CN202057504U - Robot leg experimental apparatus - Google Patents
Robot leg experimental apparatus Download PDFInfo
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- CN202057504U CN202057504U CN2011201465474U CN201120146547U CN202057504U CN 202057504 U CN202057504 U CN 202057504U CN 2011201465474 U CN2011201465474 U CN 2011201465474U CN 201120146547 U CN201120146547 U CN 201120146547U CN 202057504 U CN202057504 U CN 202057504U
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- robot
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- bearing
- robot leg
- long tube
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Abstract
本实用新型公开一种机器人腿部实验装置。它包括连接轴、机器人腿、护栏、底座、万向轮、竖直杆、转动套、上法兰、长管、上轴承、下轴承和下法兰；连接轴一端与机器人腿上部连接，连接轴另一端与嵌入长管一端连接，长管另一端与转动套连接，转动套连接在竖直杆上，竖直杆上端与上轴承内圈固定，上轴承外圈位于上法兰内侧，竖直杆下端与底座连接，底座下表面与下轴承内圈固定，下轴承外圈固定于下法兰内侧，底座上表面安装护栏，底座下表面装有万向轮。本实用新型用于机器人腿部实验，机器人腿在实验过程中不会摔倒，且受到外界干扰较小，机器人腿的运动方式可以是行走或跳跃，本装置尤其适用于液压驱动的机器人。
The utility model discloses a robot leg experiment device. It includes connecting shaft, robot leg, guardrail, base, universal wheel, vertical rod, rotating sleeve, upper flange, long tube, upper bearing, lower bearing and lower flange; one end of the connecting shaft is connected to the upper part of the robot leg, connected The other end of the shaft is connected to one end of the embedded long tube, the other end of the long tube is connected to the rotating sleeve, the rotating sleeve is connected to the vertical rod, the upper end of the vertical rod is fixed to the inner ring of the upper bearing, and the outer ring of the upper bearing is located inside the upper flange. The lower end of the straight rod is connected to the base, the lower surface of the base is fixed to the inner ring of the lower bearing, the outer ring of the lower bearing is fixed to the inner side of the lower flange, a guardrail is installed on the upper surface of the base, and universal wheels are installed on the lower surface of the base. The utility model is used for robot leg experiments. The robot legs will not fall down during the experiment and are less disturbed by the outside world. The movement mode of the robot legs can be walking or jumping. The device is especially suitable for hydraulically driven robots.
Description
Technical field
The utility model relates to a kind of robot shank experimental provision.
Background technology
Single-leg jumping robot can adapt to the needs of different terrain, finishes various tasks for the people effectively.Single-leg jumping robot is a class bio-robot of biological motion modes such as simulation kangaroo, sparrow.Than wheeled, crawler type, creep or walking robot, single-leg jumping robot has stronger obstacle climbing ability and maneuverability and higher sport efficiency and speed.Has important use value such as space probation fields such as exploration, search and rescue and planetary detections.
In nature and human society, there are some mankind place that can't arrive and the special occasions that may jeopardize the human life, as planetary surface, disaster generation mine, take precautions against natural calamities rescue and struggle against terror etc., these hazardous environments are constantly explored and studied, seek the needs that a feasible way of dealing with problems becomes scientific technological advance and progress of human society.Topographic irregularity and rugged and rough be the common feature of these environment, thereby the application of wheeled robot and caterpillar type robot is restricted.In the past studies show that when wheeled move mode travels to have suitable advantage on the landform of relatively flat: movement velocity rapidly, steadily, structure and control are also simpler; But when travelling on uneven ground, energy consumption will increase greatly; And on soft terrain or serious rugged landform, the effect of wheel also will seriously be lost, and mobile efficient reduces greatly.In order to improve the adaptive faculty of wheel to soft terrain and uneven ground, the crawler type move mode arises at the historic moment, but the maneuverability of caterpillar type robot on uneven ground is still very poor, and when travelling, fuselage rocks seriously.Compare with wheeled, caterpillar mobile robot, on rugged road surface, walking robot has unique superior function, and under this background, the research of polypody walking robot is flourish.And the appearance of bionical walking robot demonstrates the advantage of walking robot more.
Single robot leg is divided into two joint or three joints usually, go up most a joint be fixed on the robot health or and other positions on, next joint contacts with ground.During motion, two adjacent joint legs shrink, and storage of potential energy releases energy then, and spring is advanced.Single robot leg when experiment, often since control algolithm also debugging can not be stable motion, fall down easily, therefore need auxiliary body to keep its stability.
In view of more and more widely to the research of shank robot, still there is not a kind of single leg testing machine on market, to come out at present, this money testing machine can provide the experimental situation of single leg or both legs robot, the walk experiment or the experiment of jumping.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of robot shank experimental provision is provided.
Robot shank experimental provision comprises coupling shaft, robot leg, guardrail, base, universal wheel, vertical bar, turning set, upper flange, long tube, head bearing, lower bearing and lower flange; Coupling shaft one end is connected with robot leg top, the coupling shaft other end is connected with embedding long tube one end, the long tube other end is connected with turning set, and turning set is connected on the vertical bar, and vertically the bar upper end is fixed with the head bearing inner ring, the head bearing outer ring is positioned at the upper flange inboard, vertically the bar lower end is connected with base, and base lower surface and lower bearing inner ring are fixed, and the lower flange inboard is fixed in the lower bearing outer ring, base upper surface is installed guardrail, and base lower surface is equipped with universal wheel.
