CN202669948U - Leg structure of anthropomorphic robot - Google Patents
Leg structure of anthropomorphic robot Download PDFInfo
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- CN202669948U CN202669948U CN 201220307489 CN201220307489U CN202669948U CN 202669948 U CN202669948 U CN 202669948U CN 201220307489 CN201220307489 CN 201220307489 CN 201220307489 U CN201220307489 U CN 201220307489U CN 202669948 U CN202669948 U CN 202669948U
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Abstract
The utility model belongs to the field of robots, and particularly relates to a leg structure of an anthropomorphic robot. The leg structure comprises a thigh part, a knee joint, a lower leg part, an ankle joint and a foot part. The thigh part comprises a first steering engine, a second steering engine, a first connecting support, a second connecting support, a third connecting support and a fourth connecting support; the knee joint comprises a third steering engine and a fifth connecting support; the ankle joint comprises a fourth steering engine, a fifth steering engine, a seventh connecting support and an eighth connecting support; the lower leg part comprises a sixth connecting support; and the foot part comprises a ninth connecting support and a foot support. Compared with the traditional leg mechanism of the anthropomorphic robot, the leg structure provided by the utility model is smaller in size and low in cost, and the connection parts of joints do not interfere each other, so that the problems of robot tilting motion, single action and the like caused by joint interference are effectively avoided, and the degree of freedom and the walking stability of the robot are improved.
Description
Technical field
The utility model belongs to the robot field, specifically, relates to a kind of anthropomorphic robot's leg mechanism.
Background technology
Along with the continuous progress of science and technology, people are more and more denseer to the interest of high-tech product, especially to the robot field, and this and human lives, the closely bound up field of work.Various robots have been applied in people's the productive life, this wherein anthropomorphic robot's current situation particularly allow the people pay close attention to.The anthropomorphic robot in simulation people's exercises, cooperate with the people, the aspect such as communication all highlights huge advantage.Impact at home and abroad power anthropomorphic robot higher and advanced technology has the robot of the ASIMO of Japanese honda company, " converging virgin " robot of the QRIO robot of Sony corporation of Japan and Beijing Institute of Technology, but in these designs the degree of freedom of robot generally not high enough, action is comparatively single, respectively close internode connects mutually and interfere, and has affected greatly the overall performance of robot.
The utility model content
For solving the problems of the technologies described above, the utility model proposes that a kind of degree of freedom is high, the anthropomorphic robot's of action multi-pose, good stability leg mechanism.
The technical solution of the utility model is: anthropomorphic robot's leg mechanism, it comprises huckle, knee joint, calf, ankle-joint and foot.Described huckle comprises the first steering wheel, the second steering wheel, the first connection bracket, the second connection bracket, the 3rd connection bracket and the 4th connection bracket, described the first steering wheel is positioned at the top of lower limb section, the second connection bracket is fixed in the side of the first steering wheel, the first connection bracket is positioned at the top of the first steering wheel, one end and the second connection bracket are hinged, and the other end is connected on the steering wheel of the first steering wheel; The 4th connection bracket is positioned at the below of the first steering wheel, and the bearing hinge connection of an end and the first steering wheel, the other end are connected on the steering wheel of the first steering wheel; The second steering wheel is positioned at the rear of the first steering wheel, and both connect by the 3rd connection bracket; Described knee joint comprises the 3rd steering wheel and the 5th connection bracket, and the 3rd steering wheel is fixedly connected on the bottom of the 4th connection bracket by the 5th connection bracket; Described ankle-joint comprises the 4th steering wheel, the 5th steering wheel, the 7th connection bracket and the 8th connection bracket, and the 7th connection bracket is fixed in a side of the 5th steering wheel, and the 4th steering wheel is positioned at the rear of the 5th steering wheel, and both connect by the 8th connection bracket; Described calf comprises the 6th connection bracket, and the 6th connection bracket one end is connected with the 3rd steering wheel, and the other end is connected on the 5th steering wheel; Described foot comprises the 9th connection bracket and foot stand, captives joint with foot stand in the 9th connection bracket bottom, and its top one end is articulated in the 7th connection bracket, and the other end is connected on the steering wheel of the 4th steering wheel.
