CN102963456A - Teaching robot with six feet - Google Patents
Teaching robot with six feet Download PDFInfo
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- CN102963456A CN102963456A CN201210556972XA CN201210556972A CN102963456A CN 102963456 A CN102963456 A CN 102963456A CN 201210556972X A CN201210556972X A CN 201210556972XA CN 201210556972 A CN201210556972 A CN 201210556972A CN 102963456 A CN102963456 A CN 102963456A
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- 210000001364 upper extremity Anatomy 0.000 claims description 11
- 108010084652 homeobox protein PITX1 Proteins 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 12
- 230000005540 biological transmission Effects 0.000 description 1
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Abstract
A teaching robot with six feet, which belongs to teaching aids, comprises a main framework, a left leg movement mechanism, a right leg movement mechanism, and taking the horizontal axis line of the main framework, the left leg movement mechanism and the right leg movement mechanism are completely symmetrical, each component and movement manner are completely the same as the left leg movement mechanism. The invention has the benefit that the robot with the six feet can well assist teaching.
Description
Technical field
The present invention relates to a kind of teaching aid, specifically use two motors, two pairs of gear transmissions, four pairs of sprocket wheel chain gears, six legs and mainframe partly wait a kind of teaching six biped robots that consist of.
Background technology
China's landform has contained the various landform such as Plain, plateau, mountain region, hills, desert.In the smooth place of landform, wheeled carrier can pass through nearly all place, but in zone with a varied topography, the action of wheeled carrier is restricted, Multifeet walking robot is a kind of redundant drive that has, higly branched chain, the time variable topological kinematic mechanism, it is the specialized robot of imitation myriopod mode of motion, it is a kind of sufficient formula travel mechanism, along with all types of industries robot constantly comes into the market, six biped robots are subject to paying attention to more and more widely in engineering research and application, society is also more and more higher to the relevant art talent's requirement, also requiring simultaneously each engineering and polytechnic universities as early as possible the development of six biped robots and application to be brought in the teaching process goes, but six biped robots of having produced at present and being applied in the Practical Project are fewer, and general structure is comparatively complicated, cost is higher, be not suitable for being applied to teaching, relate to six biped robot aspects knowledge a lot, but all be some literal and picture introduction, can not be used for the on-the-spot teaching demonstration, each large colleges and universities more wishes to use a kind of simple, can embody teaching six biped robots of six biped robots structure and mode of motion, but this six biped robots are difficult at present find.
Summary of the invention
For above-mentioned deficiency, the invention provides a kind of teaching six biped robots, this robot is easy to use, can aided education.
The present invention is achieved by the following technical solutions: a kind of teaching six biped robots, comprise mainframe, left leg kinematic mechanism, right leg kinematic mechanism, the tower structure that described mainframe is comprised of several L-type steel, described left leg kinematic mechanism comprises left front face cam, left front leg, left front foot, left face cam, left leg, left foot, left back leg, left back foot, left back face cam, left front chain, left back chain, foot leg connecting panel, left motor, bearing seat, bearing, the first from left sprocket wheel, left front axle, left big gear wheel, the second from left sprocket wheel, adapter shaft, left three sprocket wheels, left axle, left four sprocket wheels, bolt, left five sprocket wheels, left rear axle one, left six sprocket wheels, left rear axle two, left connecting plate for electric motor, left socle, left miniature gears, described left motor is fixed on the left socle by left connecting plate for electric motor, described left socle is fixed on the mainframe, described left miniature gears is fixed on left motor shaft end, described left big gear wheel is installed in directly over the left miniature gears, left big gear wheel is mounted and fixed on the left socle by adapter shaft is coaxial with the second from left sprocket wheel, left miniature gears and left big gear wheel are intermeshing, described the first from left sprocket wheel is installed on the left front axle, described left three sprocket wheels, left four sprocket coaxialities are installed on the left axle, described left five sprocket wheels are installed on the left rear axle one, described left six sprocket wheels are installed on the left rear axle two, described left front axle, left axle, left rear axle one, left rear axle two all is fixed on the mainframe by bearing, described bearing all is fixed in the bearing seat that is installed on the mainframe, described the first from left sprocket wheel, the second from left sprocket wheel, left three sprocket wheels link together by left front chain, described left four sprocket wheels, left five sprocket wheels, left six sprocket wheels link together by left back chain, described left front face cam is installed on the left front axle, described left front leg links together with left front face cam and mainframe respectively by bolt, described left front foot links together by sufficient leg connecting panel and left front leg, described left face cam is installed on the left axle, described left leg links together with left face cam and mainframe respectively by bolt, described left foot links together by sufficient leg connecting panel and left leg, described left back face cam is installed on the left rear axle two, described left back leg links together with left back face cam and mainframe respectively by bolt, and described left back foot links together by sufficient leg connecting panel and left back leg.