Described turning set can rotate around the tie point that is positioned on the vertical bar in perpendicular.
The experiment of the utility model applied robot shank goes for single leg or many legs, has guaranteed that robot leg can not fall down in experimentation, and is subjected to extraneous lessly to the influence in path, and the mode of motion of robot leg can be walking, also can be spring.This device is particularly useful for hydraulically powered robot leg, and engine, hydraulic pump can be placed on the base, along with robot leg rotates together, thereby when having avoided motion, the problem that oil pipe can twine.
Description of drawings
Fig. 1 is the synoptic diagram of robot shank experimental provision;
Fig. 2 is the vertical bar of a utility model upper end fixed form cut-open view;
Fig. 3 is the utility model base lower end fixed form cut-open view;
Among the figure, coupling shaft 1, robot leg 2, guardrail 3, base 4, universal wheel 5, vertical bar 6, turning set 7, upper flange 8, long tube 9, head bearing 10, lower bearing 11, lower flange 12.
Embodiment
As shown in Figure 1, 2, 3, robot shank experimental provision comprises coupling shaft 1, robot leg 2, guardrail 3, base 4, universal wheel 5, vertical bar 6, turning set 7, upper flange 8, long tube 9, head bearing 10, lower bearing 11 and lower flange 12; Coupling shaft 1 one ends are connected with robot leg 2 tops, coupling shaft 1 other end is connected with embedding long tube 9 one ends, long tube 9 other ends are connected with turning set 7, and turning set 7 is connected on the vertical bar 6, and vertically bar 6 upper ends and head bearing 10 inner rings are fixed, head bearing 10 outer rings are positioned at upper flange 8 inboards, vertically bar 6 lower ends are connected with base 4, and base 4 lower surfaces and lower bearing 12 inner rings are fixed, and lower flange 12 inboards are fixed in lower bearing 11 outer rings, base 4 upper surfaces are installed guardrail 3, and base lower surface is equipped with universal wheel 5.
Described turning set 7 can rotate around the tie point that is positioned on the vertical bar 6 in perpendicular.
During the mounting robot leg, can be connected adopting bearing between robot leg 2 and the coupling shaft 1, like this, robot leg can obtain the degree of freedom of swing, and dirigibility is more excellent.
Fall for preventing robot leg 2 accidents; increase the security of experiment; the protection experiment equipment; can on robot leg 2, install safety rope additional; safety rope ties up on the robot leg 2 for one section, and one section fixedly on the upper flange 8, safety rope is in relaxed state at ordinary times; in case robot leg 2 is fallen, safety rope is tightened immediately.
The step of the using method of robot shank experimental provision is as follows:
1) earlier robot leg 2 is installed on the coupling shaft 1;
2) people that starts the machine, robot leg 2 moves around vertical bar, and long tube 9 and base 4 are along with robot leg 2 motions be the center rotation with vertical bar 6;
3) closing machine people, robot leg 2 stop motions.
Claims (2)
1. a robot shank experimental provision is characterized in that comprising coupling shaft (1), robot leg (2), guardrail (3), base (4), universal wheel (5), vertical bar (6), turning set (7), upper flange (8), long tube (9), head bearing (10), lower bearing (11) and lower flange (12); Coupling shaft (1) one end is connected with robot leg (2) top, coupling shaft (1) other end is connected with embedding long tube (9) one ends, long tube (9) other end is connected with turning set (7), turning set (7) is connected on the vertical bar (6), vertically bar (6) upper end is fixed with head bearing (10) inner ring, head bearing (10) outer ring is positioned at upper flange (8) inboard, vertically bar (6) lower end is connected with base (4), base (4) lower surface and lower bearing (12) inner ring are fixed, lower flange (12) inboard is fixed in lower bearing (11) outer ring, base (4) upper surface is installed guardrail (3), and base lower surface is equipped with universal wheel (5).
2. a kind of robot as claimed in claim 1 shank experimental provision is characterized in that described turning set (7) can rotate around the tie point that is positioned on the vertical bar (6) in perpendicular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201465474U CN202057504U (en) | 2011-05-10 | 2011-05-10 | Robot leg experimental apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201465474U CN202057504U (en) | 2011-05-10 | 2011-05-10 | Robot leg experimental apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202057504U true CN202057504U (en) | 2011-11-30 |
Family
ID=45017475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201465474U Expired - Lifetime CN202057504U (en) | 2011-05-10 | 2011-05-10 | Robot leg experimental apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202057504U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102288422A (en) * | 2011-05-10 | 2011-12-21 | 浙江大学 | Experimental device for leg part of robot and using method thereof |
-
2011
- 2011-05-10 CN CN2011201465474U patent/CN202057504U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102288422A (en) * | 2011-05-10 | 2011-12-21 | 浙江大学 | Experimental device for leg part of robot and using method thereof |
| CN102288422B (en) * | 2011-05-10 | 2013-09-04 | 浙江大学 | Experimental device for leg part of robot and using method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20111130 Effective date of abandoning: 20130904 |
|
| RGAV | Abandon patent right to avoid regrant |