CN109501882A - A kind of leg joint driving mechanism of foot formula walking robot - Google Patents
A kind of leg joint driving mechanism of foot formula walking robot Download PDFInfo
- Publication number
- CN109501882A CN109501882A CN201811501644.3A CN201811501644A CN109501882A CN 109501882 A CN109501882 A CN 109501882A CN 201811501644 A CN201811501644 A CN 201811501644A CN 109501882 A CN109501882 A CN 109501882A
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- flexible shaft
- joint
- fixed
- flexible
- motor
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Classifications
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- 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
Abstract
The invention discloses a kind of leg joint driving mechanisms of sufficient formula walking robot, it is characterized by: mainly including Zola's arm (1), left motor (3), pushing-pulling flexible shaft one (4), flexible shaft bracket one (5), organism frame (6), flexible shaft bracket two (7), flexible axle mandrel one (8), thigh (9), middle leg joint (10), middle leg (11), pushing-pulling flexible shaft two (12), flexible shaft bracket three (13), shank (14), flexible axle mandrel two (15), calf joint (16), right torque arm (17), right motor (19) and flexible shaft bracket four (20)；Motor is fixed on organism frame by the present invention, the driving moment that motor generates is transmitted to leg and shank in middle leg joint and calf joint and driving by pushing-pulling flexible shaft and rotates, avoid the joint drive motor problem coaxial with joint shaft, structure is simple, the space for saving leg joint axial direction improves the stability of walking-leg structure.
Description
Technical field
The invention belongs to bio-robot technical fields, and in particular to a kind of leg joint drive of foot formula walking robot
Mechanism.
Background technique
The driving method of multi-foot walking robot walking leg joint mainly has oscillating motor and two kinds of motor drivings at present
Form.For using motor-driven mode, usual motor shaft need to be coaxial with joint shaft, and motor is arranged in the axis in leg joint
To on direction, robot leg joint is not only increased in axial dimension, and in some cases due to by robot leg
The limitation of spatial position and size can not install motor in the axial direction in leg joint.
Summary of the invention
The present invention provides a kind of leg joint driving mechanism of sufficient formula walking robot, and technical problems to be solved are: solution
Certainly robot leg spatial position and it is size-constrained processed when joint drive motor the problem of can not being co-axially mounted with leg joint shaft.
In order to solve the above technical problems, the present invention provides a kind of leg joint drive machines of sufficient formula walking robot
Structure, it is characterised in that: mainly include Zola's arm 1, left motor 3, pushing-pulling flexible shaft 1, flexible shaft bracket 1, organism frame 6, flexible axle
Bracket 27, flexible axle mandrel 1, thigh 9, middle leg joint 10, middle leg 11, pushing-pulling flexible shaft 2 12, flexible shaft bracket 3 13, shank 14,
Flexible axle mandrel 2 15, calf joint 16, right torque arm 17, right motor 19 and flexible shaft bracket 4 20；It is fixed in the left side of organism frame 6
One group of left motor 3 and flexible shaft bracket 1, the output shaft of left motor 3 are fixedly connected with Zola's arm 1, and flexible shaft bracket 27 is fixed
On thigh 9, thigh 9 and middle leg 11 are rotatablely connected by middle leg joint 10, and one end of pushing-pulling flexible shaft 1 is fixed on flexible shaft bracket
On one 5, the other end is fixed on flexible shaft bracket 27, and one end of flexible axle mandrel 1 is fixed on Zola's arm 1, and the other end is passed through and pushed away
Flexible axle 1 is drawn to be fixed on middle leg joint 10, the power that left motor 3 exports passes through the flexible axle mandrel 1 inside pushing-pulling flexible shaft 1
It is transmitted to middle leg joint 10, and then leg 11 moves in driving；The right side different location of organism frame 6 fixes right 19 He of motor respectively
Flexible shaft bracket 4 20, the output shaft of right motor 19 are fixedly connected with right torque arm 17, flexible shaft bracket 3 13 be fixed on middle leg 11 with it is small
In the connecting shaft of leg 14, calf joint 16 is connect by axis with the lower end of shank 14, and one end of pushing-pulling flexible shaft 2 12 is fixed on soft
On bracing strut 4 20, the other end of pushing-pulling flexible shaft 2 12 is fixed on flexible shaft bracket 3 13, and one end of flexible axle mandrel 2 15 is fixed
In right torque arm 17, the other end of flexible axle mandrel 2 15 passes through flexible axle mandrel 2 15 and is fixed on calf joint 16, right motor 19
The power of output is transmitted to calf joint 16 by flexible axle mandrel 2 15, and then shank 14 is driven to move.
