CN109591908B - Novel joint structure of leg and foot robot - Google Patents
Novel joint structure of leg and foot robot Download PDFInfo
- Publication number
- CN109591908B CN109591908B CN201811510847.9A CN201811510847A CN109591908B CN 109591908 B CN109591908 B CN 109591908B CN 201811510847 A CN201811510847 A CN 201811510847A CN 109591908 B CN109591908 B CN 109591908B
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- China
- Prior art keywords
- bevel gear
- output shaft
- power output
- leg
- hip
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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 novel joint structure of a leg and foot robot, which comprises a hip power output shaft, wherein a bevel gear is arranged at the end part of the hip power output shaft, a second positioning deep groove ball bearing is arranged between the bevel gear and the hip power output shaft, a joint supporting piece is arranged outside the bevel gear, a first positioning deep groove ball bearing is arranged between the joint supporting piece and the bevel gear, a connecting cam is arranged on one side of the bevel gear, which is far away from the hip power output shaft, and the end part of the connecting cam is connected with a flexible connecting rod through an interference fixed connecting rod. The design technical scheme of the invention can ensure that power sources (motors and the like) are arranged on the body of the robot body, and the power is output to the legs and feet through a mechanical structure to drive the robot body to move, thereby greatly reducing the inertia of the legs and feet; meanwhile, the design technical scheme has a compact structure, the power transmission efficiency is improved, and the flexibility of leg and foot movement is improved.
Description
Technical Field
The invention relates to the technical field of legged robots, in particular to a novel legged robot joint structure.
Background
The joint design in the leg and foot robot structure design is a more core design part, and the efficiency and inertia of power transmission are key factors for determining the leg and foot control of the leg and foot robot. The current design mode of commonly using is mostly the mode of drive element direct design on the joint, through the mode drive leg foot joint motion that directly drives, can't realize the difficult problem of high-efficient power transmission and control leg foot inertia in the existing design, and leg foot joint's flexibility is not high. Accordingly, a person skilled in the art provides a novel joint structure of a legged robot to solve the problems set forth in the background art.
Disclosure of Invention
The invention aims to provide a novel joint structure of a leg and foot robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a novel joint structure of leg and foot robot, includes hip power output shaft, hip power output shaft tip is provided with the bevel gear, and installs location deep groove ball bearing two between bevel gear and the hip power output shaft, the bevel gear outside is provided with joint bearing piece, and installs location deep groove ball bearing one between joint bearing piece and the bevel gear, the bevel gear is kept away from connection cam is installed to one side of hip power output shaft, connection cam's tip passes through interference fixed connection rod and connects flexible connecting rod.
As a further scheme of the invention: the hip power output shaft is connected with the hip power source in a matching way, and the bevel gear is connected with the knee driving power source in a matching way.
As a still further scheme of the invention: four through holes are formed in the joint supporting piece and are fixedly connected with the robot body of the legged robot through bolts.
As a still further scheme of the invention: the outer side of the bevel gear is sleeved with a first positioning deep groove ball bearing, the bevel gear is arranged in an inner ring of the first positioning deep groove ball bearing in an interference fit mode, an outer ring of the first positioning deep groove ball bearing is fixedly matched on the joint bearing piece, and the bevel gear and the joint bearing piece are coaxially arranged.
As a still further scheme of the invention: the hip power output shaft is arranged in the two inner rings of the positioning deep groove ball bearings in an interference fit mode, and the two outer rings of the positioning deep groove ball bearings are fixed in the stepped grooves of the bevel gears in a fit mode.
As a still further scheme of the invention: the outer wall of the bevel gear tail shaft is matched with the inner wall of the connecting cam and fixedly connected with the connecting cam through a guide flat key.
As a still further scheme of the invention: the connecting cam is provided with two inner holes, and the inner holes are in interference fit with the interference fixed connecting rod.
As a still further scheme of the invention: the flexible connecting rod rotates around the interference fixed connecting stick.
Compared with the prior art, the invention has the beneficial effects that:
1. the design technical scheme of the invention can ensure that power sources (motors and the like) are arranged on the body of the robot body, and the power is output to the legs and feet through a mechanical structure to drive the robot body to move, thereby greatly reducing the inertia of the legs and feet.
2. The design technical scheme of the invention has compact structure, improves the power transmission efficiency and improves the flexibility of leg and foot movement.
Drawings
Fig. 1 is a schematic overall structure diagram of a novel joint structure of a legged robot.
Fig. 2 is a schematic diagram of the overall structure of a novel joint structure of a leg and foot robot.
Fig. 3 is a schematic diagram of the cooperation between the bevel gear and the joint support member in the joint structure of the novel leg and foot robot.
Fig. 4 is a schematic diagram of the bevel gear and hip power output shaft in a novel joint structure of a leg and foot robot.
Fig. 5 is a schematic diagram of the cooperation between the bevel gear and the connecting cam in the joint structure of the novel leg and foot robot.
In the figure: the device comprises a hip power output shaft 1, a bevel gear 2, a joint supporting part 3, a connecting cam 4, a fixed connecting rod 5 in an interference mode, a flexible connecting rod 6, a first positioning deep groove ball bearing 11 and a second positioning deep groove ball bearing 12.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5, in the embodiment of the present invention, a novel joint structure of a leg and foot robot includes a hip power output shaft 1, a bevel gear 2 is disposed at an end of the hip power output shaft 1, a second positioning deep groove ball bearing 12 is mounted between the bevel gear 2 and the hip power output shaft 1, a joint support member 3 is disposed outside the bevel gear 2, a first positioning deep groove ball bearing 11 is mounted between the joint support member 3 and the bevel gear 2, a connecting cam 4 is mounted on one side of the bevel gear 2 away from the hip power output shaft 1, and an end of the connecting cam 4 is connected to a flexible connecting rod 6 through an interference fixed connecting rod 5.
