CN108927814A - Bionical foot component and bio-robot - Google Patents
Bionical foot component and bio-robot Download PDFInfo
- Publication number
- CN108927814A CN108927814A CN201810859614.3A CN201810859614A CN108927814A CN 108927814 A CN108927814 A CN 108927814A CN 201810859614 A CN201810859614 A CN 201810859614A CN 108927814 A CN108927814 A CN 108927814A
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- Prior art keywords
- eccentric wheel
- bionical
- bionical foot
- connecting hole
- mandrel
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 14
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000001095 motoneuron effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Toys (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses bionical foot component and bio-robots, are related to bio-robot technical field.Bionical foot component provided by the invention includes movable motor, motor flange, the first bionical foot, the first eccentric wheel, the second bionical foot, the second eccentric wheel, the bionical foot of third, third eccentric wheel and shaft；Movable motor is for being installed on pedestal, the transmission connection of the output shaft of motor flange and movable motor, first bionical foot is rotatablely connected with motor flange and the first eccentric wheel respectively, second bionical foot is rotatablely connected with the first eccentric wheel and the second eccentric wheel respectively, the bionical foot of third is rotatablely connected with the second eccentric wheel and third eccentric wheel respectively, and third eccentric wheel is rotatablely connected by shaft and pedestal.The present invention also provides a kind of bio-robots including bionical foot component.Bionical foot component and bio-robot provided by the invention have bionical characteristic and good movenent performance.
Description
Technical field
The present invention relates to bio-robot technical fields, in particular to bionical foot component and bio-robot.
Background technique
This part intends to provides background for the embodiments of the present invention stated in claims and specific embodiment
Or context.Description herein recognizes it is the prior art not because not being included in this section.
The development of robot technology has been directed to numerous areas, such as industrial circle, entertainment field etc..For entertainment field
Robot can be called amusement robot, so that people watches, for the purpose of amusement.The function of robot can walk or complete
At movement, can there are language competence, or the imitation to certain instruments.
Battlebus is that a kind of operation is mechanical, when applying robot technology on battlebus, both can be used as converter tools
It carries out using (battlebus type toy), the exploitation of battlebus humanoid robot can also be carried out with practical operational need.
Summary of the invention
The purpose of the present invention is to provide a kind of bionical foot components, and structure is simple, easy to use, and have bionical characteristic
With good movenent performance.
The present invention provides a kind of technical solution about bionical foot component:
A kind of bionical foot component is used for bio-robot, and the bio-robot includes pedestal.The bionical foot component packet
Include movable motor, motor flange, the first bionical foot, the first eccentric wheel, the second bionical foot, the second eccentric wheel, the bionical foot of third,
Three eccentricity wheel and shaft；The movable motor is for being installed on the pedestal, the motor flange and the movable motor
Output shaft transmission connection, the motor flange, first eccentric wheel, second eccentric wheel and the third eccentric wheel half
Diameter is equal；The first bionical foot is rotatablely connected with the motor flange and first eccentric wheel respectively, the motor method
It is blue to be coaxially disposed with first eccentric wheel, and the relatively described motor flange of the first bionical foot and first eccentric wheel are inclined
Heart setting；The second bionical foot is rotatablely connected with first eccentric wheel and second eccentric wheel respectively, and described second partially
Heart wheel and first eccentric wheel coaxial arrangement, and relatively described first eccentric wheel of the second bionical foot and second bias
Take turns eccentric setting；The bionical foot of third is rotatablely connected with second eccentric wheel and the third eccentric wheel respectively, and described the
Three eccentricity wheel and second eccentric wheel are coaxially disposed, and relatively described second eccentric wheel of the bionical foot of the third and the third
Eccentric wheel eccentric setting；The third eccentric wheel is rotatablely connected by the shaft and the pedestal.
Further, the bionical foot component further includes the first mandrel, the second mandrel and third mandrel, and described first is bionical
Foot is rotatablely connected by first mandrel and the motor flange and first eccentric wheel, and the second bionical foot passes through institute
It states the second mandrel and first eccentric wheel and second eccentric wheel is rotatablely connected, the bionical foot of third passes through the third
Mandrel and second eccentric wheel and the third eccentric wheel are rotatablely connected.
Further, the motor flange is provided with the first connecting hole for installing first mandrel；Described first is eccentric
Wheel is provided with the second connecting hole for installing first mandrel and installs the third connecting hole of second mandrel, and described second connects
Hole and the position of first connecting hole is connect to be oppositely arranged；Second eccentric wheel is provided with the 4th of installation second mandrel
Connecting hole and the 5th connecting hole for installing the third mandrel, the 4th connecting hole are opposite with the position of the third connecting hole
Setting；The third eccentric wheel is provided with the 6th connecting hole for installing the third mandrel, the 6th connecting hole and described the
The position of five connecting holes is oppositely arranged.
