CN201703453U - Mobile robot leg mechanism - Google Patents

Abstract

The leg mechanism of a mobile robot relates to the technical field of a mobile robot for teaching. The lower leg plate is fixedly connected to both sides of the leg connector, the upper end of the lower leg plate is hinged to the thigh plate, the middle part of the lower leg plate is hinged to the lifting steering gear mounting plate, and the thigh plate is Hinged with the connecting piece, the lifting steering gear is fixed axially and horizontally on the lifting steering gear mounting plate, and the shaft end of the lifting steering gear is fixedly connected with the connecting piece, the translational steering gear is fixed axially and vertically on the connecting piece, the calf plate, thigh plate, and lifting steering gear are installed The plates and connectors form a four-bar linkage. The leg mechanism of the mobile robot is used as an assembly to imitate insects such as hexapods and octapeds.

Description

Mobile Robot Leg Mechanism

technical field

The utility model relates to the technical field of robots, in particular to a leg mechanism of a mobile robot for teaching. the

Background technique

In the field of technology, robots have been widely used. Among them, the educational robot is a robot that is especially used in the field of education. It should be suitable for teaching, have good cost performance, have openness and scalability, can easily increase or decrease functional modules according to needs, and have friendly man-machine user-interface. Existing teaching robots are complex in structure and expensive, and are difficult to popularize in classroom teaching. In order to make the teaching robot more powerful and popular, the general teaching is to learn from the simple insect-like multi-legged robot, and gradually go deep into the biped humanoid robot. The multi-legged robot has fewer degrees of freedom and fewer sensors, simple structure, good function and combination performance, relatively low cost, and is more suitable for primary teaching. In the prior art, the invention title of publication number CN2827823 is 'mechanical crab' and the patent title of publication number CN201343082Y is 'a walking mechanism of a quadruped walking robot' discloses the design of multi-legged robots, and their deficiency is: mechanism It is complex and cannot be assembled and combined according to the requirements of use. The teaching performance is not clear and the weight is heavy. Not only is it inconvenient to carry, but it also makes the purchase cost high. the

How to design a robot component with strong applicability, low cost, simple structure, easy assembly and combination, light weight and good teaching performance is a problem to be solved urgently by technicians. the

Utility model content

In order to solve the technical defects of the existing technology, the purpose of this utility model is to provide a mobile robot leg mechanism, which is low in price, light in weight, good in teaching, can be assembled for different multi-legged robots, and has strong expandability , with good performance. the

In order to achieve the above object, the technical solution of the utility model is:

The leg mechanism of the mobile robot, including the calf plate, the thigh plate, the lifting servo mounting plate, the leg connector, the connector, the translation steering gear, and the lifting servo, wherein: the calf plate is fixedly connected to both sides of the leg connector, and the upper part of the calf plate is It is hinged with the thigh plate, the middle part of the calf plate is hinged with the lifting servo mounting plate, the thigh plate is hinged with the connecting piece, the lifting servo is fixed axially and horizontally on the lifting servo mounting plate, and the shaft end of the lifting servo is fixedly connected with the connecting piece, and the translational servo shaft Vertically fixed on the connecting piece, the calf plate, the thigh plate, the lifting steering gear mounting plate and the connecting piece constitute a four-bar linkage. the

The calf plate, thigh plate, lifting servo mounting plate, leg connectors, and connectors are made of lightweight aluminum alloy. the

After adopting the above-mentioned scheme, the leg mechanism of the mobile robot of the present invention is assembled from a few components during use, and has a simple structure; it can be assembled into a quadruped robot, a hexapod robot or a multi-legged robot according to the needs of teaching demonstrations. The robot has strong applicability; it can be assembled and combined in a simple way. The components are only connected by screws, and the assembly can be implemented with simple tools, which is simple and convenient; Low; there is no redundant mechanical structure, the overall mechanical structure and motion law can be seen at a glance, and the teaching performance is good. the

Description of drawings

Fig. 1 is the front view of the leg mechanism of the mobile robot of the present invention. the

Fig. 2 is the right view of Fig. 1 of the leg mechanism of the mobile robot of the present invention. the

Fig. 3 is a top view of Fig. 1 of the leg mechanism of the mobile robot of the present invention. the

Fig. 4 is the front view of the calf plate of the leg mechanism of the mobile robot of the present invention. the

Fig. 5 is a top view of the calf board in Fig. 4 of the leg mechanism of the mobile robot of the present invention. the

Fig. 6 is a front view of the thigh plate of the leg mechanism of the mobile robot of the present invention. the

Fig. 7 is a left view of the thigh plate in Fig. 6 of the leg mechanism of the mobile robot of the present invention. the

Fig. 8 is a front view of the mounting plate of the lifting steering gear of the leg mechanism of the mobile robot of the present invention. the

Fig. 9 is a left view of the lifting steering gear mounting plate in Fig. 8 of the leg mechanism of the mobile robot of the present invention. the

Fig. 10 is a front view of the leg connector of the mobile robot leg mechanism of the present invention. the

Fig. 11 is a right view of the leg connector in Fig. 10 of the leg mechanism of the mobile robot of the present invention. the

Fig. 12 is a top view of the leg connector in Fig. 10 of the leg mechanism of the mobile robot of the present invention. the

Fig. 13 is a front view of the connecting part of the leg mechanism of the mobile robot of the present invention. the

