CN113021316B - Mechanical leg - Google Patents
Mechanical leg Download PDFInfo
- Publication number
- CN113021316B CN113021316B CN202110245231.9A CN202110245231A CN113021316B CN 113021316 B CN113021316 B CN 113021316B CN 202110245231 A CN202110245231 A CN 202110245231A CN 113021316 B CN113021316 B CN 113021316B
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- Prior art keywords
- moving gear
- leg
- mechanical
- supporting
- sliding mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention discloses a mechanical leg, comprising: mechanical feet with specific supporting functions; the lower end of the supporting mechanism is rotatably arranged on the mechanical foot; the sliding mechanism is slidably arranged on the supporting mechanism; the clamping mechanism is arranged in the sliding mechanism, when the sliding mechanism is stepped downwards, the clamping mechanism enables the sliding mechanism to be clamped and positioned immovably, the human legs are stably supported, and when the sliding mechanism is lifted upwards, the clamping mechanism enables the sliding mechanism to drive the clamping mechanism to roll on the supporting mechanism to realize lifting. The problem of use scaffold frame and ladder etc. be when fixed stay equipment carries out interior decoration and fruit tree is picked, under the condition that needs remove, go up and down, have consuming time long-term efficiency low is solved.
Description
Technical Field
The invention relates to a mechanical leg, and belongs to the technical field of mechanical legs.
Background
For example, in aerial work with height higher than human body in the environment of interior decoration, fruit tree picking and the like, scaffolds, ladders and the like are generally used for supporting work, but the scaffolds, the ladders and the like are fixed supporting equipment, and after one fixed-point work is completed, the scaffolds, the ladders and the like need to be moved from the fixed supporting equipment, and then the fixed supporting equipment is moved to the fixed point of another work for carrying out work, so that the time consumption and the long-acting rate are low; meanwhile, when the user needs to ascend or descend, the user needs to descend or lift the height of fixed supporting equipment such as a scaffold and a ladder, the user can use the device by detaching and readjusting the height of the fixed supporting equipment again, the user on the fixed supporting equipment needs to move down from the fixed supporting equipment and then move up, and the time-consuming long-acting rate is low.
Therefore, when indoor decoration and fruit tree picking are carried out by using fixed supporting equipment such as scaffolds, ladders and the like, the problem of low time-consuming and long-acting rate exists under the condition of moving and lifting.
Disclosure of Invention
In order to solve the technical problem, the invention provides a mechanical leg.
The invention is realized by the following technical scheme.
The invention provides a mechanical leg, comprising: mechanical feet with specific supporting functions;
the lower end of the supporting mechanism is rotatably arranged on the mechanical foot;
the sliding mechanism is slidably arranged on the supporting mechanism;
the clamping mechanism is installed inside the sliding mechanism, the clamping mechanism enables the sliding mechanism to be clamped and positioned immovably when the sliding mechanism is stepped down, the human legs are stably supported, and the clamping mechanism enables the sliding mechanism to drive the clamping mechanism to roll on the supporting mechanism to realize lifting when the human legs are lifted.
Preferably, the sliding mechanism comprises a leg sleeve which is sleeved on the leg rod in a sliding manner, a spur rack which is fixedly arranged on the leg rod, two upper fixed gears which are rotatably arranged above the leg sleeve through a bearing, and two lower fixed gears which are rotatably arranged below the leg sleeve through a bearing, wherein the upper fixed gears and the lower fixed gears are meshed with the spur rack.
In order to facilitate the binding of the leg sleeve and the lower leg, a bandage for binding the lower leg is fixed on the leg sleeve.
Preferably, the support mechanism comprises two leg rods arranged at intervals, and the lower parts of the leg rods are hinged with the mechanical feet through rotating shafts.
Preferably, the underside of the mechanical foot is secured to a plurality of spaced apart nails which are used to increase friction with the ground and to increase the point of support.
