CN204236613U - Articulated robot toe structure - Google Patents
Articulated robot toe structure Download PDFInfo
- Publication number
- CN204236613U CN204236613U CN201420757940.0U CN201420757940U CN204236613U CN 204236613 U CN204236613 U CN 204236613U CN 201420757940 U CN201420757940 U CN 201420757940U CN 204236613 U CN204236613 U CN 204236613U
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- toe
- hinged
- articulated robot
- plate
- cylinder
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Abstract
The utility model discloses a kind of articulated robot toe structure, for being connected to sole, it comprises: upper bracket; Multiple toe plate, adjacent toe plate is hinged, and toe plate is wherein slided is fitted with slide block; Inner side movable cylinder, its one end is fixedly connected with upper bracket, the other end and slide block hinged.The utility model improves the landform adaptive capacity of robot, can realize efficient walking under MODEL OVER COMPLEX TOPOGRAPHY.
Description
Technical field
The utility model relates to a kind of articulated robot toe structure, belongs to robotics.
Background technology
At present, Industrial Robot Technology is comparatively ripe, and still there is more difficulty in the walking of field work specialized robot, and the landform adaptive capacity wherein under the environment such as marsh, weak soil is poor, becomes a difficult problem for restriction field work robot research.Traditional wheeled robot is difficult to solve this problem; Although caterpillar type robot significantly can reduce the requirement to landform, also there is very flexible, the shortcomings such as maintenance cost is high.
Summary of the invention
Technical problem to be solved in the utility model is the defect overcoming prior art, provides a kind of articulated robot toe structure, which increases the landform adaptive capacity of robot, can realize efficient walking under MODEL OVER COMPLEX TOPOGRAPHY.
In order to solve the problems of the technologies described above, the technical solution of the utility model is: a kind of articulated robot toe structure, and for being connected to sole, it comprises:
Upper bracket;
Multiple toe plate, adjacent toe plate is hinged, and toe plate is wherein slided is fitted with slide block;
Inner side movable cylinder, its one end is fixedly connected with upper bracket, the other end and slide block hinged.
Further in order to the effect of bumper and absorbing shock can be had by mask over the ground, the downside of each toe plate is also provided with shock-damping structure, this shock-damping structure comprises stay bearing plate and organizes spring more, and one end of spring is connected with corresponding toe plate, and the other end is connected with stay bearing plate.
Further provide buffering and damping effect optimum time the group number of spring, described spring is 2 ~ 3 groups.
Further in order to make it compress ground, avoid toe generation sideslip phenomenon, articulated robot toe structure also comprises compression ground installation, this compression ground installation comprises outside movable cylinder, connecting panel and outer baffle, one end and the outermost toe plate of connecting panel are hinged, and the other end of connecting panel and one end of outer baffle are hinged, and the other end and the outermost stay bearing plate of outer baffle are hinged, one end and the upper bracket of the movable cylinder in described outside are hinged, and the other end and connecting panel are hinged.
Further, the movable cylinder in described outside is for being cylinder or oil cylinder or multi-stage cylinder group or multi-stage oil cylinder group.
Further, described toe plate is 2 ~ 4.
Further, the movable cylinder in described inner side is cylinder or oil cylinder or multi-stage cylinder group or multi-stage oil cylinder group.
After have employed technique scheme, a kind of articulated robot toe is formed by said mechanism, when itself and earth surface, first the movable cylinder in inner side promotes toe plate and stay bearing plate motion, by the toe flexion shape regulating the pressure initiation of the movable cylinder in inner side different, spring plays the effect of bumper and absorbing shock, now the movable cylinder in outside promotes connecting panel, drive the upset of outer baffle wide-angle simultaneously, play and prevent toe from the effect of breakking away occurring, the utility model is by the movable cylinder in inner side, the movable cylinder in outside, toe plate, spring, connecting panel, stay bearing plate is made to do pitching adjustment, improve the landform adaptive capacity of robot foot, make outer baffle rotate simultaneously, prevent robot foot from breakking away.