Described right leg kinematic mechanism and left leg kinematic mechanism are about mainframe horizontal direction axis full symmetric, and it is identical that each forms member and mode of motion and left leg kinematic mechanism.
The usefulness of this invention is: this six biped robot is simple in structure, easy to operate, motion steadily, can well aided education.
Description of drawings
Fig. 1 is front view of the present invention;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the left view of Fig. 1.
Among the figure, 1, mainframe, 2, left front face cam, 3, left front leg, 4, left front foot, 5, left face cam, 6, left leg, 7, left foot, 8, left back leg, 9, left back foot, 10, left back face cam, 11, left front chain, 12, left back chain, 13, foot leg connecting panel, 14, left motor, 15, bearing seat, 16, bearing, 17, the first from left sprocket wheel, 18, left front axle, 19, left big gear wheel, 20, the second from left sprocket wheel, 21, adapter shaft, 22, left three sprocket wheels, 23, left axle, 24, left four sprocket wheels, 25, bolt, 26, left five sprocket wheels, 27, left rear axle one, 28, left six sprocket wheels, 29, left rear axle two, 30, left connecting plate for electric motor, 31, left socle, 32, left miniature gears.
The specific embodiment
A kind of teaching six biped robots, comprise mainframe 1, left leg kinematic mechanism, right leg kinematic mechanism, the tower structure that described mainframe 1 is comprised of several L-type steel, described left leg kinematic mechanism comprises left front face cam 2, left front leg 3, left front foot 4, left face cam 5, left leg 6, left foot 7, left back leg 8, left back foot 9, left back face cam 10, left front chain 11, left back chain 12, foot leg connecting panel 13, left motor 14, bearing seat 15, bearing 16, the first from left sprocket wheel 17, left front axle 18, left big gear wheel 19, the second from left sprocket wheel 20, adapter shaft 21, left three sprocket wheels 22, left axle 23, left four sprocket wheels 24, bolt 25, left five sprocket wheels 26, left rear axle 1, left six sprocket wheels 28, left rear axle 2 29, left connecting plate for electric motor 30, left socle 31, left miniature gears 32, described left motor 14 is fixed on the left socle 31 by left connecting plate for electric motor 30, described left socle 31 is fixed on the mainframe 1, described left miniature gears 32 is fixed on left motor 14 axle heads, described left big gear wheel 19 is installed in directly over the left miniature gears 32, left big gear wheel 19 and the second from left sprocket wheel 20 are by adapter shaft 21 coaxial being mounted and fixed on the left socle 31, left miniature gears 32 and left big gear wheel 19 are intermeshing, described the first from left sprocket wheel 17 is installed on the left front axle 18, described left three sprocket wheels 22, left four sprocket wheels, 24 coaxial being installed on the left axle 23, described left five sprocket wheels 26 are installed on the left rear axle 1, described left six sprocket wheels 28 are installed on the left rear axle 2 29, described left front axle 18, left axle 23, left rear axle 1, left rear axle 2 29 all is fixed on the mainframe 1 by bearing 16, described bearing 16 all is fixed in the bearing seat 15 that is installed on the mainframe 1, described the first from left sprocket wheel 17, the second from left sprocket wheel 20, left three sprocket wheels 22 link together by left front chain 11, described left four sprocket wheels 24, left five sprocket wheels 26, left six sprocket wheels 28 link together by left back chain 12, described left front face cam 2 is installed on the left front axle 18, described left front leg 3 links together with left front face cam 2 and mainframe 1 respectively by bolt 25, described left front foot 4 links together with left front leg 3 by sufficient leg connecting panel 13, described left face cam 5 is installed on the left axle 23, described left leg 6 links together with left face cam 5 and mainframe 1 respectively by bolt 25, described left foot 7 links together with left leg 6 by sufficient leg connecting panel 13, described left back face cam 10 is installed on the left rear axle 2 29, described left back leg 8 links together with left back face cam 10 and mainframe 1 respectively by bolt 25, and described left back foot 9 links together with left back leg 8 by sufficient leg connecting panel 13.