The beneficial effects of the utility model are: compare with traditional anthropomorphic robot's leg mechanism, the utility model small volume, with low cost, each junction, joint mutually noninterfere, actv. has prevented that the robot that causes because the joint is interfered from toppling over, move the problem such as single, has improved the degree of freedom of robot and the stability of walking.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of ankle-joint in the utility model.
Wherein, m1, the first steering wheel, m2, the second steering wheel, m3, the 3rd steering wheel, m4, the 4th steering wheel, m5, the 5th steering wheel; 1, the first connection bracket, the 2, second connection bracket, the 3, the 3rd connection bracket, the 4, the 4th connection bracket, the 5, the 5th connection bracket, the 6, the 6th connection bracket, the 7, the 7th connection bracket, the 8, the 8th connection bracket, the 9, the 9th connection bracket, 10, foot stand.
The specific embodiment
Specify the utility model below in conjunction with accompanying drawing.
Referring to Fig. 1 and Fig. 2, the utility model comprises huckle, knee joint, calf, ankle-joint and foot.Described huckle comprises the first steering wheel m1, the second steering wheel m2, the first connection bracket 1, the second connection bracket 2, the 3rd connection bracket 3 and the 4th connection bracket 4, described the first steering wheel m1 is positioned at the top of lower limb section, the second connection bracket 2 is fixed in the side of the first steering wheel m1, the first connection bracket 1 is positioned at the top of the first steering wheel m1, one end and the second connection bracket 2 are hinged, and the other end is connected on the steering wheel of the first steering wheel m1; The 4th connection bracket 4 is positioned at the below of the first steering wheel m1, and the bearing hinge connection of an end and the first steering wheel m1, the other end are connected on the steering wheel of the first steering wheel m1; The second steering wheel m2 is positioned at the rear of the first steering wheel m1, and both connect by the 3rd connection bracket 3; Described knee joint comprises that the 3rd steering wheel m3 and the 5th connection bracket 5, the three steering wheel m3 are fixedly connected on the bottom of the 4th connection bracket 4 by the 5th connection bracket 5; Described ankle-joint comprises the 4th steering wheel m4, the 5th steering wheel m5, the 7th connection bracket 7 and the 8th connection bracket 8, the 7th connection bracket 7 is fixed in the side of the 5th steering wheel m5, the 4th steering wheel m4 is positioned at the rear of the 5th steering wheel m5, and both connect by the 8th connection bracket 8; Described calf comprises that the 6th connection bracket 6, the six connection brackets 6 one ends are connected with the 3rd steering wheel m3, and the other end is connected on the 5th steering wheel m5; Described foot comprises that the 9th connection bracket 9 and foot stand 10, the nine connection brackets 9 bottoms captive joint with foot stand 10, and its top one end is articulated in the 7th connection bracket 7, and the other end is connected on the steering wheel of the 4th steering wheel m4.
Finish squatting motion as example take anthropomorphic robot's leg mechanism:
Control system is sent control command, the first steering wheel m1, the 3rd steering wheel m3 and the 5th steering wheel m5 be reception control signal simultaneously, the first steering wheel m1 clockwise rotates corresponding angle by steering wheel and drives the 4th connection bracket 4 and rotates forward, the 4th connection bracket 4 links to each other with the 3rd steering wheel m3, the 4th connection bracket 4 drives the proal while of the 3rd steering wheel m3, the 3rd steering wheel m3 reception control signal moves simultaneously, rotate counterclockwise corresponding angle according to control signal, steering wheel on the 3rd steering wheel m3 rotates counterclockwise drive the 6th connection bracket 6 and rotates backward, the 6th connection bracket 6 links to each other with the 5th steering wheel m5 simultaneously, when the 6th connection bracket 6 drives the 5th steering wheel m5 moves backward, the 5th steering wheel m5 reception control signal moves simultaneously, rotate counterclockwise corresponding angle according to control signal, steering wheel on the 5th steering wheel m5 rotates counterclockwise drive the 9th connection bracket 9 and foot stand 10 is moved backward, parallel to the ground all the time when the 9th connection bracket 9 and foot stand 10 are landed, guarantee that the robot Shi Buhui that squats down falls down.In the whole process of squatting down, the first steering wheel m1, the 3rd steering wheel m3 and the 5th steering wheel m5 are under the order of control system, simultaneously action, accurate Calculation through control system is rotated respectively corresponding angle, mutually coordinate, remain the center of gravity of robot leg point-blank, guaranteed the stability in the process of squatting down.
