CN203780646U - Mechanical joint and leg structure of bionic mechanical dinosaur - Google Patents
Mechanical joint and leg structure of bionic mechanical dinosaur Download PDFInfo
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- CN203780646U CN203780646U CN201420208126.3U CN201420208126U CN203780646U CN 203780646 U CN203780646 U CN 203780646U CN 201420208126 U CN201420208126 U CN 201420208126U CN 203780646 U CN203780646 U CN 203780646U
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Abstract
The utility model discloses a mechanical joint and a leg structure of a bionic mechanical dinosaur. The mechanical joint comprises a first bracket, a second bracket and a first hydraulic cylinder, wherein the first bracket is a broken line-shaped rod piece comprising a straight bar part and a bending part; a first rotating shaft is arranged at the joint of the straight bar part and the bending part; a fist pin shaft is arranged at one free end of the bending part; the second bracket takes the shape of a straight bar; the lower end of the second bracket is hinged to the first bracket through the rotating shaft; a second pin shaft is arranged at the upper part of the second bracket; a piston rod end of the first hydraulic cylinder is hinged to the free end of the bending part through the first pin shaft; the tail part of the cylinder body of the first hydraulic cylinder is hinged to the second bracket through the second pin shaft. According to the utility model, the front-back and up-down stable movement of a robot body is realized through mutual cooperation of a foot damping device, a shank joint and a thigh joint; the left-right stable movement of the robot body is realized through mutual actions of the foot damping device and a hip joint.
Description
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 the new and high technology developing rapidly in recent decades, it combines the multi-disciplinary newest research results such as machinery, microelectronics and computing machine, control automatically, sensor and 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 field such as amusement, video display.
As everyone knows, the exercises of bionic mechanical dinosaur are all to realize by the motion in each joint.Wherein, the most basic action of bionic mechanical dinosaur is walking action, and the realization of walking action mainly realizes by shank articulation structure.
But there are following defects in the mechanical joint in the leg structure of existing machinery dinosaur:
(1) structure heaviness.Existing mechanical joint generally adopts case structure, and weight is larger, therefore needs to select 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 leg structure adopts gear transmission to improve propulsive effort more.But gear transmission does not have self-locking performance, in motion process, easily there is the labile factors such as reversing.
(3) adopt the mechanical dinosaur less stable of existing leg structure.For large-scale four-leg bionic machinery dinosaur, the stability control of walking is very important, and existing control method is to be positioned at foothold institute region by adjusting shank attitude control entirety center of gravity, still, the adjustment difficulty of this mode is larger, less stable.
(4) adopt motor drive mode.The general joint of large-scale four-leg bionic machinery dinosaur of our research is now rotated slower, only has 10r/min left and right, and requires in the process of walking joint to keep certain speed, and can carry out position, speed control.But this type of drive rotating speed is higher, the difficulty of slowing down; And torque is less, the corresponding cost spending of time marquis of the large torque of needs also will be very high.
In view of this, need to be optimized design to the leg structure of large-scale four-leg bionic machinery dinosaur, make it have simple in structure, lightweight, and there is 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.
Utility model content
Technical problem to be solved in the utility model is rotating speed control underaction while solving large-scale four-leg bionic machinery dinosaur walking, and the problem of poor stability.
In order to solve the problems of the technologies described above, the technical scheme that the utility model adopts is to provide a kind of mechanical joint, comprising:
The first support, is the fold-line-shaped rod member being made up of straight-bar portion and kink, and the intersection of described straight-bar portion and described kink is provided with the first rotating shaft, and the free end of described kink is provided with the first bearing pin;
The second support, is direct rod shape, and lower end is articulated and connected by described the first rotating shaft and described the first support, and top is provided with the second bearing pin;
The first hydraulic actuating cylinder, piston end is articulated and connected by the free end of described the first bearing pin and described kink, and cylinder body afterbody is articulated and connected by described the second bearing pin and described the second support.
The utility model also provides the leg structure of a kind of bionic mechanical dinosaur, comprise the hip joint connecting successively, large leg joint, calf joint and foot shock absorption device, described calf joint adopts as above-mentioned mechanical joint, calf joint shaft axis is parallel with large leg joint shaft axis, large leg joint shaft axis is vertical with hip joint shaft axis, and described the first rotating shaft is as described calf joint rotating shaft.