Preferably, the clamping mechanism comprises an upper moving gear, a lower moving gear and a connecting shaft piece, and the upper moving gear and the lower moving gear are rotatably arranged on the connecting shaft piece and meshed with each other;
the leg sleeve is provided with a through hole for the shaft at one end of the upper moving gear and the shaft at one end of the lower moving gear to penetrate and slide, and the shafts at one end of the upper moving gear and the lower moving gear vertically shift and slide in the through hole on the leg sleeve; the connecting shaft piece is provided with a supporting through hole for the other end shafts of the upper moving gear and the lower moving gear to penetrate and rotate, and the upper moving gear and the lower moving gear rotate by taking the supporting through hole on the connecting shaft piece as a support;
when the upper moving gear and the lower moving gear are lifted, the lower moving gear is separated from the two lower fixed gears and is not meshed with the two lower fixed gears, the lower fixed gears are meshed with the straight rack and can roll up or fall down without being blocked, and the mechanical legs can extend, rise and shorten to fall.
When the foot plate needs to be clamped, the whole body formed by meshing the upper moving gear and the lower moving gear descends on the through hole of the leg sleeve at a descending speed higher than that of the leg sleeve, so that the lower moving gear is in contact meshing with the two lower fixed gears, the upper moving gear is pushed downwards after the leg sleeve descends, the lower moving gear and the two lower fixed gears form clamping, the clamping position of a certain position of the foot plate is realized, and the mechanical leg can not be extended or shortened.
The upper moving gear penetrates through the shaft end of the leg sleeve through hole, mechanical shoes convenient for the foot plate to wear are fixed on the shaft end, and the foot plate is matched with the mechanical shoes to be worn quickly when worn.
The upper jacking mechanism is arranged in the sliding mechanism, carries out limit safety on the clamping mechanism, avoids the sliding mechanism from driving the clamping mechanism to excessively lift, simultaneously enables the clamping mechanism and the sliding mechanism to keep stable and fixed, and drives the mechanical legs to safely move by the thighs;
the upward pushing mechanism comprises a control knob and a push rod which is fixed at the bottom of the control knob and corresponds to the upper moving gear in a clamping mode.
The invention has the beneficial effects that: the mechanical shoes drive the upper moving gear to drive the lower moving gear through the connecting shaft piece, the upper moving gear is lifted up in a displacement sliding mode through the through holes of the leg sleeves, the lower moving gear is separated from the two lower fixed gears and is not meshed with the two lower fixed gears, the two upper fixed gears and the straight racks fixed on the two leg rods are meshed and roll, the positions of the mechanical shoes are upwards increased, and the mechanical legs are extended;
under the condition that the lower moving gear is separated from the two lower fixed gears and is not meshed with the two lower fixed gears, the shaft section connected with the upper moving gear and the mechanical shoe props against the upper part of the through hole of the leg sleeve, when the mechanical shoe moves downwards, the leg sleeve also moves downwards under the action of gravity, when the moving speed of the mechanical shoe is lower than the falling speed of the leg sleeve under the action of gravity, the lower moving gear and the two lower fixed gears are still in a separated and non-meshed state, the leg rod is not clamped, the leg rod slides into the leg sleeve along with the downward movement of the leg sleeve, the position of the mechanical shoe descends downwards, and the mechanical leg is shortened;
when the speed of the mechanical shoe moving downwards is greater than the falling speed of the leg sleeve under the action of gravity, the shaft section of the mechanical shoe connected with the upper moving gear pushes against the lower part of the through hole of the leg sleeve, the lower moving gear is meshed with the two lower fixed gears, the leg rod is blocked, and the mechanical leg cannot be shortened;
when the height is proper, the ejector rod at the bottom of the control knob props against the top end of the upper moving gear to ensure that the lower moving gear is meshed with the two lower fixed gears; when the lower moving gear is meshed with the two lower fixed gears, the mechanical shoes can drive the upper moving gear to rotate to adjust the inclination angle of the mechanical feet to be parallel to the inclination angle of the mechanical shoes, and a state that the mechanical shoes stand on the heels and are supported by the toes is formed; the legs of the person drive the mechanical feet to move and walk with ease through the binding bands;
the problem of use scaffold frame and ladder etc. be when fixed stay equipment carries out interior decoration and fruit tree is picked, under the condition that needs remove, go up and down, have consuming time long-term efficiency low is solved.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic left side view of FIG. 1;
FIG. 3 is a schematic diagram of the elevating mechanism of the present invention;
FIG. 4 is a schematic view of the stable position of the card of the present invention;
FIG. 5 is a schematic view of the mechanical shoe of the present invention in a tilted state after rotation;
in the figure: 1-control knob; 2-leg sleeve; 3-binding band; 4-mechanical shoes; 5-a leg bar; 6-straight rack; 7-mechanical foot; 8-upper fixed gear; 9-moving the gear upwards; 10-supporting through holes; 11-a shaft connecting piece; 12-lower moving gear; 13-lower fixed gear.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
See fig. 1-5.
