CN108544477A - A kind of robot leg driving device - Google Patents
A kind of robot leg driving device Download PDFInfo
- Publication number
- CN108544477A CN108544477A CN201810654257.7A CN201810654257A CN108544477A CN 108544477 A CN108544477 A CN 108544477A CN 201810654257 A CN201810654257 A CN 201810654257A CN 108544477 A CN108544477 A CN 108544477A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- driving device
- kelly
- robot leg
- leg driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention discloses a kind of robot leg driving devices, including being connected with lid on the right side of shell described in shell, it is fixedly connected with supporting rod at the top of the lid, the top movable of the supporting rod is connected with motion bar, it is fixedly connected with fixed block on the left of the motion bar bottom, card case is fixedly connected on the right side of the case top.Pass through card case, head rod, first kelly, first spring, slide bar, pull rod, fixed link, second kelly, second connecting rod, second spring, supporting rod, second card slot, motion bar, fixed block, draw ring, link block and the first card slot are used cooperatively, it is cumbersome to solve the problems, such as that existing robot leg driving device is dismantled, the robot leg driving device has advantage easy to disassemble, user can be to its easily quickly dismounting, save the time used and muscle power, the use for the person of being convenient to use, improve the practicability of robot leg driving device.
Description
Technical field
The present invention relates to robotically-driven technical field, specially a kind of robot leg driving device.
Background technology
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
Robot leg driving device is power source of robot during traveling, will appear damage in use
It is bad, it needs to dismantle it and repairs, existing robot leg driving device dismounting is cumbersome, and when dismounting needs to spend user
Plenty of time and muscle power, it has not been convenient to which the use of user reduces the practicability of robot leg driving device.
Invention content
Present invention solves the technical problem that as follows：
In view of the deficiencies of the prior art, the present invention provides a kind of robot leg driving devices, have easy to disassemble etc.
It is cumbersome to solve the problems, such as that existing robot leg driving device is dismantled for advantage.
Technical scheme is as follows：
To realize that above-mentioned easy-to-dismount purpose, the present invention provide the following technical solutions：A kind of robot leg driving dress
It sets, including is connected with lid on the right side of shell described in shell, supporting rod, the branch are fixedly connected at the top of the lid
The top movable of strut is connected with motion bar, and fixed block, the case top are fixedly connected on the left of the motion bar bottom
Right side be fixedly connected with card case, link block is provided on the left of the card case, drawing is fixedly connected on the left of the link block
Ring is fixedly connected with pull rod on the right side of the link block, the inner cavity of card case is through on the right side of the pull rod and is fixedly connected with
Head rod, the top and bottom of the head rod back side slidably connect slide bar, the both sides of the slide bar with
The inner wall of card case is fixedly connected, and the surface of the slide bar is arranged with the first spring, left side and the card chamber interior wall of first spring
Left side be fixedly connected, be fixedly connected on the left of the right side of first spring and head rod, the head rod
Right side is fixedly connected with the first kelly, and the first card slot being used cooperatively with the first kelly, institute are offered on the left of the fixed block
It states and is fixedly connected with fixed link on the right side of case top, the inner cavity of the fixed link is provided with the second connecting rod, and described second connects
The bottom of extension bar is fixedly connected with second spring, and the bottom of the second spring is fixedly connected with the bottom of fixed link inner wall, institute
It states and is fixedly connected with the second kelly at the top of the second connecting rod, the top of fixed link, institute are through at the top of second kelly
The bottom for stating motion bar offers the second card slot being used cooperatively with the second kelly.
Preferably, the surface of the draw ring is arranged with Anti-slip cover, and the surface of Anti-slip cover is provided with anti-skid chequer.
Preferably, the first sliding block has been fixedly connected at the top and bottom of the head rod, the card chamber interior wall
Top and bottom offer the first sliding groove being used cooperatively with the first sliding block.
Preferably, the both sides of second connecting rod have been fixedly connected with the second sliding block, the both sides of the fixed link inner wall
Offer the second sliding slot being used cooperatively with the second sliding block.
Beneficial effects of the present invention are as follows：
Compared with prior art, the present invention provides a kind of robot leg driving device, has following advantageous effect：
1, the present invention passes through card case, head rod, the first kelly, the first spring, slide bar, pull rod, fixed link, the second card
Bar, the second connecting rod, second spring, supporting rod, the second card slot, motion bar, fixed block, draw ring, link block and the first card slot
It is used cooperatively, solves the problems, such as that existing robot leg driving device dismantles cumbersome, robot leg driving device tool
Standby advantage easy to disassemble, user can save the time used and muscle power, are convenient to use to its easily quickly dismounting
The use of person improves the practicability of robot leg driving device.
