CN104724200A - Robot leg structure - Google Patents
Robot leg structure Download PDFInfo
- Publication number
- CN104724200A CN104724200A CN201510112305.6A CN201510112305A CN104724200A CN 104724200 A CN104724200 A CN 104724200A CN 201510112305 A CN201510112305 A CN 201510112305A CN 104724200 A CN104724200 A CN 104724200A
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- China
- Prior art keywords
- leg
- shape
- robot
- shape leg
- branch
- Prior art date
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- Granted
Links
- 230000005484 gravity Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 14
- 239000003365 glass fiber Substances 0.000 claims description 5
- 229920006324 polyoxymethylene Polymers 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 239000004576 sand Substances 0.000 abstract description 6
- 244000025254 Cannabis sativa Species 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- B62D57/022—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 consisting of members having both rotational and walking movements
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a robot leg structure. The robot leg structure is characterized by comprising a C-shaped leg body, and a connecting piece and an auxiliary structure of the C-shaped leg body, the connecting piece is installed on the top of the C-shaped leg body and used for being connected with a leg output shaft, the auxiliary structure is installed at the bottom of the C-shaped leg body and comprises a C-shaped leg branch and C-shaped leg spring pieces, and the C-shaped leg spring pieces are fixed between the C-shaped leg body and the C-shaped leg branch to reduce the leg sinking caused by the gravity of the C-shaped leg body. The robot leg structure is especially suitable for deserts, grass lands, rugged road surfaces and other environments, a robot can walk on the deserts and other special environments, the road holding force of the legs of the robot is increased, the sinking of the legs in the sand land is reduced, and meanwhile the walking stability of the robot is improved.
Description
Technical field
The present invention relates to robot field, specifically, relate to a kind of robot leg structure.
Background technology
At present, legged type robot is the study hotspot in mobile robot field.The leg structure of legged type robot is mainly divided into multiple degree of freedom foot formula structure and wheeled construction.The principal feature of wheeled construction is that leg structure is simple, and controllability is good, in gait cooperation control, have certain advantage, thus can the kinematic velocity of hoisting machine people.
Under the environment of the desert landform such as desert, meadow, rubble and rough ground, there is the shortcoming being easily absorbed in sand ground in the wheeled construction of existing legged type robot, and for the irregular slalom thing under circumstances not known, also cannot independently cross rapidly, therefore poor to the comformability of environment.
Existing patented technology retrieval is found, patent application publication number: CN 102107685 A, title: eccentric wheel leg six biped robot.This invention adopts the wheeled foot structure of circular offset, but wheel surface is smooth, also cannot solve the depression problem in sand ground, poor for soft earth's surface comformability.
Summary of the invention
The present invention is directed to above shortcomings in prior art, provide a kind of robot leg structure, there is lightweight, easy feature, ensure that robot is walked fast, can the soft ground environment such as desert be adapted to simultaneously, increase the earth-grasping force of robot leg, avoid occurring skidding, slow down the depression of robot in sand ground, strengthen the stability of robot ambulation simultaneously.
For achieving the above object, the present invention is achieved by the following technical solutions:
A kind of robot leg structure, comprise C shape leg body and attaching parts thereof and accessory structure, described attaching parts is installed on C shape leg bodies top, and in order to connected legs output shaft, described accessory structure is installed on C shape leg body bottom portion; Described accessory structure comprises C Xing Tui branch, C shape leg spring installation, and wherein C shape leg spring installation is fixed between C shape leg body and C Xing Tui branch, in order to subtract the leg depression that c-shape leg body causes under gravity.
Described C shape leg body bottom portion installs C Xing Tui branch.
Described Xing Tui branch is arranged within the scope of C shape leg body bottom portion about 90 degree.
Described C shape leg body by having certain elastomeric polyformaldehyde, glass fiber material processes.
Described C shape leg body and the corresponding mounting hole being distributed with some in C Xing Tui branch, make C shape leg spring installation be fixed on wherein.
Described C shape leg spring installation is made up of air-leg and stiffness spring, and the two ends of described air-leg are fixed with C shape leg body and C Xing Tui branch respectively, and stiffness spring is socketed on air-leg 5.
Described C shape leg attaching parts and C shape leg body are fixed by screw blend compounds water and cling, and C shape leg attaching parts and leg output shaft are clamped by hexagonal mode and tightening in addition.
Also comprise C shape leg outside face rubber burr layer, be wrapped in C shape leg outside face.
The group of described C shape leg body is angled 270 °.