Further, the side of the motor flange is additionally provided with the first fixation hole being connected to first connecting hole,
The side of first eccentric wheel is additionally provided with the second fixation hole of second connecting hole connection and connect with the third
The third fixation hole of hole connection, it is fixed that the side of second eccentric wheel is additionally provided with the 4th be connected to the 4th connecting hole
Hole and the 5th fixation hole being connected to the 5th connecting hole, the side of the third eccentric wheel is additionally provided with to be connected with the described 6th
Connect the 6th fixation hole of hole connection；First fixation hole and second fixation hole are for fixing the two of first mandrel
End, the third fixation hole and the 4th fixation hole are used to fix the both ends of second mandrel, the 5th fixation hole and
6th fixation hole is used to fix the both ends of the third mandrel.
Further, the structure and shape one of the described first bionical foot, the second bionical foot and the bionical foot of the third
It causes；The first bionical foot includes bionical script body and the connecting hole and limit hole for being set to the bionical script body, the company
Hole and limit hole interval setting are connect, the connecting hole is arranged close to the end of the ontology, and the connecting hole is sheathed on institute
It states on the first mandrel, the limit hole is strip-shaped hole.
Further, the both ends of the bionical script body are additionally provided with arc-shaped arc support.
Further, multiple anti-skid bulges are provided on side of the arc support far from the bionical script body,
Multiple anti-skid bulges are evenly spaced apart to be arranged between each other.
Further, the bionical foot component further includes limit slide bar, and the limit slide bar is for being fixed on the pedestal
On, and the limit hole of the first bionical foot, the second bionical foot and the bionical foot of the third is sheathed on the limit
On the slide bar of position.
Further, two matching holes that are provided with for limiting slide bar, two matching holes are about the limit slide bar
Center symmetric setting, and two matching holes are located at the both ends of the limit slide bar.
Another object of the present invention is to provide a kind of bio-robots, with bionical characteristic and good motility
Energy.
The present invention also provides a kind of technical solutions about bio-robot:
A kind of bio-robot, including bionical foot component.The bionical foot component includes movable motor, motor flange,
One bionical foot, the first eccentric wheel, the second bionical foot, the second eccentric wheel, the bionical foot of third, third eccentric wheel and shaft；The row
Motor is walked for being installed on the pedestal, the output shaft transmission connection of the motor flange and the movable motor, the electricity
Machine flange, first eccentric wheel, second eccentric wheel and the third eccentric wheel radius be equal；Described first is bionical
Foot is rotatablely connected with the motor flange and first eccentric wheel respectively, and the motor flange and first eccentric wheel are coaxial
Setting, and the relatively described motor flange of the first bionical foot and the first eccentric wheel eccentric setting；The second bionical foot
It is rotatablely connected respectively with first eccentric wheel and second eccentric wheel, second eccentric wheel and first eccentric wheel are same
Axis setting, and relatively described first eccentric wheel of the second bionical foot and the second eccentric wheel eccentric setting；The third is imitative
Raw foot is rotatablely connected with second eccentric wheel and the third eccentric wheel respectively, the third eccentric wheel and second bias
Wheel coaxial arrangement, and relatively described second eccentric wheel of the bionical foot of the third and the third eccentric wheel eccentric setting；Described
Three eccentricity wheel is rotatablely connected by the shaft and the pedestal.