The utility model has the advantages that the middle leg joint and calf joint of walking-leg of the present invention use motor+pushing-pulling flexible shaft driving structure,
Motor is fixed on organism frame, the driving moment that motor generates is transmitted to middle leg joint and calf joint by pushing-pulling flexible shaft
And leg and shank rotation in driving.This structure type has cleverly moved on to joint drive motor on organism frame, avoids
The joint drive motor problem coaxial with joint shaft, structure is simple, saves the space of leg joint axial direction, improves walking-leg
The stability of structure.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, a specific embodiment of the invention is made into one below
Step detailed description.
A kind of leg joint driving mechanism of sufficient formula walking robot proposed by the present invention, mainly includes Zola's arm 1, left electricity
It is machine support 2, left motor 3, pushing-pulling flexible shaft 1, flexible shaft bracket 1, organism frame 6, flexible shaft bracket 27, flexible axle mandrel 1, big
Leg 9, middle leg joint 10, middle leg 11, pushing-pulling flexible shaft 2 12, flexible shaft bracket 3 13, shank 14, flexible axle mandrel 2 15, calf joint
16, right torque arm 17, right electric machine support 18, right motor 19 and flexible shaft bracket 4 20；
One group of left electric machine support 2 and flexible shaft bracket 1 are fixed in the left side different location of organism frame 6, left motor 3 passes through
Bolt is respectively fastenedly connected with a left electric machine support 2, and the output shaft of left motor 3 is connected by key with Zola's arm 1, flexible axle branch
Frame 27 is bolted on thigh 9, and thigh 9 and middle leg 11 are rotatablely connected by middle leg joint 10, pushing-pulling flexible shaft 1
One end is fixed on flexible shaft bracket 1, and the other end is fixed on flexible shaft bracket 27, and one end of flexible axle mandrel 1 is fixed on Zola
On arm 1, the other end passes through pushing-pulling flexible shaft 1 and is fixed on middle leg joint 10, and the power that left motor 3 exports passes through pushing-pulling flexible shaft one
Flexible axle mandrel 1 inside 4 is transmitted to middle leg joint 10, and then leg 11 moves in driving.
Similarly, right electric machine support 18 and flexible shaft bracket 4 20, right electricity are fixed respectively in the right side different location of organism frame 6
Machine 19 is fastenedly connected by bolt with right electric machine support 18, and the output shaft of right motor 19 is connected by key with right torque arm 17, flexible axle
Bracket 3 13 is fixed on middle leg 11 in the connecting shaft of shank 14, and calf joint 16 is connect by axis with the lower end of shank 14, is pushed away
One end of flexible axle 2 12 is drawn to be fixed on flexible shaft bracket 4 20, the other end of pushing-pulling flexible shaft 2 12 is fixed on flexible shaft bracket 3 13
On, one end of flexible axle mandrel 2 15 is fixed in right torque arm 17, and the other end of flexible axle mandrel 2 15 is fixed on calf joint 16,
The power that right motor 19 exports is transmitted to calf joint 16 by the flexible axle mandrel 2 15 inside pushing-pulling flexible shaft 2 12, and then drives
Shank 14 moves.
A motor is additionally provided in the middle part of organism frame 6, the output shaft of the motor is fixedly connected with thigh upper end, drives thigh
Rotation.