Compared with prior art, its beneficial effect is as follows for technical solution of the present invention:
1, adopt C shape structure, ensure that and be beneficial to the lightweight of leg and easy robot and walk fast, and cross the obstacle being highly no more than C shape leg diameter.
2, adopt the high strength such as polyformaldehyde or glass fibre, lightweight, resilient composite material, simultaneously in conjunction with C shape leg branched structure, utilize the elasticity of air-leg and spring to pray cushioning effect.
3, the rubber burr layer of outside face can increase and grains of sand area of contact and friction force, reduces the pressure to ground, prevents robot depression in sand ground, skidding.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the overall skeleton diagram of the embodiment of the present invention;
Fig. 2 is C shape leg attaching parts of the present invention and C shape leg body connection mode schematic diagram;
Fig. 3 is spring fastenings schematic diagram of the present invention;
Fig. 4 is kiss the earth view of the present invention;
Fig. 5 is disengaging ground state schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
Shown in Fig. 1 ~ Fig. 3, novel robot leg structure provided by the present invention, comprise C shape leg body 1 and attaching parts 2 thereof and accessory structure, accessory structure is installed on the bottom of C shape leg body 1.
Accessory structure comprises C Xing Tui branch 30, C shape leg spring installation 31 and C shape leg rubber burr layer (meaning not shown in the figures), and wherein C shape leg spring installation 31 is fixed between C shape leg body and C Xing Tui branch 30.
Within the scope of about 90 degree, C Xing Tui branch 30 is installed bottom C shape leg body 1.
C shape leg body 1 by having certain elastomeric polyformaldehyde, glass fiber material processes, C shape leg body 1 and C Xing Tui branch 30 are distributed with the mounting hole of some, ensure that C shape leg spring installation 31 is fixed on wherein.
C shape leg spring installation 31 is made up of air-leg 5 and stiffness spring 6, and wherein stiffness spring 6 is socketed on air-leg 5.
C shape leg attaching parts 2 and C shape leg body 1 are fixed by screw blend compounds water and cling, and C shape leg attaching parts 2 and leg output shaft are clamped by hexagonal mode and in addition screw.
C shape leg outside face rubber burr layer is wrapped in C shape leg outside face.
Shown in Fig. 1, the C shape leg body 1 of one embodiment of the invention is made up of polyformaldehyde or glass fiber material, and composition angle is about the C shape of 270 °.C shape leg body 1 upper surface has some tapped through holees 10, by screw and C shape leg attaching parts 2 fastening, simultaneously on mating surfaces figure, glue is fixed in order to adhesion.C shape leg attaching parts 2 has hex hole 20, in order to connected legs output shaft, C shape leg attaching parts 2 has an exhausting hole 21 for fastening output shaft and C shape leg attaching parts, the tapped through hole 22 above C shape leg attaching parts 2 hex hole 20 is for tightening output shaft and C shape leg attaching parts simultaneously.Ensure that output shaft is connected with the reliable of whole leg structure in this way.
Fig. 3 is the partial enlarged drawing of C shape leg spring installation 31.C shape leg spring installation 31 is made up of air-leg 5 and stiffness spring 6.Air-leg 5 two ends are fixed with C shape leg body 1 and C Xing Tui branch 30 respectively, and stiffness spring 6 is socketed on the movable upper end bar of air-leg 5.
Fig. 4 and Fig. 5 is leg structure state of kinematic motion schematic diagram.In Fig. 4 bottom C shape leg and earth surface, rubber burr layer and the ground friction of C shape leg outside face can play anti-skidding effect.When C Xing Tui branch's outside face and earth surface produce deformation, the portable bar of air-leg 5 is squeezed and shortens, simultaneously Compress Spring 6, produces opposition opposing deformation.Like this in conjunction with the deformation of C shape leg composite material itself, the leg depression that robot body causes under gravity can be reduced.In Fig. 5, leg structure departs from ground, and the squeezing action power on C shape leg surface disappears, and air-leg and spring return to initial condition in this process, produces reversing sense application force simultaneously and supports robot body, play the effect of damping.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that the ordinary skill of this area just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical personnels in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (9)
1. a robot leg structure, is characterized in that, comprise C shape leg body and attaching parts thereof and accessory structure, described attaching parts is installed on C shape leg bodies top, and in order to connected legs output shaft, described accessory structure is installed on C shape leg body bottom portion; Described accessory structure comprises C Xing Tui branch, C shape leg spring installation, and wherein C shape leg spring installation is fixed between C shape leg body and C Xing Tui branch, in order to subtract the leg depression that c-shape leg body causes under gravity.