Compared with prior art, the beneficial effect of bionical foot component and bio-robot provided by the invention is: movable motor
Effect be to motor flange, the first bionical foot, the first eccentric wheel, the second bionical foot, the second eccentric wheel, the bionical foot of third,
The rotation of three eccentricity wheel and shaft provides power.Bionical foot component is at runtime: driving motor flange to turn when movable motor rotates
Dynamic, the first eccentric wheel is connect by the first bionical foot with motor flange, and then drives the first bionical foot in motor flange rotation
It is rotated with the first eccentric wheel.Meanwhile first eccentric wheel drive the second bionical foot and the second eccentric wheel rotation, the second eccentric wheel drive
The bionical foot of third, third eccentric wheel and shaft rotation.The rotation of first bionical foot and the bionical foot of third is exported with respect to movable motor
Rotation be it is eccentric, the second bionical foot relative to the rotation that movable motor exports be it is coaxial, the first bionical foot of bionical foot first,
Second bionical foot and the bionical foot of third are able to drive pedestal movement in rotation.Bionical foot component provided by the invention and bionical machine
Device people has bionical characteristic and good movenent performance.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is structural schematic diagram of the bionical foot component that provides of the embodiment of the present invention under the first visual angle；
Fig. 2 is structural schematic diagram of the bionical foot component that provides of the embodiment of the present invention under the second visual angle；
Fig. 3 is the decomposition texture schematic diagram for the bionical foot component that the embodiment of the present invention provides；
Fig. 4 is the structural schematic diagram for the first bionical foot that the embodiment of the present invention provides；
Fig. 5 is structural schematic diagram of the bio-robot that provides of the embodiment of the present invention under the first visual angle；
Fig. 6 is structural schematic diagram of the bio-robot that provides of the embodiment of the present invention under the second visual angle；
Fig. 7 is the enlarged structure schematic diagram in Fig. 6 at III；
Fig. 8 is structural schematic diagram of the bio-robot that provides of the embodiment of the present invention under third visual angle.
Icon: 10- bio-robot；The bionical foot component of 100-；The first mandrel of 101-；The second mandrel of 102-；103- third
Mandrel；104- limits slide bar；1041- matching hole；110- movable motor；120- motor flange；The first connecting hole of 121-；130-
One bionical foot；The bionical script body of 131-；132- connecting hole；133- limit hole；134- arc support；The first eccentric wheel of 140-；
The second connecting hole of 142-；143- third connecting hole；The bionical foot of 150- second；The second eccentric wheel of 160-；The 4th connecting hole of 164-；
The 5th connecting hole of 165-；The bionical foot of 170- third；180- third eccentric wheel；The 6th connecting hole of 186-；190- shaft；200- base
Frame；210- mounting plate；220- outer panel；230- connecting plate；300- attacks component；310- attacks motor；320- attacks bar；330-
Attack ball hammer；340- buck plate；350- rotating hub；400- support component；410- support driving；420- support frame；421- first
Strut；422- second support bar；423- connecting rod；430- gear drive group；431- first gear；432- second gear；440-
Connecting shaft.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is to be understood that, term " on ", "lower", "inner", "outside", "left", "right" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship or the orientation or positional relationship that usually understands of those skilled in the art, be merely for convenience of retouching
It states the present invention and simplifies description, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, " setting ", " even
Connect " etc. terms shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be and be directly connected to, can also be indirectly connected with by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
With reference to the accompanying drawing, detailed description of the preferred embodiments.
First embodiment
Fig. 1 to Fig. 8 is please referred to, present embodiments provides a kind of bionical foot component 100, structure is simple, user
Just, and there is bionical characteristic and good movenent performance.
It should be noted that bionical foot component 100 provided in this embodiment can be used for bio-robot 10.Using this reality
The bio-robot 10 for applying the bionical foot component 100 of example offer has bionical characteristic and good movement characteristic, can be use
Person provides good recreation experience.In addition, bio-robot 10 also can be applied in robot match.
Bio-robot 10 provided in this embodiment includes bionical foot component 100 and pedestal 200, bionical foot component 100
Quantity is four, and four bionical foot components 100 are accordingly installed on the two sides of pedestal 200, to drive pedestal 200 to move.
It is understood that the effect of pedestal 200 is for installing and supporting each component；Bionical foot component 100 is used for band
Dynamic pedestal 200 moves.10 structure of bio-robot provided in this embodiment is simple, easy to use, and has bionical characteristic, good
Movenent performance and effective attack characteristics.
In the present embodiment, bionical foot component 100 include movable motor 110, motor flange 120, the first bionical foot 130,
First eccentric wheel 140, the second bionical foot 150, the second eccentric wheel 160, the bionical foot 170 of third, third eccentric wheel 180 and shaft
190.Movable motor 110 is installed on pedestal 200, and the output shaft of motor flange 120 and movable motor 110 is sequentially connected, and first
Bionical foot 130 is rotatablely connected with motor flange 120 and the first eccentric wheel 140 respectively, motor flange 120 and the first eccentric wheel 140
Coaxial arrangement, and the first opposite 140 eccentric setting of motor flange 120 and the first eccentric wheel of bionical foot 130.Second bionical foot 150
It is rotatablely connected respectively with the first eccentric wheel 140 and the second eccentric wheel 160, the second eccentric wheel 160 and the first eccentric wheel 140 are coaxially set
It sets, and the second opposite first eccentric wheel 140 of bionical foot 150 and the second eccentric wheel 160 are coaxially disposed.The bionical foot 170 of third is distinguished
It being rotatablely connected with the second eccentric wheel 160 and third eccentric wheel 180, third eccentric wheel 180 and the second eccentric wheel 160 are coaxially disposed,
And opposite 180 eccentric setting of second eccentric wheel 160 and third eccentric wheel of the bionical foot 170 of third.Third eccentric wheel 180 passes through shaft
190 are rotatablely connected with pedestal 200.