Middle leg joint of the invention and calf joint use motor+pushing-pulling flexible shaft driving structure, and motor is fixed on machine
On body frame, the driving moment that motor generates is transmitted to leg and small in middle leg joint and calf joint and driving by pushing-pulling flexible shaft
Leg rotation.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of leg joint driving mechanism of foot formula walking robot, it is characterised in that: mainly include Zola's arm (1), left electricity
It is machine (3), pushing-pulling flexible shaft one (4), flexible shaft bracket one (5), organism frame (6), flexible shaft bracket two (7), flexible axle mandrel one (8), big
Leg (9), middle leg joint (10), middle leg (11), pushing-pulling flexible shaft two (12), flexible shaft bracket three (13), shank (14), flexible axle mandrel two
(15), calf joint (16), right torque arm (17), right motor (19) and flexible shaft bracket four (20)；It is solid in the left side of organism frame (6)
Fixed one group of left motor (3) and flexible shaft bracket one (5), the output shaft of left motor (3) are fixedly connected with Zola's arm (1), flexible axle
Bracket two (7) is fixed on thigh (9), and thigh (9) and middle leg (11) are rotatablely connected by middle leg joint (10), pushing-pulling flexible shaft one
(4) one end is fixed on flexible shaft bracket one (5), and the other end is fixed on flexible shaft bracket two (7), and the one of flexible axle mandrel one (8)
End is fixed on Zola's arm (1), and the other end passes through pushing-pulling flexible shaft one (4) and is fixed on middle leg joint (10), left motor (3) output
Power be transmitted to middle leg joint (10) by the internal flexible axle mandrel one (8) of pushing-pulling flexible shaft one (4), and then leg (11) in driving
Movement；The right side different location of organism frame (6) fixes right motor (19) and flexible shaft bracket four (20) respectively, right motor (19)
Output shaft is fixedly connected with right torque arm (17), and flexible shaft bracket three (13) is fixed in the connecting shaft of middle leg (11) and shank (14),
Calf joint (16) is connect by axis with the lower end of shank (14), and one end of pushing-pulling flexible shaft two (12) is fixed on flexible shaft bracket four
(20) on, the other end of pushing-pulling flexible shaft two (12) is fixed on flexible shaft bracket three (13), and one end of flexible axle mandrel two (15) is fixed
On right torque arm (17), the other end of flexible axle mandrel two (15) passes through flexible axle mandrel two (15) and is fixed on calf joint (16),
The power of right motor (19) output is transmitted to calf joint (16) by flexible axle mandrel two (15), and then drives shank (14) fortune
It is dynamic.
2. a kind of leg joint driving mechanism of sufficient formula walking robot according to claim 1, it is characterised in that: left,
Right motor passes through electric machine support respectively and is fixed on organism frame (6).
3. a kind of leg joint driving mechanism of sufficient formula walking robot according to claim 1, it is characterised in that: body
It is additionally provided with a motor in the middle part of frame (6), the output shaft of the motor is fixedly connected with thigh upper end, drives thigh rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501644.3A CN109501882B (en) | 2018-12-10 | 2018-12-10 | Leg joint driving mechanism of foot-type walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501644.3A CN109501882B (en) | 2018-12-10 | 2018-12-10 | Leg joint driving mechanism of foot-type walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109501882A true CN109501882A (en) | 2019-03-22 |
| CN109501882B CN109501882B (en) | 2023-10-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811501644.3A Active CN109501882B (en) | 2018-12-10 | 2018-12-10 | Leg joint driving mechanism of foot-type walking robot |
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| Country | Link |
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| CN (1) | CN109501882B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319209A (en) * | 2020-11-18 | 2021-02-05 | 内蒙古第一机械集团股份有限公司 | Driving device suitable for leg joint movement of robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008080833A (en) * | 2006-09-25 | 2008-04-10 | Kyushu Institute Of Technology | Lifting device for stairs |
| WO2008126152A1 (en) * | 2007-04-04 | 2008-10-23 | Ssd Company Limited | Robot, its joint mechanism, and method of controlling the joint mechanism |
| CN103612681A (en) * | 2013-11-23 | 2014-03-05 | 华中科技大学 | Bionic mechanical leg |
| CN203793468U (en) * | 2014-04-24 | 2014-08-27 | 中北大学 | All-terrain level carrying robot |
| CN104149871A (en) * | 2014-07-17 | 2014-11-19 | 华中科技大学 | Bionic quadruped robot with energy storage effect |
| CN105292298A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨工业大学 | Three-section machine body type hexapod robot with transportation function and operation function fused |
-
2018
- 2018-12-10 CN CN201811501644.3A patent/CN109501882B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008080833A (en) * | 2006-09-25 | 2008-04-10 | Kyushu Institute Of Technology | Lifting device for stairs |
| WO2008126152A1 (en) * | 2007-04-04 | 2008-10-23 | Ssd Company Limited | Robot, its joint mechanism, and method of controlling the joint mechanism |
| CN103612681A (en) * | 2013-11-23 | 2014-03-05 | 华中科技大学 | Bionic mechanical leg |
| CN203793468U (en) * | 2014-04-24 | 2014-08-27 | 中北大学 | All-terrain level carrying robot |
| CN104149871A (en) * | 2014-07-17 | 2014-11-19 | 华中科技大学 | Bionic quadruped robot with energy storage effect |
| CN105292298A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨工业大学 | Three-section machine body type hexapod robot with transportation function and operation function fused |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319209A (en) * | 2020-11-18 | 2021-02-05 | 内蒙古第一机械集团股份有限公司 | Driving device suitable for leg joint movement of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109501882B (en) | 2023-10-03 |
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