Described right leg kinematic mechanism is to be that it is identical that each forms member and mode of motion and left leg kinematic mechanism about the axis full symmetric of mainframe horizontal direction with left leg kinematic mechanism.
When this machine man-hour, driving left miniature gears 32 by left motor 14 rotates, left miniature gears 32 drives left big gear wheel 19 and rotates, left big gear wheel 19 is rotated by driving coaxial mounted the second from left sprocket wheel 20, the second from left sprocket wheel 20 drives the first from left sprocket wheel 17 by left front chain 11 and left three sprocket wheels 22 rotate, the first from left sprocket wheel 17, left three sprocket wheels 22 drive respectively left front axle 18 and left axle 23 rotates, left front axle 18 and left axle 23 drive respectively again left front face cam 2 and left face cam 5 rotates, left front face cam 2 and left face cam 5 drive respectively with the left front leg 3 and the left leg 6 that link together separately again and move, left three sprocket wheels 22 rotate by driving coaxial mounted left four sprocket wheels 24 again simultaneously, left four sprocket wheels 24 drive left six sprocket wheels 28 by left back chain 12 and left five sprocket wheels 26 and rotate, thereby left six sprocket wheels 28 are with the left back face cam 10 that is automatically connected on the left rear axle 2 29 to rotate by driving left rear axle 2 29 rotations, the left back face cam 10 further left back legs 9 that are automatically connected on it of band moves, and symmetrical right leg kinematic mechanism also is the movement that realizes each right leg by identical principle.
Claims (1)
- One kind the teaching six biped robots, it is characterized in that: comprise mainframe, left leg kinematic mechanism, right leg kinematic mechanism, the tower structure that described mainframe is comprised of several L-type steel, described left leg kinematic mechanism comprises left front face cam, left front leg, left front foot, left face cam, left leg, left foot, left back leg, left back foot, left back face cam, left front chain, left back chain, foot leg connecting panel, left motor, bearing seat, bearing, the first from left sprocket wheel, left front axle, left big gear wheel, the second from left sprocket wheel, adapter shaft, left three sprocket wheels, left axle, left four sprocket wheels, bolt, left five sprocket wheels, left rear axle one, left six sprocket wheels, left rear axle two, left connecting plate for electric motor, left socle, left miniature gears, described left motor is fixed on the left socle by left connecting plate for electric motor, described left socle is fixed on the mainframe, described left miniature gears is fixed on left motor shaft end, described left big gear wheel is installed in directly over the left miniature gears, left big gear wheel is mounted and fixed on the left socle by adapter shaft is coaxial with the second from left sprocket wheel, left miniature gears and left big gear wheel are intermeshing, described the first from left sprocket wheel is installed on the left front axle, described left three sprocket wheels, left four sprocket coaxialities are installed on the left axle, described left five sprocket wheels are installed on the left rear axle one, described left six sprocket wheels are installed on the left rear axle two, described left front axle, left axle, left rear axle one, left rear axle two all is fixed on the mainframe by bearing, described bearing all is fixed in the bearing seat that is installed on the mainframe, described the first from left sprocket wheel, the second from left sprocket wheel, left three sprocket wheels link together by left front chain, described left four sprocket wheels, left five sprocket wheels, left six sprocket wheels link together by left back chain, described left front face cam is installed on