2, the present invention increases the frictional force between user's hand and draw ring, avoiding makes by the setting of Anti-slip cover
User is in the presence of that hand slides when pulling draw ring, by the setting of the first sliding block and the first sliding groove, improves the first company
Stability when extension bar moves is in the presence of shaking, be slided by the second sliding block and second when avoiding head rod movement
The setting of slot improves the stability when movement of the second connecting rod, is in the presence of shaking when avoiding the movement of the second connecting rod.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is card case internal structure schematic diagram of the present invention；
Fig. 3 is fixed link internal structure schematic diagram of the present invention；
Fig. 4 is the partial enlarged view at A in Fig. 1.
In figure：1 shell, 2 cover boards, 3 card casees, 4 the first sliding grooves, 5 first sliding blocks, 6 head rods, 7 first kellies, 8
One spring, 9 slide bars, 10 pull rods, 11 fixed links, 12 second kellies, 13 second sliding slots, 14 second sliding blocks, 15 second connecting rods, 16
Second spring, 17 supporting rods, 18 second card slots, 19 motion bars, 20 fixed blocks, 21 draw rings, 22 link blocks, 23 first card slots.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 4 are please referred to Fig.1, a kind of robot leg driving device, including shell 1, the right side of shell 1 are connected with lid
The top of body 2, lid 2 is fixedly connected with supporting rod 17, and the top movable of supporting rod 17 is connected with motion bar 19,19 bottom of motion bar
Fixed block 20 is fixedly connected on the left of portion, the right side at 1 top of shell is fixedly connected with card case 3, and the left side of card case 3 is provided with company
Block 22 is connect, the left side of link block 22 is fixedly connected with draw ring 21, and the surface of draw ring 21 is arranged with Anti-slip cover, and the surface of Anti-slip cover
It is provided with anti-skid chequer, by the setting of Anti-slip cover, the frictional force between user's hand and draw ring 21 is increased, avoids use
Person is in the presence of that hand slides when pulling draw ring 21, and the right side of link block 22 is fixedly connected with pull rod 10, the right side of pull rod 10
Side is through to the inner cavity of card case 3 and is fixedly connected with head rod 6, and the top and bottom of head rod 6 are fixedly connected with
There are the first sliding block 5, the top and bottom of 3 inner wall of card case to offer the first sliding groove 4 being used cooperatively with the first sliding block 5, pass through
The setting of first sliding block 5 and the first sliding groove 4 improves stability when head rod 6 moves, avoids head rod 6
It is in the presence of shaking when mobile, the top and bottom of 6 back side of head rod slidably connect slide bar 9, the both sides of slide bar 9
It is fixedly connected with the inner wall of card case 3, the surface of slide bar 9 is arranged with the first spring 8, left side and 3 inner wall of card case of the first spring 8
Left side be fixedly connected, the right side of the first spring 8 is fixedly connected with the left side of head rod 6, and the right side of head rod 6 is solid
Surely it is connected with the first kelly 7, the left side of fixed block 20 offers the first card slot 23 being used cooperatively with the first kelly 7, and shell 1 pushes up
It is fixedly connected with fixed link 11 on the right side of portion, the inner cavity of fixed link 11 is provided with the second connecting rod 15, and the two of the second connecting rod 15
Side has been fixedly connected with the second sliding block 14, and the both sides of 11 inner wall of fixed link offer be used cooperatively with the second sliding block 14 second
Sliding slot 13 is improved the stability when movement of the second connecting rod 15, is avoided by the setting of the second sliding block 14 and second sliding slot 13
It is in the presence of shaking when the movement of the second connecting rod 15, the bottom of the second connecting rod 15 is fixedly connected with second spring 16, the
The bottom of two springs 16 is fixedly connected with the bottom of 11 inner wall of fixed link, and the top of the second connecting rod 15 is fixedly connected with the second card
The top of bar 12, the second kelly 12 is through to the top of fixed link 11, and the bottom of motion bar 19 is offered matches with the second kelly 12
Close the second card slot 18 used.
When in use, user pulls draw ring 21 to the left, and draw ring 21, which is moved to the left, drives link block 22 to be moved to the left, and connects
Block 22, which is moved to the left, drives pull rod 10 to be moved to the left, and pull rod 10, which is moved to the left, drives head rod 6 to be moved to the left, the first connection
Bar 6, which is moved to the left, drives the first kelly 7 to be moved to the left, and the first kelly 7 is moved to the left to be removed out of first card slot 23, the first kelly
7 detach with fixed block 20, and user lifts motion bar 19 upwards, and the second kelly 12 is removed out of second card slot 18, motion bar 19
It is detached with the second kelly 12, user moves right cover board 2, to realize easy-to-dismount purpose.