It is understood that the effect of movable motor 110 is eccentric to motor flange 120, the first bionical foot 130, first
Take turns the rotation of the 140, second bionical foot 150, the second eccentric wheel 160, the bionical foot 170 of third, third eccentric wheel 180 and shaft 190
Power is provided.Bionical foot component 100 is at runtime: driving motor flange 120 to rotate when movable motor 110 rotates, first is eccentric
Wheel 140 is connect by the first bionical foot 130 with motor flange 120, and then the first bionical foot is driven when motor flange 120 rotates
130 and first eccentric wheel 140 rotate.Meanwhile first eccentric wheel 140 drive 160 turns of the second bionical foot 150 and the second eccentric wheel
Dynamic, the second eccentric wheel 160 drives the bionical foot 170 of third, third eccentric wheel 180 and shaft 190 to rotate.First bionical 130 He of foot
The rotation of the bionical foot 170 of third is eccentric, the second bionical 150 opposing rows leakage of electricity of foot relative to the rotation that movable motor 110 exports
The rotation that machine 110 exports is coaxial, the first bionical foot 130 of bionical foot 130 first, the second bionical foot 150 and the bionical foot of third
170, which are able to drive pedestal 200 in rotation, moves.
Optionally, in the present embodiment, bionical foot component 100 further includes the first mandrel 101, the second mandrel 102 and third
Mandrel 103, the first bionical foot 130 are rotatablely connected by the first mandrel 101 with motor flange 120 and the first eccentric wheel 140, and second
Bionical foot 150 is rotatablely connected by the second mandrel 102 and the first eccentric wheel 140 and the second eccentric wheel 160, the bionical foot 170 of third
It is rotatablely connected by third mandrel 103 and the second eccentric wheel 160 and third eccentric wheel 180.
It is understood that being connect bionical foot with eccentric wheel by the way of mandrel, has easy to assembly and can reach
To the requirement of movement.
Further, in the present embodiment, motor flange 120 is provided with the first connecting hole of the first mandrel 101 of installation
121；First eccentric wheel 140 is provided with the third of the second mandrel 102 of the second connecting hole 142 and installation of the first mandrel 101 of installation
The position of connecting hole 143, the second connecting hole 142 and the first connecting hole 121 is oppositely arranged；Second eccentric wheel 160 is provided with installation
4th connecting hole 164 of the second mandrel 102 and the 5th connecting hole 165 of installation third mandrel 103, the 4th connecting hole 164 and the
The position of three connecting holes 143 is oppositely arranged；Third eccentric wheel 180 is provided with the 6th connecting hole 186 of installation third mandrel 103,
The position of 6th connecting hole 186 and the 5th connecting hole 165 is oppositely arranged.
It is understood that the first connecting hole 121 is opposite with the position of the second connecting hole 142, third connecting hole 143 and
The position of four connecting holes 164 is opposite, and the 5th connecting hole 165 is opposite with the position of the 6th connecting hole 186；In the present embodiment,
One connecting hole 121 and the second connecting hole 142, third connecting hole 143 and the 4th connecting hole 164, the 5th connecting hole 165 and the 6th connect
Connecing hole 186 and spacing between angle is 120 degree, i.e., is equiangularly spaced setting between three.
Further, the side of motor flange 120 is additionally provided with the first fixation hole being connected to the first connecting hole 121,
The side of first eccentric wheel 140 is additionally provided with the second fixation hole being connected to the second connecting hole 142 and connects with third connecting hole 143
Logical third fixation hole, the side of the second eccentric wheel 160 be additionally provided with the 4th fixation hole being connected to the 4th connecting hole 164 and with
5th fixation hole of the 5th connecting hole 165 connection, the side of third eccentric wheel 180 is additionally provided with to be connected to the 6th connecting hole 186
The 6th fixation hole；First fixation hole and the second fixation hole are used to fix the both ends of the first mandrel 101, third fixation hole and the 4th
Fixation hole is used to fix the both ends of the second mandrel 102, the 5th fixation hole and the 6th fixation hole for fixing the two of third mandrel 103
End.
It is understood that fixation hole and connecting hole 132 cooperate, mandrel is fixed.