the left front axle, described left front leg links together with left front face cam and mainframe respectively by bolt, described left front foot links together by sufficient leg connecting panel and left front leg, described left face cam is installed on the left axle, described left leg links together with left face cam and mainframe respectively by bolt, described left foot links together by sufficient leg connecting panel and left leg, described left back face cam is installed on the left rear axle two, described left back leg links together with left back face cam and mainframe respectively by bolt, and described left back foot links together by sufficient leg connecting panel and left back leg; Described right leg kinematic mechanism and left leg kinematic mechanism are about mainframe horizontal direction axis full symmetric.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210556972XA CN102963456A (en) | 2012-12-19 | 2012-12-19 | Teaching robot with six feet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210556972XA CN102963456A (en) | 2012-12-19 | 2012-12-19 | Teaching robot with six feet |
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| CN102963456A true CN102963456A (en) | 2013-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210556972XA Pending CN102963456A (en) | 2012-12-19 | 2012-12-19 | Teaching robot with six feet |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080830A (en) * | 2016-07-08 | 2016-11-09 | 苏州米众三维科技有限公司 | The Hexapod Robot printed based on 3D |
| CN108945145A (en) * | 2018-06-25 | 2018-12-07 | 武汉科技大学 | A kind of changeable mode hexapod robot |
| CN109131627A (en) * | 2018-10-22 | 2019-01-04 | 阮夏生 | The imitative sufficient running gear of one kind |
| CN111452062A (en) * | 2020-04-29 | 2020-07-28 | 郑州科技学院 | An industrial off-terrain balancing robot |
| CN115303383A (en) * | 2022-06-10 | 2022-11-08 | 北京建筑大学 | Walking robot based on novel cam walking mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001224866A (en) * | 2000-02-17 | 2001-08-21 | Bandai Co Ltd | Walking equipment |
| CN1338357A (en) * | 2001-10-08 | 2002-03-06 | 上海交通大学 | Miniaturized bionic 6-leg robot |
| CN1602986A (en) * | 2004-11-01 | 2005-04-06 | 大连大学 | Bionic Insect Robot |
| CN102267509A (en) * | 2011-06-11 | 2011-12-07 | 吉林大学 | Symmetric bionic hexapoda walking device |
-
2012
- 2012-12-19 CN CN201210556972XA patent/CN102963456A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001224866A (en) * | 2000-02-17 | 2001-08-21 | Bandai Co Ltd | Walking equipment |
| CN1338357A (en) * | 2001-10-08 | 2002-03-06 | 上海交通大学 | Miniaturized bionic 6-leg robot |
| CN1602986A (en) * | 2004-11-01 | 2005-04-06 | 大连大学 | Bionic Insect Robot |
| CN102267509A (en) * | 2011-06-11 | 2011-12-07 | 吉林大学 | Symmetric bionic hexapoda walking device |
Non-Patent Citations (1)
| Title |
|---|
| 伊大成: "重载荷六足步行机器人的制作", 《电子制作》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080830A (en) * | 2016-07-08 | 2016-11-09 | 苏州米众三维科技有限公司 | The Hexapod Robot printed based on 3D |
| CN108945145A (en) * | 2018-06-25 | 2018-12-07 | 武汉科技大学 | A kind of changeable mode hexapod robot |
| CN108945145B (en) * | 2018-06-25 | 2024-01-16 | 武汉科技大学 | Mode-variable hexapod robot |
| CN109131627A (en) * | 2018-10-22 | 2019-01-04 | 阮夏生 | The imitative sufficient running gear of one kind |
| CN109131627B (en) * | 2018-10-22 | 2020-11-17 | 阮夏生 | Foot-imitating walking system |
| CN111452062A (en) * | 2020-04-29 | 2020-07-28 | 郑州科技学院 | An industrial off-terrain balancing robot |
| CN111452062B (en) * | 2020-04-29 | 2022-12-06 | 郑州科技学院 | A kind of industrial uneven terrain balancing robot |
| CN115303383A (en) * | 2022-06-10 | 2022-11-08 | 北京建筑大学 | Walking robot based on novel cam walking mechanism |
| CN115303383B (en) * | 2022-06-10 | 2023-04-07 | 北京建筑大学 | A Walking Robot Based on a New Cam Mechanism |
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Application publication date: 20130313 |