In such scheme, described foot shock absorption device is arranged on the lower end of described calf joint by shank attaching parts, described foot shock absorption device comprises the spring support being arranged on described shank attaching parts, be inserted into the free end of described spring support with the integral type sole of pipe link, and fix by stop nut; One spring housing is contained on the pipe link of described integral type sole, its one end is supported to semisphere sole position, the other end is sleeved on described spring support, and the outside face of described spring support is provided with the predetermincd tension setting nut for regulating described spring degree.
In such scheme, described spring support is arranged on described shank attaching parts by the mode clamping or be threaded.
In such scheme, described large leg joint comprises:
The second rotating shaft, the two ends of described the second support are respectively equipped with first, second Connection Block, the sidewall of described first, second Connection Block is provided with first, second and runs through through hole, the described axis that first, second runs through through hole is parallel to each other, described the first rotating shaft is installed on described first and runs through in through hole and be articulated and connected with described the first support, described the second rotating shaft, as described large leg joint rotating shaft, is installed on described second and runs through in through hole;
The second hydraulic actuating cylinder, the trunk of cylinder body afterbody and bionic mechanical dinosaur is hinged, and piston end is hinged by the 3rd bearing pin and described the second support.
In such scheme, described hip joint comprises:
The 3rd support, there is the first rack body of a quadrangular shape, the two ends of described the first rack body are respectively equipped with the 3rd, the 4th Connection Block, on described the 3rd Connection Block and described the 4th Connection Block, be respectively equipped with and run through the 3rd, the 4th of its sidewall and run through through hole, the described the 3rd, the 4th to run through the axis of through hole mutually vertical; Described the second rotating shaft is installed on the described the 3rd and runs through in through hole and be articulated and connected with described the second support, and the 3rd rotating shaft is as described hip joint rotating shaft, is installed on the described the 4th and runs through in through hole and be articulated and connected with the trunk of bionic mechanical dinosaur;
The 3rd hydraulic actuating cylinder, the trunk of cylinder body afterbody and bionic mechanical dinosaur is hinged, and piston end rotates the lower end that is arranged on described the 3rd support by the 4th bearing pin.
In such scheme, on the sidewall of described the first rack body, be respectively equipped with the rectangular through-hole of perforation.
In such scheme, in described hip joint rotating shaft, described large leg joint rotating shaft and described calf joint rotating shaft, correspondence is provided with the rotational potentiometer for responding to its corresponding rotating shaft velocity of rotation respectively.
The leg structure (pedipulator of bionic mechanical dinosaur) of the bionic mechanical dinosaur that the utility model provides, adopt fisher's formula mechanism, there is three degree of freedom, joint drive mode is hydraulic-driven, because hydraulic efficiency pressure system can realize infinite speed variation, therefore on hydraulic actuating cylinder, no longer need speed reduction gearing.Hydraulic efficiency pressure system is in the time that driving joint moves, and hydraulic actuating cylinder is equivalent to the musculature on joint of animal, carrys out the rotation of driving joint by hydraulic actuating cylinder draw and shrink (be equivalent to the tensioning of muscle and loosen).Adopt this type of drive, volume is little, lightweight, can also realize stepless time adjustment; Commutate also than being easier to when walking simultaneously.In this device, hydraulic actuating cylinder is connected with the part of two relative motions, make hydraulic actuating cylinder and two movable parties (i.e. the first support and the second support) form a triangle, realize the spindle central relative motion of two relative movement parts around them by elongation and the contraction of hydraulic actuating cylinder.
In the utility model, cooperatively interact and realize front and back and the upper and lower easy motion of robot body by foot shock absorption device, calf joint and large leg joint, interact and realize the left and right easy motion of robot body by foot shock absorption device and hip joint.
Brief description of the drawings
Fig. 1 is the structural representation of mechanical joint in the utility model (being calf joint);
Fig. 2 is the structural representation of the first support of calf joint in the utility model.
Fig. 3 is the leg structure schematic diagram of bionic mechanical dinosaur in the utility model;
Fig. 4 is the structural representation of foot shock absorption device in the utility model;
Fig. 5 is the decomposing schematic representation of Fig. 4 in the utility model;
Fig. 6 is the structural representation of the 3rd support of hip joint in the utility model;
Fig. 7 is the structural representation of the second support of large leg joint in the utility model.
Detailed description of the invention
The advantages such as the mechanical joint that the utility model provides has simple in structure, compact, and volume is little, lightweight, and this mechanical joint has three degree of freedom, is applicable to being very much applied to large-scale four-leg bionic machinery dinosaur.