The invention provides a mechanical leg, comprising: mechanical feet 7 for specific supporting functions;
the lower end of the supporting mechanism is rotatably arranged on the mechanical foot 7;
the sliding mechanism can be arranged on the supporting mechanism in a sliding way;
the clamping mechanism is installed inside the sliding mechanism, the clamping mechanism enables the sliding mechanism to be clamped and positioned immovably when the sliding mechanism is stepped down, the human legs are stably supported, and the clamping mechanism enables the sliding mechanism to drive the clamping mechanism to roll on the supporting mechanism to realize lifting when the human legs are lifted.
Preferably, the sliding mechanism comprises a leg sleeve 2 which is slidably sleeved on the leg rod 5, a spur rack 6 fixedly arranged on the leg rod 5, two upper fixed gears 8 which are rotatably arranged above the leg sleeve 2 through bearings, and two lower fixed gears 13 which are rotatably arranged below the leg sleeve 2 through bearings, wherein the upper fixed gears 8 and the lower fixed gears 13 are meshed with the spur rack 6.
In order to facilitate the binding of the leg sleeve 2 and the lower leg, a binding band 3 for binding the lower leg is fixed on the leg sleeve 2.
Preferably, the supporting mechanism comprises two leg rods 5 arranged at intervals, and the lower parts of the leg rods 5 are hinged with the mechanical feet 7 through rotating shafts.
Preferably, the bottom surface of the mechanical foot 7 is fixed with a plurality of nails spaced at intervals, and the nails are used for increasing friction with the ground and increasing a supporting point.
Preferably, the clamping mechanism comprises an upper moving gear 9, a lower moving gear 12 and a connecting shaft piece 11, wherein the upper moving gear 9 and the lower moving gear 12 are rotatably arranged on the connecting shaft piece 11 and are meshed with each other;
a through hole for allowing one end shaft of the upper moving gear 9 and one end shaft of the lower moving gear 12 to penetrate and slide is formed in the leg sleeve 2, and one end shaft of the upper moving gear 9 and one end shaft of the lower moving gear 12 vertically shift and slide in the through hole in the leg sleeve 2, wherein the through hole is not marked in the figure; a support through hole 10 is formed in the connecting shaft piece 11 and is used for the shaft of the other end of the upper moving gear 9 and the other end of the lower moving gear 12 to penetrate and rotate, and the upper moving gear 9 and the lower moving gear 12 rotate and rotate by taking the support through hole 10 in the connecting shaft piece 11 as a support;
when the upper moving gear 9 and the lower moving gear 12 are lifted, the lower moving gear 12 is separated from the two lower fixed gears 13 and is not meshed with the two lower fixed gears 13, the lower fixed gears 13 are meshed with the straight rack 6 and can roll up or down without being blocked, and the mechanical legs can extend, rise and shorten to descend.
When the foot plate needs to be clamped, the whole body formed by meshing the upper moving gear 9 and the lower moving gear 12 descends on the through hole of the leg sleeve 2 at a descending speed larger than that of the leg sleeve 2, so that the lower moving gear 12 is in contact meshing with the two lower fixed gears 13, the upper moving gear 9 is pushed downwards after the leg sleeve 2 descends, the lower moving gear 12 and the two lower fixed gears 13 form clamping, the clamping at a certain position of the foot plate is realized, and the mechanical leg can not extend or shorten.
