CN112937719A - Walking robot shank structure - Google Patents
Walking robot shank structure Download PDFInfo
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- CN112937719A CN112937719A CN202110159845.5A CN202110159845A CN112937719A CN 112937719 A CN112937719 A CN 112937719A CN 202110159845 A CN202110159845 A CN 202110159845A CN 112937719 A CN112937719 A CN 112937719A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/04—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
- B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention relates to a leg structure of a walking robot, which comprises a first main cylinder, a second main cylinder, a connecting rod, a knee sport ball, a shank sport cylinder, a first shank support piece, a second shank support piece and a foot plate. The lower end of the main cylinder I is connected with the outer wall of the knee sport ball. The lower end of the main cylinder II is matched with the knee sports ball in a spherical pair mode. The lower end of the connecting rod is connected with the middle section of the calf support piece II. The upper end of the crus movement cylinder is connected with the outer wall of the knee sports ball, and the lower end of the crus movement cylinder is rotatably connected with the upper end of the crus support piece I. The lower end of the first shank support is connected with the top of the foot plate. The upper end of the shank support piece II is matched with the knee sports ball in a spherical pair mode, and the lower end of the shank support piece II is connected with the middle section of the shank support piece I in a rotating mode. The walking robot with the leg structure is suitable for mountainous areas, has strong stability when walking on rugged mountain roads, is not easy to shake, and prolongs the service life.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a leg structure of a walking robot.
Background
With the development and progress of science and technology, robots are applied more and more widely in various industries. The mountains in the southwest area of China are complex, natural disasters such as debris flow and the like occur frequently, and when the natural disasters or other accidents occur and need rescue, the robot with flexible action and various functions can play an important role. The existing walking robot is more suitable for a flat ground, is easy to shake or even topple when walking on a rugged mountain road, influences the stability of the walking robot, is easy to damage structural components after being subjected to vibration for many times, and shortens the service life of the walking robot.
Disclosure of Invention
The invention aims to provide a leg structure of a walking robot, which is suitable for mountainous areas, has stronger stability when walking on rugged mountain roads, is not easy to shake and effectively prolongs the service life.
In order to achieve the purpose, the invention adopts the following technical scheme:
a leg structure of a walking robot comprises a first main cylinder, a second main cylinder, a connecting rod, a knee sport ball, a shank sport cylinder, a first shank support piece, a second shank support piece and a foot plate; the lower end of the main cylinder I is connected with the outer wall of the knee sports ball; the lower end of the main cylinder II is matched with a knee sports ball in a spherical pair manner; the lower end of the connecting rod is connected with the middle section of the shank support piece II; the upper end of the crus movement cylinder is connected with the outer wall of the knee movement ball, and the lower end of the crus movement cylinder is rotatably connected with the upper end of the crus support piece I; the lower end of the first shank support piece is connected with the top of the foot plate; the upper end of the shank support piece II is matched with the knee sports ball in a spherical pair mode, and the lower end of the shank support piece II is connected with the middle section of the shank support piece I in a rotating mode.
Furthermore, the upper end of the first main cylinder is rotatably connected with the end part of the support rod through a second bearing; the bearing is sleeved on the supporting rod.
Furthermore, the knee sport ball comprises a ball body, a first sport groove and a second sport groove which are respectively arranged in the ball body; the lower end of the main cylinder II is provided with a first sport ball, and the first sport ball is embedded in the first sport groove and is matched with the first sport groove in a spherical pair manner; and the upper end of the second shank support piece is provided with a second sports ball, and the second sports ball is embedded in the second sports groove and is matched with the second sports groove in a spherical pair manner.
According to the technical scheme, the walking robot with the leg structure is suitable for walking on rugged mountain roads with complex road conditions, has strong stability, is not easy to shake, and effectively prolongs the service life of the walking robot.
Drawings
FIG. 1 is a first state of use reference diagram of the present invention;
FIG. 2 is a use state reference diagram II of the present invention;
FIG. 3 is a use state reference diagram III of the present invention;
FIG. 4 is a use state reference diagram of the present invention;
FIG. 5 is a use state reference diagram of the present invention;
FIG. 6 is a schematic view of an assembly structure of a first main cylinder, a second main cylinder, a knee sport ball, a shank sport cylinder and a shank support member; wherein the part of the knee sport ball is in section;
FIG. 7 is a schematic structural view of the transmission mechanism;
FIG. 8 is a schematic structural view of a steering mechanism;
FIG. 9 is a schematic view of the structure of the damper mechanism;
fig. 10 is a schematic view of an exploded structure of the shock absorbing mechanism, with a section of the steering actuator seat portion.