Below in conjunction with accompanying drawing, the utility model is described in detail.
As shown in Figure 1 to Figure 2, the utility model provides a kind of mechanical joint, comprising: the first support 1, the second support 2 and the first hydraulic actuating cylinder 3, wherein:
The first support 1, is the fold-line-shaped rod member being made up of straight-bar portion 11 and kink 12, and straight-bar portion 11 and the intersection of kink 12 are provided with the first rotating shaft 13, and the free end of kink 12 is provided with the first bearing pin 14;
The second support 2, is direct rod shape, and lower end is articulated and connected by the first rotating shaft 13 and the first support 1, and top is provided with the second bearing pin 21;
The first hydraulic actuating cylinder 3, piston end is articulated and connected by the first bearing pin 14 and the free end of kink 12, and cylinder body afterbody is articulated and connected by the second bearing pin 21 and the second support 2.
Shown in Fig. 3, the utility model also provides the leg structure of a kind of bionic mechanical dinosaur, comprise the hip joint connecting successively, large leg joint, calf joint and foot shock absorption device 4, calf joint adopts above-mentioned mechanical joint, calf joint shaft axis is parallel with large leg joint shaft axis, large leg joint shaft axis is vertical with hip joint shaft axis, and the first rotating shaft 13 is as calf joint rotating shaft.The elongation of the first hydraulic actuating cylinder 3 by calf joint with shrink the upper and lower easy motion in front and back of realizing calf joint.
In the leg structure of bionic mechanical dinosaur, lower leg portion is generally long, so adopt the fold-line-shaped design of calf joint the first support in this device, like this, the first hydraulic cylinder piston end directly can be connected to the end position of the first support near the first rotating shaft, the size that makes calf joint first hydraulic actuating cylinder in active procedure extend, shrink is less, has reduced the cost of hydraulic actuating cylinder, and larger drive torque is provided.
In conjunction with shown in Fig. 4 to Fig. 5, foot shock absorption device 4 is arranged on the lower end of calf joint by shank attaching parts 41, foot shock absorption device 4 comprises the spring support 42 being arranged on shank attaching parts 41, be inserted into the free end of spring support 42 with the integral type sole 43 of pipe link, and fixing by stop nut 44; One spring 45 is sleeved on the pipe link 46 of integral type sole 43, and its one end is supported to semisphere sole position, and the other end is sleeved on spring support 42, and the outside face of spring support 42 is provided with the predetermincd tension setting nut 47 for regulating spring tightness.
Spring support 42 is arranged on shank attaching parts 41 by the mode clamping or be threaded.
Shown in Fig. 7, large leg joint comprises:
The second rotating shaft, the two ends of the second support 2 are respectively equipped with the first Connection Block 22, the second Connection Block 23, the sidewall of first, second Connection Block is provided with first to be run through through hole 24, second and runs through through hole 25, first, second axis that runs through through hole is parallel to each other, the first rotating shaft 13 is installed on first and runs through in through hole 24 and be articulated and connected with the first support 1, the second rotating shaft 26, as large leg joint rotating shaft, is installed on second and runs through in through hole 25;
The second hydraulic actuating cylinder 5, the trunk of cylinder body afterbody and bionic mechanical dinosaur is hinged, and piston end is hinged by the 3rd bearing pin 51 and the second support 2.The elongation of the second hydraulic actuating cylinder 5 by large leg joint with shrink the upper and lower easy motion in front and back of realizing large leg joint.
Shown in Fig. 6, hip joint comprises:
The 3rd support 6, there is the first rack body of a quadrangular shape, the two ends of the first rack body are respectively equipped with the 3rd Connection Block 61, the 4th Connection Block 62, on the 3rd Connection Block 61 and the 4th Connection Block 62, be respectively equipped with and run through the 3rd of its sidewall and run through through hole 63, the 4th and run through through hole 64, the three, the 4th to run through the axis of through hole mutually vertical; The second rotating shaft 26 is installed on the 3rd and runs through in through hole 63 and be articulated and connected with the second support 2, and the 3rd rotating shaft 65 is as hip joint rotating shaft, is installed on the 4th and runs through in through hole 64 and be articulated and connected with the trunk of bionic mechanical dinosaur;
The 3rd hydraulic actuating cylinder 7, the trunk of cylinder body afterbody and bionic mechanical dinosaur is hinged, and piston end rotates the lower end that is arranged on the 3rd support 6 by the 4th bearing pin.The elongation of the 3rd hydraulic actuating cylinder 7 by hip joint with shrink the left and right easy motion of realizing hip joint.