The upper moving gear 9 penetrates through the shaft end of the through hole of the leg sleeve 2, a mechanical shoe 4 convenient for the foot plate to wear is fixed on the shaft end, and the foot plate is matched with the mechanical shoe 4 to be worn quickly when being worn.
The upper jacking mechanism is arranged in the sliding mechanism, and is used for limiting and protecting the clamping mechanism, so that the clamping mechanism is prevented from being driven by the sliding mechanism to excessively ascend and descend, meanwhile, the clamping mechanism and the sliding mechanism are kept stable and fixed by the upper jacking mechanism, and the thigh-driven mechanical foot 7 can safely move;
the upper ejection mechanism comprises a control knob 1 and an ejector rod which is fixed at the bottom of the control knob and corresponds to the upper moving gear 9 in a clamping manner;
the mechanical shoes 4 drive the upper moving gear 9 to drive the lower moving gear 12 through the connecting shaft piece 11, the lower moving gear 12 slides and lifts up in the through hole displacement of the leg sleeve 2, the lower moving gear 12 is separated from the two lower fixed gears 13 and is not meshed with the two lower fixed gears 13, the two upper fixed gears 8 and the straight rack 6 fixed on the two leg rods 5 are meshed and roll, the positions of the mechanical shoes 4 are upwards improved, and the mechanical legs are extended.
Under the condition that the lower moving gear 12 is separated from the two lower fixed gears 13 and is not meshed, the shaft section connected with the mechanical shoe 4 and the upper moving gear 9 is propped against the upper part of the through hole of the leg sleeve 2, when the mechanical shoe 4 moves downwards, the leg sleeve 2 also moves downwards under the action of gravity, when the speed of the downward movement of the mechanical shoe 4 is less than the falling speed of the leg sleeve 2 under the action of gravity, the lower moving gear 12 and the two lower fixed gears 13 are still in a separated and non-meshed state, the leg rod 5 is not blocked, and as the leg sleeve 2 moves downwards, the leg rod 5 slides into the leg sleeve, the position of the mechanical shoe 4 descends downwards, and the mechanical leg shortens;
when the speed of the mechanical shoe 4 moving downwards is higher than the falling speed of the leg sleeve 2 under the action of gravity, the shaft section of the mechanical shoe 4 connected with the upper moving gear 9 is propped against the lower part of the through hole of the leg sleeve 2, the lower moving gear 12 is meshed with the two lower fixed gears 13, the leg rod 5 is blocked, and the mechanical leg cannot be shortened.
When the height is proper, the top end of the upper moving gear 9 is propped by a top rod at the bottom of the control knob 1, and the lower moving gear 12 is ensured to be meshed with the two lower fixed gears 13; when the lower moving gear 12 is meshed with the two lower fixed gears 13, the mechanical shoe 4 can drive the upper moving gear 9 to rotate clockwise to adjust the inclination angle of the mechanical foot 7 to incline parallel to the mechanical shoe 4, and a state that the mechanical shoe stands on the tiptoe of the heel is formed; the legs of the person drive the mechanical feet 7 to move and walk with confidence through the binding bands 3.
The problem of use scaffold frame and ladder etc. be when fixed stay equipment carries out interior decoration and fruit tree is picked, need remove, go up and down the condition, it is low to have a long residual rate consuming time is solved.