Wherein:
100. a traveling mechanism 101, a first main cylinder 102, a second main cylinder 103, a connecting rod 104, a knee ball 105, a shank cylinder 106, a shank support member 107, a shank support member 108, a foot plate 109, a ball 110, a first motion groove 111, a second motion groove 112, a first motion ball 113, a second motion ball 114, a second bearing 115, a third bearing 200, a transmission mechanism 201, a servo motor 202, a planetary reducer 203, a coupling 204, a spline shaft 205, a first cross universal coupling 206, a first connecting shaft 207, a second cross universal coupling 208, a second connecting shaft 209, a third cross universal coupling 210, a third connecting shaft 211, a connecting wheel 212, a first bearing 300, a steering mechanism 301, a motor 302, a worm wheel, 303, a worm 304, a first traction block 305, a second traction block 306, a folding block 307, a motor mounting seat, 308. the damping device comprises a limiting plate, 309, four bearings, 400, a damping mechanism, 401, a main damping, 402, a first auxiliary damping, 403, a second auxiliary damping, 404, a steering driving seat, 405, a steering traction shell, 406, a back plate, 407, an upper damping plate, 408, a lower damping plate, 409, an upper main damping fixing seat, 410, an upper auxiliary damping fixing seat, 411, a steering driving seat body, 412, a third motion groove, 413, a fourth motion groove, 414, a third motion ball, 415, a fourth motion ball, 601 and a support rod.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the leg structure according to the present invention is used as a walking mechanism of the walking robot shown in fig. 1 to 4, and the structure constitutes the walking robot shown in fig. 1 to 4 together with the transmission mechanism 200, the steering mechanism 300 and the shock absorbing mechanism 400. As can be seen from fig. 1-4, the transmission mechanisms 200, the leg structures, and the shock absorbing mechanisms 400 are equal in number and are arranged in a one-to-one correspondence. One steering mechanism corresponds to two leg structures which are arranged in bilateral symmetry.
As shown in fig. 2 to 6, the walking mechanism 100 of the walking robot includes a pair of leg structures according to the present invention. The leg structure includes a first main cylinder 101, a second main cylinder 102, a connecting rod 103, a knee sport ball 104, a lower leg sport cylinder 105, a first lower leg support 106, a second lower leg support 107, and a foot plate 108. The lower end of the first master cylinder 101 is connected to a first mounting bracket mounted on the outer wall of the knee sport ball 104. The lower end of the second main cylinder 102 is matched with the knee sport ball 104 in a spherical pair mode. The lower end of the connecting rod 103 is connected to the middle section of the calf support II 107. The upper end of the shank motion cylinder 105 is rotatably connected with a second mounting bracket installed on the outer wall of the knee motion ball 104 through a rotating shaft, and the lower end is rotatably connected with the upper end of a shank support member 106 through a rotating shaft, so that traction auxiliary force is generated during rotation, the shank motion cylinder cannot be torn due to excessive acting force, and the stability of the structure is ensured. The main cylinder I, the shank motion cylinder and the knee motion ball are connected through the mounting support I and the mounting support II, the main cylinder I and the shank motion cylinder are not directly inserted into the knee motion ball, the bearing stress of the knee motion ball is reduced, the service life of the knee motion ball is prolonged, and meanwhile, the parts are convenient to replace. The lower end of the first calf support 106 is fixedly or pivotally attached to the top of the foot plate 108. The upper end of the calf support II 107 is matched with the knee sport ball 104 in a spherical pair mode, and the lower end of the calf support II is rotatably connected with the middle section of the calf support I106 through a bearing III 115. As shown in fig. 6, the knee sport ball 104 includes a ball 109 and a first sport groove 110 and a second sport groove 111 respectively opened inside the ball; the lower end of the main cylinder II 102 is provided with a first sport ball 112, and the first sport ball 112 is embedded in the first sport groove 110 and is matched with the first sport groove 110 in a spherical pair manner; the upper end of the second shank support part 107 is provided with a second sport ball 113, and the second sport ball 113 is embedded in the second sport groove 111 and is matched with the second sport groove 111 in a spherical pair manner. The upper ends of the main cylinders I in the two symmetrically arranged leg structures are respectively and rotatably connected with the two ends of the supporting rod 601 through a bearing II; the bearing is sleeved on the supporting rod 601. The first motion groove 110 is connected with the first motion ball 112 spherical pair, and the second motion groove 111 is connected with the second motion ball 113 spherical pair, so that the motion range of the second main cylinder 102 and the second lower leg support 107 can be limited, and the motion of the walking mechanism can be more flexible.