Optionally, in the present embodiment, the structure of the first bionical foot 130, the second bionical foot 150 and the bionical foot 170 of third
It is consistent with shape.
In the present embodiment, the first bionical foot 130 includes bionical script body 131 and the company for being set to bionical script body 131
Hole 132 and limit hole 133 are connect, connecting hole 132 and the setting of the interval of limit hole 133, connecting hole 132 are arranged close to the end of ontology,
Limit hole 133 is strip-shaped hole.
Further, the both ends of bionical script body 131 are additionally provided with arc-shaped arc support 134.
Further, multiple anti-skid bulges are provided on side of the arc support 134 far from bionical script body 131,
Multiple anti-skid bulges are evenly spaced apart to be arranged between each other.
In the present embodiment, bionical foot component 100 further includes limit slide bar 104, and limit slide bar 104 is fixed on pedestal 200
On, and the limit hole 133 of the first bionical foot 130, the second bionical foot 150 and the bionical foot 170 of third is sheathed on limit slide bar 104
On.
Further, two matching holes 1041 that are provided with of slide bar 104 are limited, two matching holes 1041 are about limit slide bar 104
Center symmetric setting, and two matching holes 1041 be located at limit slide bar 104 both ends.
Optionally, pedestal 200 may include two mounting plates 210, two outer panels 220 and multiple connecting plates 230, multiple connections
Plate 230 is set to spaced reciprocally between two mounting plates 210, and two outer panels 220 and two mounting plates 210 interval are arranged, bionical foot
Component 100 is installed between mounting plate 210 and outer panel 220, and attack motor 310 is installed on connecting plate 230.
Bionical foot component 100 provided in this embodiment the utility model has the advantages that the effect of movable motor 110 is to motor flange
120, the first bionical foot 130, the first eccentric wheel 140, the second bionical foot 150, the second eccentric wheel 160, the bionical foot 170 of third,
The rotation of three eccentricity wheel 180 and shaft 190 provides power.Bionical foot component 100 is at runtime: band when movable motor 110 rotates
Dynamic motor flange 120 rotates, and the first eccentric wheel 140 is connect by the first bionical foot 130 with motor flange 120, and then in motor
The first bionical foot 130 and the rotation of the first eccentric wheel 140 are driven when flange 120 rotates.Meanwhile first eccentric wheel 140 drive second
Bionical foot 150 and the rotation of the second eccentric wheel 160, the second eccentric wheel 160 drive the bionical foot 170 of third, third eccentric wheel 180 and turn
Axis 190 rotates.The rotation of first bionical foot 130 and the bionical foot 170 of third is eccentric relative to the rotation that movable motor 110 exports
, the second bionical foot 150 relative to the rotation that movable motor 110 exports be it is coaxial, the first bionical foot 130 of bionical foot 130 first,
Second bionical foot 150 and the bionical foot 170 of third are able to drive pedestal 200 in rotation and move.Bionical foot provided in this embodiment
Component 100 has bionical characteristic and good movenent performance.
Second embodiment
Fig. 1 to Fig. 8 is please referred to, a kind of bio-robot 10 is present embodiments provided, with bionical characteristic and good
Good movenent performance.
Bio-robot 10 provided in this embodiment includes pedestal 200 and the bionical foot component 100 that first embodiment provides.
Bionical foot component 100 is bionical including movable motor 110, motor flange 120, the first bionical foot 130, the first eccentric wheel 140, second
Foot 150, the second eccentric wheel 160, the bionical foot 170 of third, third eccentric wheel 180 and shaft 190.Movable motor 110 is for installing
In on pedestal 200, the output shaft of motor flange 120 and movable motor 110 is sequentially connected, motor flange 120, the first eccentric wheel
140, the radius of the second eccentric wheel 160 and third eccentric wheel 180 is equal.First bionical foot 130 respectively with motor flange 120 and
The rotation connection of first eccentric wheel 140, motor flange 120 and the first eccentric wheel 140 are coaxially disposed, and the first bionical foot 130 is opposite
140 eccentric setting of motor flange 120 and the first eccentric wheel.Second bionical foot 150 is eccentric with the first eccentric wheel 140 and second respectively
160 rotation connection of wheel, the second eccentric wheel 160 and the coaxial arrangement of the first eccentric wheel 140, and the second bionical foot 150 opposite first is partially
160 eccentric setting of heart wheel 140 and the second eccentric wheel.The bionical foot 170 of third respectively with the second eccentric wheel 160 and third eccentric wheel
180 rotation connections, third eccentric wheel 180 and the second eccentric wheel 160 are coaxially disposed, and the bionical foot 170 opposite second of third is eccentric
Wheel 160 and 180 eccentric setting of third eccentric wheel.Third eccentric wheel 180 is rotatablely connected by shaft 190 and pedestal 200.