Claims (6)
1. A mechanical leg, comprising: a mechanical foot (7) for supporting specifically;
the lower end of the supporting mechanism is rotatably arranged on the mechanical foot (7);
the sliding mechanism is slidably arranged on the supporting mechanism;
the clamping mechanism is arranged in the sliding mechanism, the clamping mechanism enables the sliding mechanism to be clamped and positioned immovably when the sliding mechanism is stepped downwards so as to stably support human legs, and the clamping mechanism enables the sliding mechanism to drive the clamping mechanism to roll on the supporting mechanism to realize lifting when the sliding mechanism is lifted upwards;
the sliding mechanism comprises a leg sleeve (2) which is sleeved on the leg rod (5) in a sliding manner, a spur rack (6) which is fixedly arranged on the leg rod (5), two upper fixed gears (8) which are rotatably arranged above the leg sleeve (2), and two lower fixed gears (13) which are rotatably arranged below the leg sleeve (2), wherein the upper fixed gears (8) and the lower fixed gears (13) are meshed with the spur rack (6);
the supporting mechanism comprises two leg rods (5) which are arranged at intervals, and the lower parts of the leg rods (5) are hinged with the mechanical feet (7) through a rotating shaft;
the clamping mechanism comprises an upper moving gear (9), a lower moving gear (12) and a connecting shaft piece (11), wherein the upper moving gear (9) and the lower moving gear (12) are rotatably arranged on the connecting shaft piece (11) and are meshed with each other;
a through hole for enabling one end shaft of the upper moving gear (9) and one end shaft of the lower moving gear (12) to penetrate through and slide is formed in the leg sleeve (2), and one end shaft of the upper moving gear (9) and one end shaft of the lower moving gear (12) move up and down and slide in the through hole in the leg sleeve (2); the connecting shaft piece (11) is provided with a supporting through hole (10) for the other end shafts of the upper moving gear (9) and the lower moving gear (12) to penetrate and rotate, and the upper moving gear (9) and the lower moving gear (12) rotate by taking the supporting through hole (10) on the connecting shaft piece (11) as a support.
2. The mechanical leg of claim 1, wherein: the leg sleeve (2) is fixed with a bandage (3) used for binding with the lower leg.
3. The mechanical leg of claim 1, wherein: the upper moving gear (9) penetrates through the shaft end of the through hole of the leg sleeve (2) and is fixed with a mechanical shoe (4) convenient for the foot plate to wear.
4. The mechanical leg of claim 3, wherein: the automatic lifting device is characterized by further comprising an upper lifting mechanism, wherein the upper lifting mechanism is installed in the sliding mechanism and used for limiting and protecting the clamping mechanism, the sliding mechanism is prevented from driving the clamping mechanism to excessively lift, meanwhile, the upper lifting mechanism enables the clamping mechanism and the sliding mechanism to be stable and immovable, and the mechanical foot (7) moves at the moment.
5. The mechanical leg of claim 4, wherein: the upward pushing mechanism comprises a control knob (1) and a push rod which is fixed at the bottom of the control knob and corresponds to the upper moving gear (9) in a clamping mode.
6. The mechanical leg of claim 1, wherein: a plurality of nails which are distributed at intervals and used for increasing friction with the ground and increasing supporting points are fixed on the bottom surface of the mechanical foot (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110245231.9A CN113021316B (en) | 2021-03-05 | 2021-03-05 | Mechanical leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110245231.9A CN113021316B (en) | 2021-03-05 | 2021-03-05 | Mechanical leg |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113021316A CN113021316A (en) | 2021-06-25 |
| CN113021316B true CN113021316B (en) | 2022-05-31 |
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ID=76468190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110245231.9A Active CN113021316B (en) | 2021-03-05 | 2021-03-05 | Mechanical leg |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113021316B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1071073A (en) * | 1991-09-28 | 1993-04-21 | 霍满焕 | A kind of apparatus assistant to walking |
| CN2172275Y (en) * | 1993-07-02 | 1994-07-20 | 洪金宝 | Walking riser |
| US7360840B2 (en) * | 2003-10-08 | 2008-04-22 | Pride Mobility Products Corporation | Extendable and retractable leg rest |
| CN205073611U (en) * | 2015-09-01 | 2016-03-09 | 金华市融昌工具有限公司 | Walking climber |
| CN111285303A (en) * | 2020-03-23 | 2020-06-16 | 合肥希格玛智能科技有限公司 | Mechanical leg for walking and ascending |
| CN112185734A (en) * | 2020-10-02 | 2021-01-05 | 包晓娃 | High-voltage circuit breaker assembly roll-over stand |
-
2021
- 2021-03-05 CN CN202110245231.9A patent/CN113021316B/en active Active
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| Publication number | Publication date |
|---|---|
| CN113021316A (en) | 2021-06-25 |
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