The walking robot with the leg structure can be suitable for various application scenes by being matched with other application components. For example, can carry out the transportation of goods through installing the transportation platform on walking robot, can carry out the goods and materials conveying under special occasion, the special environment through installing the conveying platform on walking robot, through installing the seat that is used for sitting the people on walking robot, can realize the manpower walking. The walking robot is particularly suitable for being used in mountainous regions and transporting sick and wounded people or valuables in case of disasters. In order to ensure safety and stability during transportation of the sick and wounded or the valuables, a leg structure of the walking robot is innovatively designed.
Firstly, the mechanical dog in the prior art adopts a large number of hydraulic devices and electrical control devices, which improve the controllability of the movement process of the mechanical dog, but because various interferences are more in mountain areas, when the mechanical dog is subjected to external interferences such as vibration, wind power or magnetic fields, the hydraulic devices and the electrical control devices are easy to lose control, and the normal work of the mechanical dog is influenced. If a disaster occurs and the mechanical dog of the type is used for rescuing people, the risk of secondary trapping of injured people due to the trapping of rugged mountain roads exists. The leg structure converts the electrical control structure into a large number of mechanical structures, so that when the leg structure is interfered by vibration, wind power, magnetic fields or other external factors, the motion of the leg structure taking the mechanical structure as a main body is not influenced, the motion process is more stable, and the leg structure is suitable for transporting injured people in rugged mountain road environments. The walking robot includes two shank structures, can adopt linking bridge to be in the same place a plurality of structure shown in figure 1 are connected to, form polypod walking robot, and area of contact with ground is bigger like this, and the motion stability is higher, when walking on rugged mountain road, is difficult to fall down, has played the guard action to the injured person who is located the top, avoids injured person to receive the secondary injury along with the robot together falls down.
The leg structure of the invention imitates the leg structure of a human body and comprises four parts, namely a thigh, a knee, a calf and a foot plate, wherein the thigh is formed by the main cylinder I and the main cylinder II, the knee sport ball is used as the knee, and the calf sport cylinder, the calf support I and the calf support II are used as the calf. The thigh is formed by the first main cylinder and the second main cylinder which are arranged on two sides, and the movement of the first main cylinder and the second main cylinder is controlled, so that the shank part can be subjected to acting forces in different directions and different sizes, the movement form of the shank part is more diversified, and the requirement of conveying the sick and wounded on a rugged mountain road is met. Through setting up the knee sport ball as the knee to make the knee sport ball and main cylinder one, the connected mode between the shank motion cylinder be the sphere pair and connect, can enough make the leg structure motion of robot more nimble like this, can make the leg structure of robot only can move at certain stroke within range again through the limiting displacement of motion groove, ensure the stability of traveling on rugged mountain road, avoid falling down. When the walking robot adopting the leg structure provided by the invention is subjected to vibration during walking on a rugged mountain road, the arrangement of the knee sport ball and the connection mode of the knee sport ball with the thigh and the shank can relieve part of vibration, and ensure the safety of articles sitting on the upper part or sick and wounded.
In addition, robots such as robot dogs in the prior art mostly adopt bearings as knee joints, adopt a chain transmission structure, adopt a soft transmission chain for fixing to clamp gears at two sides, apply a tensioning force to the middle at two sides, act on the bearings, and support other structures on the bearings, so that the bearings are easily damaged due to too much acting force. The knee sport ball is adopted as the knee joint of the leg structure, and the acting force is dispersed in a spherical pair connection mode, so that the knee joint is prevented from being subjected to more concentrated acting force; in addition, the leg structure of the invention does not adopt chain transmission, but adopts the connecting rod for transmission, and the connecting position of the connecting rod is placed on the lower calf support piece II, so that even if a tensioning force is applied to the middle from two sides, a part of the connecting rod can bear, the stress concentration of the knee sport ball is reduced, and the service life of the knee sport ball is prolonged. In addition, under the multiple actions of the main cylinder I, the main cylinder II, the shank movement cylinder, the connecting rod and the transmission mechanism, the movement of the leg structure can be more flexible, and when the walking robot adopting the leg structure disclosed by the invention walks on a rugged mountain road, the whole movement is more coordinated, more flexible and more convenient, and the walking robot cannot get out of a depression.