In conclusion the robot leg driving device, passes through card case 3, head rod 6, the first kelly 7, the first bullet
Spring 8, slide bar 9, pull rod 10, fixed link 11, the second kelly 12, the second connecting rod 15, second spring 16, supporting rod 17, second block
Slot 18, motion bar 19, fixed block 20, draw ring 21, link block 22 and the first card slot 23 are used cooperatively, and solve existing machine
People leg driving device dismantles cumbersome problem.
Claims (4)
1. a kind of robot leg driving device, including shell (1), it is characterised in that：The right side of the shell (1) is flexibly connected
There is lid (2), supporting rod (17), the top movable connection of the supporting rod (17) are fixedly connected at the top of the lid (2)
There is motion bar (19), fixed block (20), the right side at the top of the shell (1) are fixedly connected on the left of motion bar (19) bottom
Side is fixedly connected with card case (3), and link block (22) is provided on the left of the card case (3), and the left side of the link block (22) is solid
Surely it is connected with draw ring (21), pull rod (10) is fixedly connected on the right side of the link block (22), is passed through on the right side of the pull rod (10)
It wears to the inner cavity of card case (3) and is fixedly connected with head rod (6), the top and bottom of head rod (6) back side
Slide bar (9) is slidably connected, the both sides of the slide bar (9) are fixedly connected with the inner wall of card case (3), the slide bar (9)
Surface is arranged with the first spring (8), is fixedly connected on the left of the left side of first spring (8) and card case (3) inner wall, and described
It is fixedly connected on the left of the right side of one spring (8) and head rod (6), is fixedly connected on the right side of the head rod (6)
There is the first kelly (7), the first card slot (23) being used cooperatively with the first kelly (7) offered on the left of the fixed block (20),
Right side at the top of the shell (1) is fixedly connected with fixed link (11), and the inner cavity of the fixed link (11) is provided with the second connection
The bottom of bar (15), second connecting rod (15) is fixedly connected with second spring (16), the bottom of the second spring (16)
It is fixedly connected with the bottom of fixed link (11) inner wall, the second kelly is fixedly connected at the top of second connecting rod (15)
(12), the top of fixed link (11) is through at the top of second kelly (12), the bottom of the motion bar (19) offers
The second card slot (18) being used cooperatively with the second kelly (12).
2. a kind of robot leg driving device according to claim 1, it is characterised in that：The surface of the draw ring (21)
It is arranged with Anti-slip cover, and the surface of Anti-slip cover is provided with anti-skid chequer.
3. a kind of robot leg driving device according to claim 1, it is characterised in that：The head rod (6)
Top and bottom be fixedly connected with the first sliding block (5), the top and bottom of card case (3) inner wall offer and first
The first sliding groove (4) that sliding block (5) is used cooperatively.
4. a kind of robot leg driving device according to claim 1, it is characterised in that：Second connecting rod (15)
Both sides be fixedly connected with the second sliding block (14), the both sides of fixed link (11) inner wall offer and the second sliding block (14)
The second sliding slot (13) being used cooperatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810654257.7A CN108544477A (en) | 2018-06-22 | 2018-06-22 | A kind of robot leg driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810654257.7A CN108544477A (en) | 2018-06-22 | 2018-06-22 | A kind of robot leg driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108544477A true CN108544477A (en) | 2018-09-18 |
Family
ID=63492941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810654257.7A Withdrawn CN108544477A (en) | 2018-06-22 | 2018-06-22 | A kind of robot leg driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108544477A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110743690A (en) * | 2018-11-13 | 2020-02-04 | 浙江国正安全技术有限公司 | Efficient is used for glass to smash device of recycling |
| WO2021248806A1 (en) * | 2020-06-12 | 2021-12-16 | 苏州迎乐机电自动化科技有限公司 | Direct drive motor convenient for speed regulation |
-
2018
- 2018-06-22 CN CN201810654257.7A patent/CN108544477A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110743690A (en) * | 2018-11-13 | 2020-02-04 | 浙江国正安全技术有限公司 | Efficient is used for glass to smash device of recycling |
| WO2021248806A1 (en) * | 2020-06-12 | 2021-12-16 | 苏州迎乐机电自动化科技有限公司 | Direct drive motor convenient for speed regulation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180918 |
|
| WW01 | Invention patent application withdrawn after publication |