Optionally, motor flange 120 is provided with the first connecting hole 121 of the first mandrel 101 of installation.First eccentric wheel 140
It is provided with the third connecting hole 143 of the second mandrel 102 of the second connecting hole 142 and installation of the first mandrel 101 of installation, the second connection
Hole 142 and the position of the first connecting hole 121 are oppositely arranged.Second eccentric wheel 160 is provided with the 4th company of the second mandrel 102 of installation
It connects hole 164 and the 5th connecting hole 165 of third mandrel 103, the position phase of the 4th connecting hole 164 and third connecting hole 143 is installed
To setting.Third eccentric wheel 180 is provided with the 6th connecting hole 186 of installation third mandrel 103, the 6th connecting hole 186 and the 5th
The position of connecting hole 165 is oppositely arranged.
Optionally, the side of motor flange 120 is additionally provided with the first fixation hole being connected to the first connecting hole 121, and first
The side of eccentric wheel 140 is additionally provided with the second fixation hole being connected to the second connecting hole 142 and is connected to third connecting hole 143
Third fixation hole, the side of the second eccentric wheel 160 are additionally provided with the 4th fixation hole being connected to the 4th connecting hole 164 and with the 5
The 5th fixation hole that connecting hole 165 is connected to, the side of third eccentric wheel 180 are additionally provided with the be connected to the 6th connecting hole 186
Six fixation holes.First fixation hole and the second fixation hole are used to fix the both ends of the first mandrel 101, and third fixation hole and the 4th fix
Hole is used to fix the both ends of the second mandrel 102, and the 5th fixation hole and the 6th fixation hole are used to fix the both ends of third mandrel 103.
Optionally, the structure of the first bionical foot 130, the second bionical foot 150 and the bionical foot 170 of third is consistent with shape.The
One bionical foot 130 includes bionical script body 131 and the connecting hole 132 and limit hole 133 that are set to bionical script body 131, connection
Hole 132 and the setting of the interval of limit hole 133, connecting hole 132 are arranged close to the end of ontology, and connecting hole 132 is sheathed on the first mandrel
On 101, limit hole 133 is strip-shaped hole.
Optionally, the both ends of bionical script body 131 are additionally provided with arc-shaped arc support 134.
Optionally, multiple anti-skid bulges are provided on side of the arc support 134 far from bionical script body 131, it is multiple
Anti-skid bulge is evenly spaced apart to be arranged between each other.
Optionally, bionical foot component 100 further includes limit slide bar 104, and limit slide bar 104 is used to be fixed on pedestal 200,
And the limit hole 133 of the first bionical foot 130, the second bionical foot 150 and the bionical foot 170 of third is sheathed on limit slide bar 104.
Optionally, two matching holes 1041 that are provided with of slide bar 104 are limited, two matching holes 1041 are about limit slide bar 104
Center symmetric setting, and two matching holes 1041 are located at the both ends of limit slide bar 104.
Optionally, bio-robot 10 further includes support component 400, and support component 400 includes support driving 410 and support
Frame 420, support driving 410 are installed on pedestal 200,410 transmission connection of support frame 420 and support driving.Optionally, support driving
410 use steering engine.
Optionally, support frame 420 includes first support bar 421, second support bar 422 and connecting rod 423, first support bar
421 are rotatablely connected with 410 transmission connection of support driving, second support bar 422 and pedestal 200, the both ends of connecting rod 423 respectively with
First support bar 421 is fixedly connected with second support bar 422 far from one end end of pedestal 200.
A more step, support component 400 further includes gear drive group 430, and support driving 410 passes through gear drive group 430
It is sequentially connected with support frame 420.
Further, gear drive group 430 includes intermeshing first gear 431 and second gear 432, the first tooth
Wheel 431 and second gear 432 are mounted on pedestal 200, and the output shaft of first gear 431 and support driving 410 is sequentially connected,
The output shaft and support frame 420 of second gear 432 are sequentially connected.When support frame 420 is supported including first support bar 421, second
The output shaft of bar 422 and connecting rod 423, first support bar 421 and second gear 432 is sequentially connected, second support bar 422 and base
Frame 200 is rotatablely connected, and the both ends of connecting rod 423 are respectively with first support bar 421 and second support bar 422 far from pedestal 200
One end end is fixedly connected.