On the sidewall of the first rack body, be respectively equipped with the rectangular through-hole 66 of perforation.Both meet operating needs, can greatly alleviate again the weight of hip joint.
In hip joint rotating shaft, large leg joint rotating shaft and calf joint rotating shaft, correspondence is provided with the rotational potentiometer for responding to its corresponding rotating shaft velocity of rotation respectively.
The leg structure (pedipulator of bionic mechanical dinosaur) of the bionic mechanical dinosaur that the utility model provides, adopt fisher's formula mechanism, there is three degree of freedom, joint drive mode is hydraulic-driven, because hydraulic efficiency pressure system can realize infinite speed variation, therefore on hydraulic actuating cylinder, no longer need speed reduction gearing.Hydraulic efficiency pressure system is in the time that driving joint moves, and hydraulic actuating cylinder is equivalent to the musculature on joint of animal, carrys out the rotation of driving joint by hydraulic actuating cylinder draw and shrink (be equivalent to the tensioning of muscle and loosen).Adopt this type of drive, volume is little, lightweight, can also realize stepless time adjustment; Commutate also than being easier to when walking simultaneously.In this device, hydraulic actuating cylinder is connected with the part of two relative motions, make hydraulic actuating cylinder and two movable parties (i.e. the first support and the second support) form a triangle, realize the spindle central relative motion of two relative movement parts around them by elongation and the contraction of hydraulic actuating cylinder.
Because the motion in joint is the motion of a low-speed big, therefore on lubricated, adopt plain bearing stuffing lubricating method.The large material of structure choice density small intensity of bionic mechanical dinosaur, as aluminum alloy, magnesium aluminum alloy etc.
In the utility model, hydraulic efficiency pressure system is using hydraulic oil as working medium, motor or internal-combustion engine drives Hydraulic Pump add the hydraulic oil of atmospheric pressure state to be pressed into high pressure oil, then high pressure oil promotes hydraulic actuator (hydraulic actuating cylinder) motion, oil pressure reduces, and gets back to fuel tank, and Hydraulic Pump pressurizes hydraulic oil again, so circulation, realizes the continuous working of hydraulic efficiency pressure system.
In the utility model, because its vola can produce and clash into ground, thereby whole physical construction is produced and impacted, for reducing to impact, improve the reliability and stability of motion, realize shock-absorbing function by foot shock absorption device; In this device, the second support lower end of shank attaching parts being inserted to calf joint, is then welded to connect with calf joint.In addition, be that leg length does not change in the time that bionic mechanical dinosaur is static for the designing requirement of foot shock absorption device, in this foot shock absorption device, the main spring wherein that relies on absorbs its impulsive force.
In the utility model, cooperatively interact and realize front and back and the upper and lower easy motion of robot body by foot shock absorption device, calf joint and large leg joint, interact and realize the left and right easy motion of robot body by foot shock absorption device and hip joint.
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, within all falling into protection domain of the present utility model.
Claims (8)
1. mechanical joint, is characterized in that, comprising:
The first support, is the fold-line-shaped rod member being made up of straight-bar portion and kink, and the intersection of described straight-bar portion and described kink is provided with the first rotating shaft, and the free end of described kink is provided with the first bearing pin;
The second support, is direct rod shape, and lower end is articulated and connected by described the first rotating shaft and described the first support, and top is provided with the second bearing pin;
The first hydraulic actuating cylinder, piston end is articulated and connected by the free end of described the first bearing pin and described kink, and cylinder body afterbody is articulated and connected by described the second bearing pin and described the second support.
2. the leg structure of bionic mechanical dinosaur, comprise the hip joint connecting successively, large leg joint, calf joint and foot shock absorption device, it is characterized in that, described calf joint adopts mechanical joint as claimed in claim 1, calf joint shaft axis is parallel with large leg joint shaft axis, large leg joint shaft axis is vertical with hip joint shaft axis, and described the first rotating shaft is as described calf joint rotating shaft.