One for each leg structure 200. As shown in fig. 7, the transmission mechanism 200 includes a servo motor 201, a spline shaft 204, a first universal joint coupling 205, a first connecting shaft 206, a second universal joint coupling 207, a second connecting shaft 208, a third universal joint coupling 209, a third connecting shaft 210, and a connecting wheel 211, which are sequentially arranged. A planetary reducer 202 is mounted on an output shaft of the servo motor 201. The output shaft of the servo motor 201 is connected with one end of the spline shaft 204 through the coupler 203, the other end of the spline shaft 204 is connected with one end of the first connecting shaft 206 through the first cross universal coupler 205, the other end of the first connecting shaft 206 is connected with one end of the second connecting shaft 208 through the second cross universal coupler 207, the other end of the second connecting shaft 208 is connected with one end of the third connecting shaft 210 through the third cross universal coupler 209, and the middle section of the third connecting shaft 210 is sleeved with the first bearing 212. The first connecting shaft 206 is obliquely arranged. The third universal joint cross 209 is to make the legs turn when turning, but the main body does not turn, so that the injured person sitting on the upper part is more comfortable. The connecting wheel 211 is arranged at the other end of the connecting shaft III 210; the upper end of the second main cylinder 102 is sleeved outside the first bearing 212, and the upper end of the connecting rod 103 is pivotally connected with the connecting wheel 211. The servo motor 201 is mounted on a motor mount 307. The steering traction shell 405 covers the outer side of the upper end of the second main cylinder 102.
The servo motor 201 works to drive the spline shaft 204 to rotate, the spline shaft 204 drives the first connecting shaft 206 to rotate, the first connecting shaft 206 drives the second connecting shaft 208 to rotate, the second connecting shaft 209 drives the third connecting shaft 210 to rotate, and the third connecting shaft 210 drives the first bearing 212 and the connecting wheel 211 to rotate. Through adopting cross universal joint to connect each axle, can avoid each part among the drive mechanism to receive vibrations when running gear is walked on rugged road surface and strike, guarantee the job stabilization nature of each part among the drive mechanism, prolonged the life of each part among the drive mechanism. When the cylinder rods of the first main cylinder 101 and the second main cylinder 102 do telescopic movement, the common acting force of the two on the knee sport ball is on the central axis of the shank support piece, so that the actions of lifting and putting legs are realized. Because the connecting rod 103 is pivotally connected to the connecting wheel 211, when the connecting wheel 211 rotates, the connecting rod is driven to move, and then an acting force is applied to the second calf support 107, so that the second calf support 107 connected to the lower end of the connecting rod moves. Because the upper end of the second shank support part is connected with the knee sport ball in a spherical pair mode, the second shank support part 107 can rotate within a certain angle range under the driving of the connecting rod, and the leg lifting and placing actions of the shanks are assisted. The calf movement cylinder 105, the calf support I106 and the foot plate 108 form a rocker structure, a cylinder rod of the calf movement cylinder 105 extends to drive the upper end of the calf support I105 to move downwards, and the foot plate 108 arranged at the bottom of the calf support I105 is lifted; retraction of the cylinder rod of the calf-motion cylinder 105 drives the upper end of the first support member 105 upward and the foot plate 108 disposed at the bottom of the first calf support member 105 lowers. The walking robot is mainly used for rescuing injured people in rugged mountainous areas, so that the transmission mechanism is designed to drive the connecting rod to move, the connecting rod can be driven by the transmission mechanism to be matched with the plurality of cylinders to move even if feet of the robot sink in muddy areas, the robot can easily leave, and the whole robot can move more coordinately.
As shown in fig. 8, the steering mechanism 300 includes a motor 301, a worm and gear structure, and a traction structure; the worm and gear structure comprises a worm wheel 302 arranged on an output shaft of the motor 301 and a worm 303 in transmission fit with the worm wheel 302; the number of the traction structures is two, and the two traction structures are respectively in one-to-one correspondence with the two leg structures in the pair of leg structures; one end of the traction structure is connected to the end of the worm 303, and the other end is connected with a damping mechanism or a transmission mechanism. The traction structure comprises a first traction block 304, a second traction block 305 and a folding block 306; the folding block 306 adopts a hinge structure and comprises a first hinge structure part and a second hinge structure part which are connected in a rotating manner; the lower end of the first traction block 304 is connected with the end part of the worm 303 through a fourth bearing 309, the upper end of the first traction block is connected with one end of a second traction block 305, the other end of the second traction block 305 is connected with a first hinge structure part, and the second hinge structure part is connected with a steering driving seat 405.