Further, support component 400 further includes connecting shaft 440, connecting shaft 440 and pedestal 200 be rotatablely connected and with even
Extension bar 423 is arranged in parallel, and one end of connecting shaft 440 is fixedly connected with second support bar 422, the other end of connecting shaft 440 and
Two support rods 422 are fixedly connected, and first gear 431 is fixedly sheathed in connecting shaft 440.
Optionally, connecting shaft 440 is provided with rotated through-hole on two outer panels 220 and two mounting plates 210 in assembly,
Connecting shaft 440 passes through through-hole and rotationally cooperates with through-hole, and the both ends of connecting shaft 440 are connect with support frame 420 respectively.
Optionally, bio-robot 10 further includes attack component 300, and attack component 300 includes attack motor 310, attack
Bar 320 and attack ball hammer 330, attack motor 310 is installed on pedestal 200, attack bar 320 and the output shaft for attacking motor 310
Transmission connection, attack ball hammer 330 are fixedly arranged on one end end of the attack bar 320 far from attack motor 310.
It is understood that the effect of pedestal 200 is for installing and supporting each component；Bionical foot component 100 is used for band
Dynamic pedestal 200 moves；Attack component 300 is for being attacked, wherein attack motor 310 is used to provide power, and attacks bar 320
It is connected to attack motor 310 for ball hammer 330 will to be attacked, and increases the firing area of attack ball hammer 330, attack ball hammer 330
For being attacked under the action of attacking motor 310 and attack bar 320.The attack of ball hammer 330 is attacked by attack motor
310 are controlled.
Optionally, attack bar 320 can be designed as telescopic structure, or attack bar 320 is successively fixed including multiple
The rod segment of connection.It is understood that can increase if necessary and attack when attacking bar 320 using the design of telescopic structure
The length of bar 320 is hit, further to increase the strike range of attack ball hammer 330.
Optionally, in the present embodiment, attack component 300 can also include buck plate 340, and attack motor 310 passes through dress
Matching board 340 is installed on connecting plate 230.Optionally, it by buck plate 340, attacks between motor 310 and pedestal 200 each other
It is arranged every ground, to further increase height of the attack motor 310 relative to ground, and then protects attack motor 310.
Optionally, attack component 300 can also include rotating hub 350, and attack bar 320 passes through rotating hub 350 and attack motor 310
Output axis connection, and rotating hub 350 and attack motor 310 are located at the two sides of buck plate 340.Rotating hub 350 can be to attack
Bar 320 and the rotation of attack motor 310 are protected, and then the stability of lift structure and function.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of bionical foot component is used for bio-robot, the bio-robot includes pedestal, which is characterized in that described imitative
Raw foot component includes movable motor, motor flange, the first bionical foot, the first eccentric wheel, the second bionical foot, the second eccentric wheel, the
Three bionical feet, third eccentric wheel and shaft；
The movable motor connects for being installed on the pedestal, the output shaft transmission of the motor flange and the movable motor
Connect, the motor flange, first eccentric wheel, second eccentric wheel and the third eccentric wheel radius be equal；
The first bionical foot is rotatablely connected with the motor flange and first eccentric wheel respectively, the motor flange and institute
The coaxial arrangement of the first eccentric wheel is stated, and the relatively described motor flange of the first bionical foot and the first eccentric wheel bias are set
It sets；
The second bionical foot is rotatablely connected with first eccentric wheel and second eccentric wheel respectively, second eccentric wheel
It is coaxially disposed with first eccentric wheel, and relatively described first eccentric wheel of the second bionical foot and second eccentric wheel are inclined
Heart setting；
The bionical foot of third is rotatablely connected with second eccentric wheel and the third eccentric wheel respectively, the third eccentric wheel
It is coaxially disposed with second eccentric wheel, and relatively described second eccentric wheel of the bionical foot of the third and the third eccentric wheel are inclined
Heart setting；
The third eccentric wheel is rotatablely connected by the shaft and the pedestal.
2. bionical foot component according to claim 1, which is characterized in that the bionical foot component further include the first mandrel,
Second mandrel and third mandrel, the first bionical foot pass through first mandrel and the motor flange and first bias
Wheel rotation connection, the second bionical foot are rotated by second mandrel and first eccentric wheel and second eccentric wheel
Connection, the bionical foot of third are rotatablely connected by the third mandrel and second eccentric wheel and the third eccentric wheel.