The hip power output shaft 1 is in fit connection with a hip power source, and the bevel gear 2 is in fit connection with a knee driving power source.
Four through holes are formed in the joint supporting piece 3 and fixedly connected with the robot body of the leg and foot robot through bolts, so that the stability of the joint in the motion of the leg and foot robot is guaranteed.
The outer side of the bevel gear 2 is sleeved with a first positioning deep groove ball bearing 11, the bevel gear 2 is installed in an inner ring of the first positioning deep groove ball bearing 11 in an interference fit mode, an outer ring of the first positioning deep groove ball bearing 11 is fixedly matched on the joint bearing piece 3, and the bevel gear 2 and the joint bearing piece 3 are arranged coaxially.
The hip power output shaft 1 is arranged in an inner ring of the second positioning deep groove ball bearing 12 in an interference fit mode, and an outer ring of the second positioning deep groove ball bearing 12 is fixed in a stepped groove of the bevel gear 2 in a fit mode, so that the axes of the hip power output shaft 1 and the bevel gear 2 are guaranteed to be accurate and coaxial.
The outer wall of the tail shaft of the bevel gear 2 is matched with the inner wall of the connecting cam 4 and is fixedly connected with the connecting cam 4 through a guide flat key, and driving force is transmitted to the connecting cam 4 from the bevel gear 2.
The connecting cam 4 is provided with two inner holes, and the inner holes are in interference fit with the interference fixed connecting rod 5 to ensure tight connection.
The flexible connecting rod 6 can rotate around the interference fixed connecting rod 5 to transmit power to the lower-level joint (leg-foot knee joint).
The working principle of the invention is as follows:
when the invention is used, firstly, the joints of the legs and the feet are installed, the hip and knee power sources are switched on to start working, the hip power output shaft 1 rotates in the inner ring of the deep groove ball bearing II 12 to drive the hip to move, the knee power output bevel gear 2 drives the connecting cam 4 to move, and the connecting cam 4 drives the flexible connecting rod 6 to rotate, thereby driving the knee joint to move.
The design technical scheme of the invention can ensure that power sources (motors and the like) are arranged on the body of the robot body, and the power is output to the legs and feet through a mechanical structure to drive the robot body to move, thereby greatly reducing the inertia of the legs and feet; meanwhile, the design technical scheme has a compact structure, the power transmission efficiency is improved, and the flexibility of leg and foot movement is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. A novel joint structure of a leg-foot robot comprises a hip power output shaft and is characterized in that a bevel gear is arranged at the end of the hip power output shaft, a second positioning deep groove ball bearing is arranged between the bevel gear and the hip power output shaft, a joint bearing piece is arranged outside the bevel gear, a first positioning deep groove ball bearing is arranged between the joint bearing piece and the bevel gear, a connecting cam is arranged on one side, away from the hip power output shaft, of the bevel gear, and the end of the connecting cam is connected with a flexible connecting rod through an interference fixed connecting rod;
the outer ring of the first positioning deep groove ball bearing is fixedly matched on the joint bearing piece, and the bevel gear and the joint bearing piece are coaxially arranged;
the hip power output shaft is arranged in the second inner ring of the positioning deep groove ball bearing in an interference fit manner, and the second outer ring of the positioning deep groove ball bearing is fixed in the stepped groove of the bevel gear in a fit manner;
the outer wall of the tail shaft of the bevel gear is matched with the inner wall of the connecting cam and is fixedly connected with the connecting cam through a guide flat key;
the connecting cam is provided with two inner holes, and the inner holes are in interference fit with the interference fixed connecting rod.
2. The novel joint structure of the leg and foot robot as claimed in claim 1, wherein the hip power output shaft is connected with the hip power source in a matching manner, and the bevel gear is connected with the knee driving force power source in a matching manner.
3. The novel joint structure of the legged robot as claimed in claim 1, wherein the joint support member has four through holes and is fixedly connected to the body of the legged robot by bolts.
4. The novel joint structure of the leg and foot robot as claimed in claim 1, wherein the flexible connecting rod rotates around the interference fixed connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811510847.9A CN109591908B (en) | 2018-12-11 | 2018-12-11 | Novel joint structure of leg and foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811510847.9A CN109591908B (en) | 2018-12-11 | 2018-12-11 | Novel joint structure of leg and foot robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109591908A CN109591908A (en) | 2019-04-09 |
| CN109591908B true CN109591908B (en) | 2020-11-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811510847.9A Active CN109591908B (en) | 2018-12-11 | 2018-12-11 | Novel joint structure of leg and foot robot |
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| Country | Link |
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| CN (1) | CN109591908B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104228993B (en) * | 2014-10-17 | 2016-06-29 | 浙江大学 | A kind of biped robot of quick walking |
| CN105818880B (en) * | 2016-03-09 | 2017-12-22 | 上海智位机器人股份有限公司 | A kind of three power output motion structures |
| CN206654114U (en) * | 2017-04-01 | 2017-11-21 | 济南大学 | A kind of bionical monopodia wheel of adjustable biped bar |
| CN107651037B (en) * | 2017-09-12 | 2019-04-12 | 北京航空航天大学 | A kind of legged type robot list leg device with hard and soft interchangeable joint |
| CN108583709B (en) * | 2018-04-28 | 2020-10-13 | 哈尔滨工业大学 | Intermittent type formula jumping robot of both feet |
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2018
- 2018-12-11 CN CN201811510847.9A patent/CN109591908B/en active Active
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| CN109591908A (en) | 2019-04-09 |
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