Fig. 14 is a left view of the connecting piece in Fig. 13 of the leg mechanism of the mobile robot of the present invention. the

Fig. 15 is a top view of the connecting piece in Fig. 13 of the leg mechanism of the mobile robot of the present invention. the

Fig. 16 is a front view of a hexapod robot equipped with a leg mechanism of the mobile robot of the present invention. the

Fig. 17 is the left side view of Fig. 16 of the hexapod robot installed with the leg mechanism of the mobile robot of the present invention. the

Fig. 18 is a top view of Fig. 16 of the hexapod robot equipped with the leg mechanism of the mobile robot of the present invention. the

Labels in the attached drawings:

1. Calf plate, 2. Thigh plate, 3. Elevating servo mounting plate, 4. Leg connector, 5. Connecting piece, 6. Body, 7. Translational servo, 8. Elevating servo, 9. Manipulation controller. the

Detailed ways

The specific implementation of the leg mechanism of the mobile robot of the present invention will be further described below in conjunction with the accompanying drawings. the

As shown in Figures 1-15, the leg mechanism of the mobile robot of the present invention is mainly composed of a calf plate 1, a thigh plate 2, an elevator steering gear mounting plate 3, a leg connector 4, a connector 5, a translation steering gear 7, and an elevator steering gear The machine is composed of eight main components, wherein: the lower leg plate 1 is fixedly connected to both sides of the leg connector 4 with screws, and together constitutes a U-shaped structure, which is used as a load-bearing part for carrying the weight and motion of the robot. If in order to increase the strength of the leg components , can add strength reinforcing parts between the other holes of the two calf boards 1, for example, use screws to fix the reinforcement columns, or use screws and nuts to position the calf boards to enhance the structural strength of the calf. The upper end of the calf plate 1 is hinged with the thigh plate 2, the middle part of the calf plate 1 is hinged with the lifting steering gear mounting plate 3, the thigh plate 2 is hinged with the connecting piece 5, and the calf plate 1, the thigh plate 2, the lifting steering gear mounting plate 3 and the connecting piece 5 form four The connecting rod mechanism, the lifting steering gear 8 is axially and horizontally fixed on the lifting steering gear mounting plate 3, and the shaft end of the lifting steering gear 8 is fixedly connected with the connecting piece, when the lifting steering gear 8 receives a signal to rotate, the calf plate 1 can be used to lift the legs and lower leg movements. The translational steering gear 7 is axially and vertically fixed on the connector 5, and the 7 shaft ends of the translational steering gear are fixedly connected with the body 6 of the assembled robot. swing. Calf plate 1, thigh plate 2, lifting servo mounting plate 3, leg connector 4, and connector 5 can be made of lightweight aluminum alloy, which is not only light in weight and easy to carry, but also reduces power consumption, improves agility and accuracy. Calf plate 1, thigh plate 2, lifting servo mounting plate 3, leg connecting piece 4, and connecting piece 5 are only connected by screws. The assembly operation is simple and convenient, and also enables the trainee to understand the mechanical structure more clearly from the outside and action principle process. The leg mechanism of the mobile robot can be prefabricated into an assembly ready to be assembled into robots of different shapes and structures at any time. the

As shown in Figures 16-18, it is an example of a hexapod robot equipped with the leg mechanism of the mobile robot of the present invention. The leg mechanism of the mobile robot is assembled on both sides of the body 6 as an assembly, three on each side, and manipulated and controlled. The device 9 is fixed on the body 6 to control the movement timing and action of each mobile robot leg mechanism. When in use, the timing and motion state of the leg assembly of the robot is controlled by the operation controller 9 according to a pre-programmed program, so that the robot always keeps three legs at intervals standing on the ground, and the three legs form a stable structure on a plane. Standing triangle while the other three legs are in the raised position. Under the control of the manipulation controller 9, the translation steering gear 7 of the three legs on the ground rotates backward to make the robot move forward. Rotate and translate forward, and then the lifting steering gear 8 of the raised three legs rotates to make the legs fall to the ground for support, and the translation steering gear 7 drives the leg assembly to move backward to complete the forward movement of the robot. The lifting steering gear 8 of the leg rotates to lift the leg and completes the forward leg action by the translation steering gear 7, so that the legs that are divided into two groups repeat the above-mentioned actions repeatedly and alternately, so that the robot can crawl forward in imitation of insect actions. the

The leg mechanism of the mobile robot of the utility model can be used as an assembly on a quadruped, hexapod or multi-leg robot. the

Claims (2)

1. mobile robot's shank mechanism comprises calf plate, thigh plate, lifting steering wheel adapter plate, shank attaching parts, attaching parts, translation steering wheel, lifting steering wheel, it is characterized in that:

Calf plate is fixedly connected on shank attaching parts both sides, the calf plate upper end is hinged with the thigh plate, calf plate stage casing and lifting steering wheel adapter plate are hinged, thigh plate and attaching parts are hinged, the elevating rudder arbor is to being horizontally fixed on the lifting steering wheel adapter plate, and elevating rudder arbor end is captiveed joint with attaching parts, and the translation steering wheel axially is vertically fixed on the attaching parts, and calf plate, thigh plate, lifting steering wheel adapter plate and attaching parts constitute four-bar linkage.

2. mobile robot's shank according to claim 1 mechanism, it is characterized in that: calf plate, thigh plate, lifting steering wheel adapter plate, shank attaching parts, attaching parts are the light aluminum alloy material.

Images