CN202686560U - Mechanical joint and leg structure of bionic mechanical dinosaur - Google Patents

Mechanical joint and leg structure of bionic mechanical dinosaur Download PDF

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Publication number
CN202686560U
CN202686560U CN 201220419819 CN201220419819U CN202686560U CN 202686560 U CN202686560 U CN 202686560U CN 201220419819 CN201220419819 CN 201220419819 CN 201220419819 U CN201220419819 U CN 201220419819U CN 202686560 U CN202686560 U CN 202686560U
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CN
China
Prior art keywords
joint
leg
plate
mechanical
support
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Expired - Fee Related
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CN 201220419819
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Chinese (zh)
Inventor
韩晓建
朱位
孙宇
齐威
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ZHONGKE YUBO (BEIJING) CULTURE CO., LTD.
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Yu Bo (beijing) Culture Co Ltd
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Priority to CN 201220419819 priority Critical patent/CN202686560U/en
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Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a mechanical joint. The mechanical joint comprises a first support and a second support, wherein the first support comprises a first side plate, a second side plate and a servo motor, the first side plate and the second side plate are installed in parallel, the servo motor is fixed between the first side plate and the second side plate, and the output end of the servo motor is fixedly connected with a worm. A rotating shaft is fixedly installed at one end of the second support, one ends of the first side plate and the second side plate are respectively and rotationally installed at two ends of the rotating shaft, a worm gear is fixedly installed in the middle of the rotating shaft, and the worm gear is meshed with the worm. The mechanical joint utilizes a plate structure to replace a box structure, is compact and simple in structure, and greatly reduces overall weight, and a transmission mechanism utilizing a worm structure has self-locking performance and improves service life of the servo motor. On the basis of the mechanical joint, the utility model further provides a leg structure of a bionic mechanical dinosaur.