The motor 301 works to drive the worm wheel to rotate, the worm meshed and connected with the worm wheel moves left and right along the axial direction of the worm, the traction structures arranged at the two ends of the worm move left and right along with the worm, and further the steering driving seat 404 connected with the traction structures moves together. Adopt worm gear structure to turn to the traction, can improve walking robot's steering precision and degree of accuracy, when going on rugged mountain ground like this, can be safer. And when running gear was walked on rugged road surface, take place to rock easily, through being the hinge structure with folding piece design, even running gear takes place to rock like this, the in-process that the vibration force that running gear received upwards transmits, relative movement takes place for two hinge structure portions, avoids on vibration force transmits other rigidly connected's parts, causes the damage to other parts.
As shown in fig. 9 and 10, the damper mechanism 400 includes a damper mount, a main damper 401, a sub damper, a steering main shoe 404, and a steering traction case 405. And the main shock absorption and the auxiliary shock absorption both adopt springs or dampers. The number of the main shock absorbers 401 is one, the number of the auxiliary shock absorbers is two, the two shock absorbers are respectively an auxiliary shock absorber I402 and an auxiliary shock absorber II 403, and the two auxiliary shock absorbers are symmetrically arranged on two sides below the main shock absorbers 401.
The shock absorption support comprises a back plate 406, an upper shock absorption plate 407 and a lower shock absorption plate 408 which are sequentially arranged on the outer side wall of the back plate 406 from top to bottom, and a main shock absorption upper fixing seat 409 and an auxiliary shock absorption upper fixing seat 410 which are sequentially arranged above the back plate 406; the upper end of the main shock absorber 401 is arranged on a main shock absorber upper fixing seat 409, and the lower end of the main shock absorber 401 is arranged on an upper shock absorbing plate 407; the upper end of the auxiliary shock absorber is arranged on the auxiliary shock absorber upper fixing seat 410, and the lower end of the auxiliary shock absorber is arranged on the lower shock absorbing plate 408; one end of the upper damping plate 407 is connected to the back plate 406, and the other end of the upper damping plate is matched with the steering driving seat 404 in a spherical pair manner; one end of the lower damping plate 408 is connected to the back plate 406, and the other end of the lower damping plate is matched with the steering driving seat 404 in a spherical pair manner; the steering traction shell 405 is connected to the steering actuator base 404. A motor mounting seat 307 is arranged on the inner side wall of the back plate 406; the servo motor 201 and the motor 301 are both arranged on a motor mounting seat 307; the main damping upper fixing seat 409 is installed at the top of the motor installation seat 307, and the main damping upper fixing seat 409 is installed on the motor installation seat instead of being designed into a whole with the damping support, so that the stability of connection between the whole structures is ensured, and the phenomenon that the main damping upper fixing seat 409 is scattered in a repeated violent movement process is avoided. A limiting plate 308 is arranged above the motor mounting seat 307, the end of the limiting plate 308 is connected to the main damping upper fixing seat 409, and the limiting plate 308 is used for ensuring the stability of the mounting structure of the motor 301 and the servo motor 201. The auxiliary shock absorption upper fixing seat 410 is installed on the side wall of the motor installation seat 307. The steering driving base 404 comprises a steering driving base body 411, and a third moving groove 412 and a fourth moving groove 413 which are sequentially formed in the steering driving base body 411; a third moving ball 414 is arranged at the end part of the upper damping plate 407, and the third moving ball 414 is embedded in the third moving groove 412 and is matched with the third moving groove 412 in a spherical pair manner; the end of the lower damping plate 408 is provided with a moving ball four 415, and the moving ball four 415 is embedded in the moving groove four 413 and is matched with the moving groove four 43 in a spherical pair manner.