3. bionical foot component according to claim 2, which is characterized in that the motor flange is provided with installation described first
First connecting hole of mandrel；
First eccentric wheel is provided with the second connecting hole for installing first mandrel and installs the third of second mandrel
The position of connecting hole, second connecting hole and first connecting hole is oppositely arranged；
Second eccentric wheel is provided with the 5th of the 4th connecting hole for installing second mandrel and the installation third mandrel
The position of connecting hole, the 4th connecting hole and the third connecting hole is oppositely arranged；
The third eccentric wheel is provided with the 6th connecting hole for installing the third mandrel, the 6th connecting hole and the described 5th
The position of connecting hole is oppositely arranged.
4. bionical foot component according to claim 3, which is characterized in that the side of the motor flange is additionally provided with and institute
The first fixation hole of the first connecting hole connection is stated, the side of first eccentric wheel is additionally provided with to be connected to second connecting hole
The second fixation hole and the third fixation hole that is connected to the third connecting hole, the side of second eccentric wheel be additionally provided with
4th fixation hole of the 4th connecting hole connection and the 5th fixation hole being connected to the 5th connecting hole, the third are eccentric
The side of wheel is additionally provided with the 6th fixation hole being connected to the 6th connecting hole；
First fixation hole and second fixation hole are used to fix the both ends of first mandrel, the third fixation hole and
4th fixation hole is used to fix the both ends of second mandrel, the 5th fixation hole and the 6th fixation hole for solid
The both ends of the fixed third mandrel.
5. bionical foot component according to claim 2, which is characterized in that the first bionical foot, the second bionical foot
And the structure of the bionical foot of third is consistent with shape；
The first bionical foot includes bionical script body and the connecting hole and limit hole for being set to the bionical script body, the company
Hole and limit hole interval setting are connect, the connecting hole is arranged close to the end of the ontology, and the connecting hole is sheathed on institute
It states on the first mandrel, the limit hole is strip-shaped hole.
6. bionical foot component according to claim 5, which is characterized in that the both ends of the bionical script body, which are additionally provided with, is in
The arc support of arc.
7. bionical foot component according to claim 6, which is characterized in that the arc support is far from the bionical script
Multiple anti-skid bulges are provided on the side of body, multiple anti-skid bulges are evenly spaced apart to be arranged between each other.
8. bionical foot component according to claim 5, which is characterized in that the bionical foot component further includes limit slide bar,
The limit slide bar is for being fixed on the pedestal, and the first bionical foot, the second bionical foot and the third are imitative
The limit hole of raw foot is sheathed on the limit slide bar.
9. bionical foot component according to claim 8, which is characterized in that the limit slide bar is provided with two matching holes,
Center symmetric setting of two matching holes about the limit slide bar, and two matching holes are located at the two of the limit slide bar
End.
10. a kind of bio-robot, which is characterized in that including the bionical foot component as described in any one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810859614.3A CN108927814A (en) | 2018-08-01 | 2018-08-01 | Bionical foot component and bio-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810859614.3A CN108927814A (en) | 2018-08-01 | 2018-08-01 | Bionical foot component and bio-robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108927814A true CN108927814A (en) | 2018-12-04 |
Family
ID=64444523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810859614.3A Pending CN108927814A (en) | 2018-08-01 | 2018-08-01 | Bionical foot component and bio-robot |
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| Country | Link |
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| CN (1) | CN108927814A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843954A (en) * | 2019-12-10 | 2020-02-28 | 亚楠山河北食品有限公司 | High-stability stepping device and walking robot with high walking stability |
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| CN204548268U (en) * | 2015-03-20 | 2015-08-12 | 西南大学 | A kind of two eccentric Variable Eccentricity obstacle detouring assembly and wheel biped robot |
| CN207257821U (en) * | 2017-05-02 | 2018-04-20 | 青岛职业技术学院 | One kind sports foot formula confrontation robot |
| CN207311655U (en) * | 2017-09-05 | 2018-05-04 | 宜春学院 | The sufficient educational robot of one kind 12 |
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| US20110100733A1 (en) * | 2009-10-29 | 2011-05-05 | National Taiwan University | Mobile platform |
| CN204548268U (en) * | 2015-03-20 | 2015-08-12 | 西南大学 | A kind of two eccentric Variable Eccentricity obstacle detouring assembly and wheel biped robot |
| CN207257821U (en) * | 2017-05-02 | 2018-04-20 | 青岛职业技术学院 | One kind sports foot formula confrontation robot |
| CN207311655U (en) * | 2017-09-05 | 2018-05-04 | 宜春学院 | The sufficient educational robot of one kind 12 |
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| CN110843954A (en) * | 2019-12-10 | 2020-02-28 | 亚楠山河北食品有限公司 | High-stability stepping device and walking robot with high walking stability |
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Application publication date: 20181204 |