Description

The leg structure of mechanical joint and bionic mechanical dinosaur
Technical field
The utility model relates to quadruped robot, is specifically related to the leg structure of mechanical joint and bionic mechanical dinosaur.
Background technology
Robotics is a new and high technology that develops rapidly in recent decades, it combines machinery, microelectronics and computing machine, automatically control, sensor and the multi-disciplinary newest research results such as information processing and artificial intelligence, is the typical carriers of electromechanical integration technology.Large-scale four-leg bionic machinery dinosaur is a kind of important application of four feet walking robot, is widely used in the fields such as amusement, video display.
As everyone knows, the exercises of bionic mechanical dinosaur all are that motion by each joint realizes.Wherein, the most basic action of bionic mechanical dinosaur is the walking action, and the realization of walking action mainly realizes by the shank articulation structure.
The leg structure of existing machinery dinosaur mainly is comprised of large leg joint and two mechanical joints of calf joint, is used for realizing bending and stretching of thigh and shank, finishes and lifts the leg action.But there are following defectives in the mechanical joint in the leg structure of existing machinery dinosaur:
(1) structure is heavy.Therefore existing mechanical joint generally adopts case structure, and weight is larger, need to select the high-power driving motor, conduct oneself with dignity heavier, cost is higher.
(2) poor stability.Because the overall weight of large-scale four-leg bionic machinery dinosaur is larger, therefore, the mechanical joint in the leg structure adopts gear transmission to improve propulsive effort more.But gear transmission does not have self-locking performance, in motion process, the labile factors such as reversing easily occur.
(3) adopt the mechanical dinosaur less stable that has leg structure now.For large-scale four-leg bionic machinery dinosaur, the stability control of walking is very important, and existing control method is to control whole center of gravity by adjustment shank attitude to be positioned at foothold institute region, still, the adjustment difficulty of this mode is larger, less stable.
In view of this, need to be optimized design to the leg structure of large-scale four-leg bionic machinery dinosaur, it is had simple in structure, lightweight, and has three degree of freedom, thereby can make mechanical dinosaur further adjust center of gravity by left and right inclination, improve the stability of large-scale four-leg bionic machinery dinosaur walking.
The utility model content
Technical problem to be solved in the utility model is to solve leg structure how to simplify large-scale four-leg bionic machinery dinosaur, improves the problem of walking stability.
In order to solve the problems of the technologies described above, the technical scheme that the utility model adopts provides a kind of mechanical joint, comprise the first support and the second support, described the first support comprises first, second side plate and servomotor, described first, second side plate be arranged in parallel, described servomotor is fixed between described first, second side plate, worm screw of the mouth captive joint of described servomotor; One end of described the second support is fixed with a rotating shaft, and an end of described first, second side plate rotates respectively the two ends that are arranged on described rotating shaft, and the middle part of described rotating shaft is fixed with worm gear, described worm gear and described worm mesh.
In above-mentioned mechanical joint, described worm gear has a shaft sleeve part and a tooth section, and described tooth section is fan-shaped incomplete worm gear, and is connected with described shaft sleeve part by fan-shaped connecting portion, the thickness of described fan-shaped connecting portion is less than the thickness of tooth section, and the edge circumferentially is laid with a plurality of through holes.
In above-mentioned mechanical joint, the two ends of described rotating shaft are respectively equipped with antifriction-bearing box, the both sides of described antifriction-bearing box are respectively equipped with first and second baffle plate, and an end of described first, second side plate is set on the described antifriction-bearing box and passes through described first, second baffle plate axial limiting.
In above-mentioned mechanical joint, described servomotor is reducing motor.
The utility model also provides the leg structure of a kind of bionic mechanical dinosaur, comprise the hip joint that connects successively, large leg joint and calf joint, described hip joint, large leg joint and calf joint adopt mechanical joint as claimed in claim 1, the shaft axis of described large leg joint and calf joint is parallel, and the shaft axis of described hip joint is vertical with the shaft axis of described large leg joint.
In above-mentioned bionic mechanical dinosaur leg structure, the two ends of the second support on the described hip joint are respectively equipped with first, second breach, be respectively equipped with first, second that run through its breach sidewall on described first, second breach and run through through hole, the described axis that first, second runs through through hole is mutually vertical, and described rotating shaft is installed on described first and runs through in the through hole.