3. the leg structure of bionic mechanical dinosaur as claimed in claim 2, it is characterized in that, described foot shock absorption device is arranged on the lower end of described calf joint by shank attaching parts, described foot shock absorption device comprises the spring support being arranged on described shank attaching parts, be inserted into the free end of described spring support with the integral type sole of pipe link, and fix by stop nut; One spring housing is contained on the pipe link of described integral type sole, its one end is supported to semisphere sole position, the other end is sleeved on described spring support, and the outside face of described spring support is provided with the predetermincd tension setting nut for regulating described spring degree.
4. the leg structure of bionic mechanical dinosaur as claimed in claim 3, is characterized in that, described spring support is arranged on described shank attaching parts by the mode clamping or be threaded.
5. the leg structure of bionic mechanical dinosaur as claimed in claim 2, is characterized in that, described large leg joint comprises:
The second rotating shaft, the two ends of described the second support are respectively equipped with first, second Connection Block, the sidewall of described first, second Connection Block is provided with first, second and runs through through hole, the described axis that first, second runs through through hole is parallel to each other, described the first rotating shaft is installed on described first and runs through in through hole and be articulated and connected with described the first support, described the second rotating shaft, as described large leg joint rotating shaft, is installed on described second and runs through in through hole;
The second hydraulic actuating cylinder, the trunk of cylinder body afterbody and bionic mechanical dinosaur is hinged, and piston end is hinged by the 3rd bearing pin and described the second support.
6. the leg structure of bionic mechanical dinosaur as claimed in claim 5, is characterized in that, described hip joint comprises:
The 3rd support, there is the first rack body of a quadrangular shape, the two ends of described the first rack body are respectively equipped with the 3rd, the 4th Connection Block, on described the 3rd Connection Block and described the 4th Connection Block, be respectively equipped with and run through the 3rd, the 4th of its sidewall and run through through hole, the described the 3rd, the 4th to run through the axis of through hole mutually vertical; Described the second rotating shaft is installed on the described the 3rd and runs through in through hole and be articulated and connected with described the second support, and the 3rd rotating shaft is as described hip joint rotating shaft, is installed on the described the 4th and runs through in through hole and be articulated and connected with the trunk of bionic mechanical dinosaur;
The 3rd hydraulic actuating cylinder, the trunk of cylinder body afterbody and bionic mechanical dinosaur is hinged, and piston end rotates the lower end that is arranged on described the 3rd support by the 4th bearing pin.
7. the leg structure of bionic mechanical dinosaur as claimed in claim 6, is characterized in that, is respectively equipped with the rectangular through-hole of perforation on the sidewall of described the first rack body.
8. the leg structure of bionic mechanical dinosaur as claimed in claim 2, is characterized in that, in described hip joint rotating shaft, described large leg joint rotating shaft and described calf joint rotating shaft, correspondence is provided with the rotational potentiometer for responding to its corresponding rotating shaft velocity of rotation respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420208126.3U CN203780646U (en) | 2014-04-25 | 2014-04-25 | Mechanical joint and leg structure of bionic mechanical dinosaur |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420208126.3U CN203780646U (en) | 2014-04-25 | 2014-04-25 | Mechanical joint and leg structure of bionic mechanical dinosaur |
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| Publication Number | Publication Date |
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| CN203780646U true CN203780646U (en) | 2014-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420208126.3U Expired - Fee Related CN203780646U (en) | 2014-04-25 | 2014-04-25 | Mechanical joint and leg structure of bionic mechanical dinosaur |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336763A (en) * | 2017-07-10 | 2017-11-10 | 上海理工大学 | A kind of comprehensive multi-joint simulating crawling robot |
| CN107351938A (en) * | 2017-07-10 | 2017-11-17 | 上海理工大学 | A kind of multi-joint climbing robot |
| CN112959357A (en) * | 2021-02-05 | 2021-06-15 | 重庆工程职业技术学院 | Damping mechanism for walking robot |
-
2014
- 2014-04-25 CN CN201420208126.3U patent/CN203780646U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336763A (en) * | 2017-07-10 | 2017-11-10 | 上海理工大学 | A kind of comprehensive multi-joint simulating crawling robot |
| CN107351938A (en) * | 2017-07-10 | 2017-11-17 | 上海理工大学 | A kind of multi-joint climbing robot |
| CN112959357A (en) * | 2021-02-05 | 2021-06-15 | 重庆工程职业技术学院 | Damping mechanism for walking 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: 20160119 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. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140820 Termination date: 20170425 |
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| CF01 | Termination of patent right due to non-payment of annual fee |