Claims (1)
1. anthropomorphic robot's leg mechanism is characterized in that, comprises huckle, knee joint, calf, ankle-joint and foot; Described huckle comprises the first steering wheel (m1), the second steering wheel (m2), the first connection bracket (1), the second connection bracket (2), the 3rd connection bracket (3) and the 4th connection bracket (4), described the first steering wheel (m1) is positioned at the top of lower limb section, the second connection bracket (2) is fixed in the side of the first steering wheel (m1), the first connection bracket (1) is positioned at the top of the first steering wheel (m1), one end and the second connection bracket (2) are hinged, and the other end is connected on the steering wheel of the first steering wheel (m1); The 4th connection bracket (4) is positioned at the below of the first steering wheel (m1), the bearing hinge connection of an end and the first steering wheel (m1), and the other end is connected on the steering wheel of the first steering wheel (m1); The second steering wheel (m2) is positioned at the rear of the first steering wheel (m1), and both connect by the 3rd connection bracket (3); Described knee joint comprises the 3rd steering wheel (m3) and the 5th connection bracket (5), and the 3rd steering wheel (m3) is fixedly connected on the bottom of the 4th connection bracket (4) by the 5th connection bracket (5); Described ankle-joint comprises the 4th steering wheel (m4), the 5th steering wheel (m5), the 7th connection bracket (7) and the 8th connection bracket (8), the 7th connection bracket (7) is fixed in a side of the 5th steering wheel (m5), the 4th steering wheel (m4) is positioned at the rear of the 5th steering wheel (m5), and both connect by the 8th connection bracket (8); Described calf comprises the 6th connection bracket (6), and the 6th connection bracket (6) one ends are connected with the 3rd steering wheel (m3), and the other end is connected on the 5th steering wheel (m5); Described foot comprises the 9th connection bracket (9) and foot stand (10), captive joint with foot stand (10) in the 9th connection bracket (9) bottom, its top one end is articulated in the 7th connection bracket (7), and the other end is connected on the steering wheel of the 4th steering wheel (m4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220307489 CN202669948U (en) | 2012-06-28 | 2012-06-28 | Leg structure of anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220307489 CN202669948U (en) | 2012-06-28 | 2012-06-28 | Leg structure of anthropomorphic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202669948U true CN202669948U (en) | 2013-01-16 |
Family
ID=47490872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220307489 Expired - Fee Related CN202669948U (en) | 2012-06-28 | 2012-06-28 | Leg structure of anthropomorphic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202669948U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106892015A (en) * | 2015-12-17 | 2017-06-27 | 赵以恒 | A kind of humanoid robot |
| CN106938674A (en) * | 2017-03-15 | 2017-07-11 | 上海未来伙伴机器人有限公司 | Robot leg steering wheel and robot |
| CN111633639A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Three-dimensional omnidirectional control device based on multi-steering-engine connection |
-
2012
- 2012-06-28 CN CN 201220307489 patent/CN202669948U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106892015A (en) * | 2015-12-17 | 2017-06-27 | 赵以恒 | A kind of humanoid robot |
| CN106938674A (en) * | 2017-03-15 | 2017-07-11 | 上海未来伙伴机器人有限公司 | Robot leg steering wheel and robot |
| CN111633639A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Three-dimensional omnidirectional control device based on multi-steering-engine connection |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130116 Termination date: 20130628 |