In above-mentioned bionic mechanical dinosaur leg structure, one end of described first, second side plate has an arc salient, the other end have one with the suitable arc-shaped recess section of described arc salient, one side of described arc salient is provided with a rectangle salient, and described servomotor is obliquely installed and is fixed on the described rectangle salient.
In above-mentioned bionic mechanical dinosaur leg structure, have through hole on the described side plate and on the described rectangle salient.
In above-mentioned bionic mechanical dinosaur leg structure, the second support of described hip joint has the rack body of a quadrangular shape, described first, second breach is separately positioned on the two ends of described rack body, is respectively equipped with the rectangular through-hole of perforation on the sidewall of described rack body.
In above-mentioned bionic mechanical dinosaur leg structure, described rotating shaft runs through through hole by key and described first and is connected.
The utility model utilizes plank frame to replace case structure, and compact conformation, simple greatly reduces overall weight, and transmission device adopted worm structure, has self-locking performance, has improved the service life of servomotor.
Description of drawings
The mechanical joint perspective view that Fig. 1 provides for the utility model;
Fig. 2 is mechanical joint inner structure schematic diagram shown in Figure 1;
Fig. 3 is mechanical joint lateral plan shown in Figure 1;
Fig. 4 is the structural representation of the first support in the utility model;
Fig. 5 is the structural representation of the second support in the utility model;
Fig. 6 is the decomposition assembling structure schematic diagram of the second support shown in Figure 5 and rotating shaft, gear;
Fig. 7 is the gear structure schematic diagram in the utility model;
The bionic mechanical dinosaur leg structure structural representation that Fig. 8 provides for the utility model.
The specific embodiment
The advantages such as the mechanical joint that the utility model provides has simple in structure, compact, and volume is little, and is lightweight, and this mechanical joint has three degree of freedom, is fit to very much be applied to large-scale four-leg bionic machinery dinosaur.Below in conjunction with the drawings and specific embodiments the utility model is made detailed explanation.
The mechanical joint perspective view that Fig. 1 provides for the utility model, Fig. 2 is mechanical joint inner structure schematic diagram (removing the first or second side plate) shown in Figure 1, Fig. 3 is mechanical joint lateral plan shown in Figure 1, such as Fig. 1, Fig. 2, shown in Figure 3, mechanical joint comprises the first support 10 and the second support 20.The structure of the first support 10 as shown in Figure 4, comprise first, second side plate 11,12 and servomotor 13, first, second side plate 11,12 be arranged in parallel, servomotor 13 is fixed between first, second side plate 11,12, servomotor 13 is reducing motor, worm screw 14 of its mouth captive joint.The lower end of the second support 20 is fixed with a rotating shaft 21, the upper end of the second support 20 is provided with the mounting hole that is connected with adjacent segment, the two ends of rotating shaft 21 are rotated respectively and are arranged on first, second side plate 11,12, the middle part of rotating shaft 21 is connected and fixed by key and is provided with worm gear 22, worm gear 22 and worm screw 14 engagements.When servomotor 13 rotates, drive worm gears 22 by worm screw 14 and rotate, because worm gear 22 is fixing with the second support 20, therefore, the second support 20 rotates with the rotation of servomotor 13, makes the angle increase between the first support 10 and the second support 20 or reduces.
Referring to Fig. 5, Fig. 6, Fig. 5 is the structural representation of the second support in the utility model again, and Fig. 6 is the decomposition texture schematic diagram of the second support shown in Figure 5.The lower end of the second support 20 is provided with the first breach 27, and worm gear 22 is positioned at the first breach 27 and is connected by key with rotating shaft 21, simultaneously, key also with rotating shaft 21 be connected support 20 and connect.The two ends of rotating shaft 21 are respectively equipped with antifriction-bearing box 23 after stretching out the second support 20, the both sides of antifriction-bearing box 23 are respectively equipped with first, two baffle plates 24,25, the first baffle plate 24 is disc-shaped, second baffle 25 has a disc-shaped baffle body 251, and the center of baffle body 251 is provided with an axle sleeve 252, first, two baffle plates 24,25 are separately positioned on the both sides of a sidewall of the first breach 27, first, the second side plate 11,12 upper end is set on the antifriction-bearing box 23, and the axle sleeve on the second baffle 25 252 is sleeved on the outer ring of antifriction-bearing box 23 simultaneously, cover plate 26 is arranged on the outside of second baffle 25, first, second baffle 24,25 and cover plate 26 all be fixed on the sidewall of the first breach 27, the first baffle plate 24 carries out axial limiting by the shaft shoulder in the rotating shaft 21, first, second baffle 24,25 are used for preventing first, the second side plate 11,12 moving axially along rotating shaft 21, the key that cover plate 26 is used in the shutoff rotating shaft 21, prevent that key from skidding off, the inner ring of antifriction-bearing box 23 is then spacing by the trip ring in the rotating shaft 21.The structure of second baffle 25 can make the thickness of first, second side plate less than the thickness of antifriction-bearing box, has alleviated the weight of first, second side plate.