When the walking mechanism walks on a rugged road, if violent movement occurs, the vibration force received by the foot plate can be upwards transmitted along the walking mechanism, when the vibration force is transmitted to the upper end of the second main cylinder, the steering traction shell connected with the upper end of the second main cylinder can upwards vibrate, and under the action of the self weight of the whole walking robot, part of vibration can be eliminated. Still some vibration power can be along turning to and pull the shell and transmit to the intermediate position again, turns to and pulls the shell and transmit vibration power for turning to the initiative seat, turns to the initiative seat and transmits vibration power for two vice shock attenuations through the lower shock attenuation board that is located the downside earlier, and two vice attenuations can eliminate some vibrations, turns to the initiative seat and still can transmit vibration power for last shock attenuation through the last shock attenuation board that is located the top, and some vibrations can be eliminated in last shock attenuation. The main damping upper fixing seat is in an arc shape protruding upwards, and the structure is in a reverse-bending design and can play a certain damping role. The damping structure not only adopts main shock attenuation and two sets of vice shock attenuation to carry out the shock attenuation, still utilizes overall structure's rigidity to carry out the shock attenuation, has eliminated vibrations to the at utmost, ensures the stability of robot. The walking robot is used for transporting the wounded in the rugged mountain environment, and in consideration of the particularity of the use environment, the shock absorption structure adopts a multilayer spatial arrangement and suspension shock absorption mode to enhance the shock absorption effect, the shock absorption and the auxiliary shock absorption are sequentially arranged from top to bottom, and the main shock absorption and the auxiliary shock absorption are obliquely arranged to form an up-and-down spatial dislocation, so that the oblique reaction force is adopted to slow down the generation of the shock instead of directly relying on the gravity or the reaction force to suppress, and the shock absorption effect can be maximally utilized without influencing the wounded sitting above.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (5)
1. A walking robot leg structure, its characterized in that: comprises a first main cylinder (101), a second main cylinder (102), a knee sport ball (104), a shank sport cylinder (105), a shank support member (106) and a shank support member (107);
the lower end of the first main cylinder (101) is connected with the outer wall of a knee sport ball (104); the lower end of the second main cylinder (102) is matched with a knee sports ball (104) in a spherical pair manner; the upper end of the shank motion cylinder (105) is connected with the outer wall of the knee motion ball (104), and the lower end of the shank motion cylinder is rotatably connected with the upper end of a shank support piece I (106); the upper end of the shank support piece II (107) is matched with the knee sports ball (104) in a spherical pair mode, and the lower end of the shank support piece II is rotationally connected with the middle section of the shank support piece I (106); the upper ends of the main cylinders I of the two leg structures are connected through a support rod (601).
2. The walking robot leg structure of claim 1, wherein: the lower end of the first shank support (106) is connected with a foot plate (108).
3. The walking robot leg structure of claim 1, wherein: the middle section of the lower leg support piece II (107) is connected with a connecting rod (103).
4. The walking robot leg structure of claim 1, wherein: the upper end of the first main cylinder (101) is connected to the support rod, a second bearing (114) is sleeved at the end of the support rod, and the upper end of the first main cylinder (101) is rotatably connected with the support rod through the second bearing (114).
5. The walking robot leg structure of claim 1, wherein: the knee sport ball (104) comprises a ball body (109), and a sport groove I (110) and a sport groove II (111) which are respectively arranged in the ball body (109); a first moving ball (112) is arranged at the lower end of the second master cylinder (102), and the first moving ball (112) is embedded in the first moving groove (110) and is in spherical pair fit with the first moving groove (110); and a second sport ball (113) is arranged at the upper end of the second shank support piece (107), and the second sport ball (113) is embedded in the second sport groove (111) and is matched with the second sport groove (111) in a spherical pair manner.
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| CN202110159845.5A CN112937719B (en) | 2021-02-05 | 2021-02-05 | Walking robot shank structure |
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| CN202110159845.5A CN112937719B (en) | 2021-02-05 | 2021-02-05 | Walking robot shank structure |
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| CN104257490A (en) * | 2013-06-26 | 2015-01-07 | 中国科学院合肥物质科学研究院 | Method for folding wearable lower limb assisting robots |
| KR101497672B1 (en) * | 2013-10-15 | 2015-03-03 | 경북대학교 산학협력단 | Multi-dof ring typed leg supporting structure for robot suit |
| CN205686505U (en) * | 2016-06-22 | 2016-11-16 | 闽南理工学院 | A kind of walking robot leg knee hypozygal and walking robot lower limb structure |
| CN210939247U (en) * | 2019-07-24 | 2020-07-07 | 温州大学瓯江学院 | Lower limb exoskeleton based on disc type motor |
| CN111017064A (en) * | 2020-01-21 | 2020-04-17 | 福州大学 | Motor-driven double-foot lower limb walking structure and working method thereof |
| CN112141236A (en) * | 2020-09-25 | 2020-12-29 | 昆明理工大学 | Take shock-absorbing function's sufficient formula robot shank system of wheel |
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