2. robot leg structure according to claim 1, is characterized in that, described C shape leg body bottom portion installs C Xing Tui branch.
3. robot leg structure according to claim 2, is characterized in that, described Xing Tui branch is arranged within the scope of C shape leg body bottom portion about 90 degree.
4. robot leg structure according to claim 1, is characterized in that, described C shape leg body by having certain elastomeric polyformaldehyde, glass fiber material processes.
5. robot leg structure according to claim 1, is characterized in that, described C shape leg body and the corresponding mounting hole being distributed with some in C Xing Tui branch, make C shape leg spring installation be fixed on wherein.
6. robot leg structure according to claim 5, it is characterized in that, described C shape leg spring installation is made up of air-leg and stiffness spring, and the two ends of described air-leg are fixed with C shape leg body and C Xing Tui branch respectively, and stiffness spring is socketed on air-leg.
7. robot leg structure according to claim 1, is characterized in that, described C shape leg attaching parts and C shape leg body are fixed by screw blend compounds water and cling, and C shape leg attaching parts and leg output shaft are clamped by hexagonal mode and tightening in addition.
8. robot leg structure according to claim 5, is characterized in that, also comprises C shape leg outside face rubber burr layer, is wrapped in the outside face of leg.
9. robot leg structure according to claim 1, is characterized in that, the group of described C shape leg body is angled 270 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510112305.6A CN104724200B (en) | 2015-03-13 | 2015-03-13 | A kind of robot leg structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510112305.6A CN104724200B (en) | 2015-03-13 | 2015-03-13 | A kind of robot leg structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104724200A true CN104724200A (en) | 2015-06-24 |
| CN104724200B CN104724200B (en) | 2017-11-14 |
Family
ID=53448746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510112305.6A Expired - Fee Related CN104724200B (en) | 2015-03-13 | 2015-03-13 | A kind of robot leg structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104724200B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947000A (en) * | 2016-05-11 | 2016-09-21 | 湖北工业大学 | Multipoint contact elastic piece type paddy filed travelling mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020179342A1 (en) * | 2001-06-04 | 2002-12-05 | Quinn Roger D. | Vehicle with compliant drive train |
| US20070144798A1 (en) * | 2004-11-04 | 2007-06-28 | Minas Tanielian | Robotic all terrain surveyor |
| US20090236155A1 (en) * | 2008-03-18 | 2009-09-24 | Sarjoun Skaff | Efficient Actuation and Selective Engaging and Locking Clutch Mechanisms for Reconfiguration and Multiple-behavior Locomotion of an at least Two-Appendage Robot |
| US20120031218A1 (en) * | 2010-08-03 | 2012-02-09 | The Trustees Of The University Of Pennsylvania | Variable stiffness leg structure for multipede running robots |
| CN104118487A (en) * | 2014-07-08 | 2014-10-29 | 上海交通大学 | Leg portion mechanism of C-typed robot |
| CN104118490A (en) * | 2014-07-08 | 2014-10-29 | 上海交通大学 | Desert quadruped robot imitating lizard |
-
2015
- 2015-03-13 CN CN201510112305.6A patent/CN104724200B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020179342A1 (en) * | 2001-06-04 | 2002-12-05 | Quinn Roger D. | Vehicle with compliant drive train |
| US20070144798A1 (en) * | 2004-11-04 | 2007-06-28 | Minas Tanielian | Robotic all terrain surveyor |
| US20090236155A1 (en) * | 2008-03-18 | 2009-09-24 | Sarjoun Skaff | Efficient Actuation and Selective Engaging and Locking Clutch Mechanisms for Reconfiguration and Multiple-behavior Locomotion of an at least Two-Appendage Robot |
| US20120031218A1 (en) * | 2010-08-03 | 2012-02-09 | The Trustees Of The University Of Pennsylvania | Variable stiffness leg structure for multipede running robots |
| CN104118487A (en) * | 2014-07-08 | 2014-10-29 | 上海交通大学 | Leg portion mechanism of C-typed robot |
| CN104118490A (en) * | 2014-07-08 | 2014-10-29 | 上海交通大学 | Desert quadruped robot imitating lizard |
Non-Patent Citations (1)
| Title |
|---|
| 葛天乐: "户外六足监测机器人的运动控制", 《电子技术与软件工程》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947000A (en) * | 2016-05-11 | 2016-09-21 | 湖北工业大学 | Multipoint contact elastic piece type paddy filed travelling mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104724200B (en) | 2017-11-14 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171114 |
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