In order to alleviate mechanical joint weight, the utility model is optimized design to the structure of worm gear 21, and as shown in Figure 7, worm gear 21 has a shaft sleeve part 211 and a tooth section 212, and shaft sleeve part 211 is used for being connected with rotating shaft 21, and tooth section 212 is used for and worm screw 14 engagements.Tooth section 212 is fan-shaped incomplete worm gear, and be connected with shaft sleeve part 211 by fan-shaped connecting portion 213, the thickness of fan-shaped connecting portion 213 is less than the thickness of tooth section 212, and along circumferentially being laid with a plurality of through holes 214, the tooth section 212 that forms by fan-shaped incomplete worm gear and through hole 214 is set, both satisfy operating needs, can greatly alleviate again the weight of worm gear 21.
First, second side plate 11,12 structures are identical, below the first side plate 12 describe for example.Such as Fig. 1, shown in Figure 4, one end of the second side plate 12 has an arc salient 121, the other end have one with the suitable arc-shaped recess section 122 of arc salient 121, one side of arc salient 122 is provided with a rectangular portion that is obliquely installed 123, and servomotor 13 is obliquely installed and is fixed on the rectangular portion 123.Have through hole 124 on the second side plate 12 and the rectangular portion 123, thereby further alleviated the weight of the second side plate 12.
The utility model also provides the leg structure (pedipulator of bionic mechanical dinosaur) of a kind of bionic mechanical dinosaur, adopted fisher's formula mechanism, has three degree of freedom, the joint drive mode is servomotor, gearing speed-reducer has adopted worm type of reduction gearing, need bionical dinosaur to reduce the size of shank external packing diameter under the fundamental principle of outline packing as far as possible.As shown in Figure 8, leg structure comprises the hip joint 100 that connects successively, large leg joint 200 and calf joint 300, and calf joint 300 and lower end are fixed with yielding rubber cushion block 400.
Hip joint, large leg joint and calf joint all adopt the mechanical joint of said structure, wherein the shaft axis of large leg joint and calf joint is parallel to each other, the first support in the large leg joint is fixed with the second support in the calf joint, and the axis direction of the servomotor in large leg joint and the calf joint is along leg link direction (first, second side plate vertically) setting; The shaft axis of hip joint is mutually vertical with the shaft axis of large leg joint, and the first support in the hip joint is fixed with the second support in the large leg joint, and the axis of the servomotor in the hip joint is inner towards body.Like this, can change the angle on left and right direction between large leg joint and calf joint and the hip joint by hip joint, the left and right side of the realizing mechanical dinosaur work that fascinates can change angle between the two by large leg joint and calf joint, realizes lifting leg, the leg that falls action.
Referring to Fig. 8, the servomotor in large leg joint and the calf joint all is arranged in the gear below of corresponding joint again, like this, so that leg structure is compacter.In addition, in above-mentioned leg structure, the lower end of the second support in the large leg joint respectively with calf joint in first, second side plate upper end of the first support inboard fixing, like this, the arc salient of first, second side plate upper end of the first support is corresponding in the arc-shaped recess section of first, second side plate lower end in the large leg joint and the calf joint, can avoid producing in rotation process interference.And the second support of hip joint is longer, top is used for captiveing joint with the trunk of mechanical dinosaur, as shown in Figure 6, the second support of hip joint has the rack body 110 of a quadrangular shape, first, the second breach 27,28 are separately positioned on the two ends of rack body 110, first, the second breach 27, be respectively equipped with on 28 and run through first of its sidewall, second runs through through hole 111,112, first, second runs through through hole 111,112 axis is mutually vertical, rotating shaft 21 is installed on first and runs through in the through hole 111, and by the bond structure captive joint, be respectively equipped with the rectangular through-hole 113 of perforation on the sidewall of rack body 110, be used for alleviating the weight of rack body 110, and first, the second breach 27,28 end is circular arc, can avoid producing in the rotation process and interfere.
In sum, the leg structure of the bionic mechanical dinosaur that provides of the utility model has advantages of following outstanding:
(1) increases hip joint, thereby mechanical dinosaur can left and rightly be rolled, made things convenient for the adjusting of walking stability.
(2) simple in structure, compact.Utilize plank frame to replace case structure, greatly reduce overall weight.
(3) transmission device has adopted worm structure, has self-locking performance, and therefore, under the state of mechanical dinosaur stop motion, original state can be continued to keep in each joint, keeps stability; And servomotor does not stress, and has improved the service life of servomotor.
The utility model is not limited to above-mentioned preferred forms, and anyone should learn the structural change of making under enlightenment of the present utility model, every with the utlity model has identical or close technical scheme, all fall within the protection domain of the present utility model.

