a turning member 2, a connecting member 3 and a leg member 4, wherein the turning member 2, the connecting member 3 and the leg member 4 are all installed at four corners of the body member 1, the leg member 4 is matched with the turning member 2 through the connecting member 3, and the leg member 4 is installed on the body member 1 through the connecting member 3;
the body part 1 comprises two rectangular plates 101, and six support rods 102 are uniformly connected between the two rectangular plates 101;
the turning component 2 comprises a motor 201 arranged on the rectangular plate 101, the output end of the motor 201 is connected with a first bevel gear 202, and the first bevel gear 202 is matched with a second bevel gear 203 in a right-angle meshing manner;
the connecting component 3 comprises a rotary column 301 which is rotatably arranged on the rectangular plate 101, the second bevel gear 203 is fixedly arranged on the rotary column 301, and an installation plate 302 is arranged at the end part of the rotary column 301;
the leg part 4 comprises a thigh power box 401 arranged on the mounting plate 302, a first double-output-shaft motor 402 is arranged inside the thigh power box 401, two output ends of the first double-output-shaft motor 402 are connected with thigh cranks 403, a shank power box 404 is arranged between the other ends of the two thigh cranks 403, a second double-output-shaft motor 405 is arranged inside the shank power box 404, two output ends of the second double-output-shaft motor 405 are connected with shank cranks 406, and the other ends of the two shank cranks 406 are provided with the foot part 5.
In this embodiment, when the robot stands, the four foot parts 5 simultaneously support the ground, which is the initial position of the robot, and when the robot walks linearly under a relatively flat and unobstructed condition, the motion of a single leg is that the first double-output shaft motor 402 in the thigh power box 401 drives the thigh crank 403 to cooperate with the second double-output shaft motor 405 in the shank power box 404 to drive the shank crank 406 to swing in a linkage manner, so as to realize the whole motion process of the robot during walking with a single leg, the four legs can be moved by controlling the coordination of the four first double-output shaft motors 402 and the four second double-output shaft motors 405 to drive the robot to finish linear walking, specifically, the second double-output shaft motor 405 is controlled to operate to drive the shank crank 406 to lift the shank, then the first double-output shaft motor 403 is controlled to operate to drive the thigh crank 403 to lift the angle of the thigh, and the thigh returns, the shank returns, and the motion is a cycle motion;
in the whole movement process, the four feet are always kept in the inclined mode, two feet are obliquely opposite to each other and leave the ground at the same time, and the other two feet support the movement mode of the whole machine body;
when an obstacle is encountered in the process of traveling, the motor 201 drives the first bevel gear 202 to rotate while traveling, and further the second bevel gear 203 meshed and matched with the first bevel gear 202 rotates, and then the rotating column 301 fixedly installed on the axis of the second bevel gear 203 rotates to drive the installation plate 302 and the corresponding leg part 4 installed on the installation plate 302 to rotate, so that the purpose of lateral deviation of the robot is achieved, and the purpose of turning is achieved;
in this embodiment, body part 1, turn part 2, adapting unit 3, leg part 4, foot part 5 are independent each other, mutually support again, so when breaking down, can be fast accurate find the trouble interval, then directly change correspond the part can, convenient and fast, maintenance efficiency is high.
The preferred foot part 5 appearance is human foot shape, and foot part 5 is including integrated into one piece's hardboard 501 and flexible glue 502, and flexible glue 502 is located hardboard 501 downside, has space 503 between hardboard 501 and the flexible glue 502, and such design, the cushioning effect is good, and it is stable to remove, in fact, also can consider foot part 5's structure and appearance according to particular case.
Preferably, the first double-output-shaft motor 402 and the second double-output-shaft motor 405 are the same in specification and model, so that the spare parts can be replaced conveniently, and in fact, the specification and model of the first double-output-shaft motor 402 and the specification and model of the second double-output-shaft motor 405 can be selected according to specific situations.
Preferably, the ball bearing 6 is installed between the rectangular plate 101 and the installation plate 302, and the axle center of the ball bearing 6 is installed on the rotary column 301, so as to ensure the turning effect, and in fact, the measures for ensuring the turning effect can be considered according to the specific situation.
Preferably, both the thigh power box 401 and the shank power box 404 are provided with heat dissipation holes, so that the first double-output-shaft motor 402 and the second double-output-shaft motor 405 can be conveniently dissipated, and actually, the heat dissipation mode can be considered according to specific situations.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (5)
1. A quadruped robot capable of walking freely, which comprises a body part (1), a turning part (2), a connecting part (3) and leg parts (4), and is characterized in that: the turning component (2), the connecting component (3) and the leg component (4) are arranged at four corners of the body component (1), the leg component (4) is matched with the turning component (2) through the connecting component (3), and the leg component (4) is arranged on the body component (1) through the connecting component (3);
the body part (1) comprises two rectangular plates (101), and six support rods (102) are uniformly connected between the two rectangular plates (101);
the turning component (2) comprises a motor (201) arranged on the rectangular plate (101), the output end of the motor (201) is connected with a first bevel gear (202), and the first bevel gear (202) is matched with a second bevel gear (203) in a right-angle meshing manner;
the connecting component (3) comprises a rotary column (301) rotatably mounted on the rectangular plate (101), the second bevel gear (203) is fixedly mounted on the rotary column (301), and a mounting plate (302) is mounted at the end part of the rotary column (301);
leg part (4) including install in thigh power box (401) of mounting panel (302), thigh power box (401) internally mounted has first pair axle motor (402), two outputs of first pair axle motor (402) are connected with thigh crank (403), two install shank power box (404) between thigh crank (403) the other end, shank power box (404) internally mounted has second pair axle motor (405), two outputs of second pair axle motor (405) are connected with shank crank (406), two foot part (5) are installed in the lump to shank crank (406) the other end.
2. The quadruped robot capable of walking freely as claimed in claim 1, wherein: foot part (5) appearance is the human foot shape, foot part (5) are including integrated into one piece's hardboard (501) and flexible glue (502), flexible glue (502) are located hardboard (501) downside, there is space (503) between hardboard (501) and flexible glue (502).
3. The quadruped robot capable of walking freely as claimed in claim 2, wherein: the first double-output-shaft motor (402) and the second double-output-shaft motor (405) are the same in specification and model.
4. A quadruped robot capable of walking freely according to claim 3, characterized in that: rectangular plate (101) with install ball bearing (6) between mounting panel (302), ball bearing (6) axle center install in rotary column (301).
5. The quadruped robot capable of walking freely as claimed in claim 4, wherein: the thigh power box (401) and the shank power box (404) are provided with heat dissipation holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221146401.4U CN217100248U (en) | 2022-05-13 | 2022-05-13 | Four-legged robot capable of walking freely |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221146401.4U CN217100248U (en) | 2022-05-13 | 2022-05-13 | Four-legged robot capable of walking freely |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217100248U true CN217100248U (en) | 2022-08-02 |
Family
ID=82586845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221146401.4U Expired - Fee Related CN217100248U (en) | 2022-05-13 | 2022-05-13 | Four-legged robot capable of walking freely |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217100248U (en) |
-
2022
- 2022-05-13 CN CN202221146401.4U patent/CN217100248U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20220802 |
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| CF01 | Termination of patent right due to non-payment of annual fee |