Claims (10)

1. mechanical joint is characterized in that, comprising:
The first support, described the first support comprises first, second side plate and servomotor, and described first, second side plate be arranged in parallel, and described servomotor is fixed between described first, second side plate, worm screw of the mouth captive joint of described servomotor;
The second support, the one end is fixed with a rotating shaft, and an end of described first, second side plate rotates respectively the two ends that are arranged on described rotating shaft, and the middle part of described rotating shaft is fixed with worm gear, described worm gear and described worm mesh.
2. mechanical joint as claimed in claim 1 is characterized in that,
Described worm gear has a shaft sleeve part and a tooth section, and described tooth section is fan-shaped partial gear, and is connected with described shaft sleeve part by fan-shaped connecting portion, and the thickness of described fan-shaped connecting portion is less than the thickness of tooth section, and along circumferentially being laid with a plurality of through holes.
3. mechanical joint as claimed in claim 1 is characterized in that:
The two ends of described rotating shaft are respectively equipped with antifriction-bearing box, and the both sides of described antifriction-bearing box are respectively equipped with first and second baffle plate, and an end of described first, second side plate is set on the described antifriction-bearing box and passes through described first, second baffle plate axial limiting.
4. mechanical joint as claimed in claim 1 is characterized in that:
Described servomotor is reducing motor.
5. the leg structure of bionic mechanical dinosaur, it is characterized in that comprising the hip joint that connects successively, large leg joint and calf joint, described hip joint, large leg joint and calf joint adopt mechanical joint as claimed in claim 1, the shaft axis of described large leg joint and calf joint is parallel, and the shaft axis of described hip joint is vertical with the shaft axis of described large leg joint.
6. the leg structure of bionic mechanical dinosaur as claimed in claim 5 is characterized in that,
The two ends of the second support of described hip joint are respectively equipped with first, second breach, be respectively equipped with first, second that run through its breach sidewall on described first, second breach and run through through hole, the described axis that first, second runs through through hole is mutually vertical, and described rotating shaft is installed on described first and runs through in the through hole.
7. the leg structure of bionic mechanical dinosaur as claimed in claim 6 is characterized in that:
One end of described first, second side plate has an arc salient, the other end have one with the suitable arc-shaped recess section of described arc salient, one side of described arc salient is provided with a rectangle salient, and described servomotor is obliquely installed and is fixed on the described rectangle salient.
8. the leg structure of bionic mechanical dinosaur as claimed in claim 7 is characterized in that:
Have through hole on the described side plate and on the described rectangle salient.
9. the leg structure of bionic mechanical dinosaur as claimed in claim 6 is characterized in that:
The second support of described hip joint has the rack body of a quadrangular shape, and described first, second breach is separately positioned on the two ends of described rack body, is respectively equipped with the rectangular through-hole of perforation on the sidewall of described rack body.
10. the leg structure of bionic mechanical dinosaur as claimed in claim 9, it is characterized in that: described rotating shaft runs through through hole by key and described first and is connected.
CN 201220419819 2012-08-22 2012-08-22 Mechanical joint and leg structure of bionic mechanical dinosaur Expired - Fee Related CN202686560U (en)

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CN 201220419819 CN202686560U (en) 2012-08-22 2012-08-22 Mechanical joint and leg structure of bionic mechanical dinosaur

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102795274A (en) * 2012-08-22 2012-11-28 中科宇博(北京)文化有限公司 Mechanical joint and leg structure of bionic mechanical dinosaur
CN103171643A (en) * 2013-02-27 2013-06-26 浙江大学 Robot elastic joint
CN103241302A (en) * 2013-05-29 2013-08-14 哈尔滨工业大学 Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form
CN104309716A (en) * 2014-09-30 2015-01-28 山东大学 Bionic quadruped robot
CN105667629A (en) * 2016-02-19 2016-06-15 常州大学 Humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot
CN105905189A (en) * 2016-06-25 2016-08-31 李玉婷 Six-legged robot

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102795274A (en) * 2012-08-22 2012-11-28 中科宇博(北京)文化有限公司 Mechanical joint and leg structure of bionic mechanical dinosaur
CN103171643A (en) * 2013-02-27 2013-06-26 浙江大学 Robot elastic joint
CN103171643B (en) * 2013-02-27 2015-06-17 浙江大学 Robot elastic joint
CN103241302A (en) * 2013-05-29 2013-08-14 哈尔滨工业大学 Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form
CN103241302B (en) * 2013-05-29 2015-06-17 哈尔滨工业大学 Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form
CN104309716A (en) * 2014-09-30 2015-01-28 山东大学 Bionic quadruped robot
CN104309716B (en) * 2014-09-30 2016-09-07 山东大学 Bionical quadruped robot
CN105667629A (en) * 2016-02-19 2016-06-15 常州大学 Humanoid robot four-degrees-of-freedom series-parallel-connection low-frequency mechanical foot
CN105667629B (en) * 2016-02-19 2018-01-02 常州大学 Anthropomorphic robot four-freedom hybrid Low-Frequency Mechanical foot
CN105905189A (en) * 2016-06-25 2016-08-31 李玉婷 Six-legged robot

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C14 Grant of patent or utility model
GR01 Patent grant
C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20160125

Address after: 116000 Dalian City, Liaoning province high tech Industrial Park, high street, No. 3, room five, room 505

Patentee after: ZHONGKE YUBO (BEIJING) CULTURE CO., LTD.

Address before: 100190, No. 1, first floor, building 327, Zhongguancun, Beijing, Haidian District

Patentee before: Yu Bo (Beijing) culture Co., Ltd.

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130123

Termination date: 20180822