Accompanying drawing explanation
Fig. 1 is the perspective view of articulated robot toe structure of the present utility model;
Fig. 2 is the assembling schematic diagram of toe plate of the present utility model and slide block;
Fig. 3 is the front view of articulated robot toe structure case of bending of the present utility model;
Fig. 4 is the stereoscopic mechanism schematic diagram of the utility model when being applied in a kind of robot toe 6 toes;
Fig. 5 is the operating diagram of the utility model when being applied in a kind of robot toe 8 toes;
Wherein, 1-upper bracket, movable cylinder inside 2-, movable cylinder outside 3-, 4-toe plate, 5-slide block, 6-spring, 7-stay bearing plate, 8-connecting panel, 9-outer baffle, 10-sole.
Detailed description of the invention
In order to make content of the present utility model more easily be clearly understood, below according to specific embodiment also by reference to the accompanying drawings, the utility model is described in further detail.
As shown in Figures 1 to 3, a kind of articulated robot toe structure, for being connected to sole, it comprises:
Upper bracket 1;
Multiple toe plate 4, adjacent toe plate 4 is hinged, and toe plate 4 is wherein slided is fitted with slide block 5;
Inner side movable cylinder 2, its one end is fixedly connected with upper bracket 1, the other end and slide block 5 hinged.
Downside as schemed each toe plate 4 is also provided with shock-damping structure, and this shock-damping structure comprises stay bearing plate 7 and many group springs 6, and one end of spring 6 is connected with corresponding toe plate 4, and the other end is connected with stay bearing plate 7.
As shown in Figure 1, spring 6 is 2 ~ 3 groups.
Ground is compressed in order to make it, avoid toe generation sideslip phenomenon, as shown in Figure 1, articulated robot toe structure also comprises compression ground installation, this compression ground installation comprises outside movable cylinder 3, connecting panel 8 and outer baffle 9, one end and the outermost toe plate 4 of connecting panel 8 are hinged, the other end of connecting panel 8 and one end of outer baffle 9 are hinged, the other end and the outermost stay bearing plate 7 of outer baffle 9 are hinged, one end and the upper bracket 1 of the movable cylinder 3 in outside are hinged, and the other end and connecting panel 8 are hinged.
The movable cylinder 3 in outside is cylinder or oil cylinder or multi-stage cylinder group or multi-stage oil cylinder group.
Toe plate 4 is 2 ~ 4, but is not limited thereto.
The movable cylinder 2 in inner side is cylinder or oil cylinder or multi-stage cylinder group or multi-stage oil cylinder group.
Pass through said mechanism, form a kind of robot toe, when stay bearing plate 7 and earth surface, by the movable cylinder 2 in inner side, outside movable cylinder 3, upper bracket 1, toe plate 4, spring 6, the shape of Reasonable adjustment toe, to adapt to the ground with different characteristics, outer baffle 9 wide-angle upset simultaneously, can ground be compressed, play and prevent toe from the effect of breakking away occurring, improve the stability of robot foot.
Principle of work of the present utility model is as follows:
As shown in Figure 3, when stay bearing plate 7 and earth surface, the movable cylinder 2 in inner side promotes toe plate 4 and stay bearing plate 7 moves, by the toe flexion shape regulating the pressure initiation of the movable cylinder 2 in inner side different, spring 6 plays the effect of bumper and absorbing shock, now, the movable cylinder 3 in outside promotes connecting panel 8, make outer baffle 9 become inclination from level, make it compress ground, play and prevent toe from the effect of breakking away occurring.
As shown in Figure 4,6 these structures are uniform-distribution with around sole 10; As shown in Figure 5,8 these structures are uniform-distribution with around sole 10.But be not limited thereto, 4 ~ 8 can be chosen as.
Above-described specific embodiment; technical matters, technical scheme and beneficial effect that the utility model solves are further described; be understood that; the foregoing is only specific embodiment of the utility model; be not limited to the utility model; all within spirit of the present utility model and principle, any amendment made, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (7)
1. an articulated robot toe structure, for being connected to sole, it is characterized in that, it comprises:
Upper bracket (1);
Multiple toe plate (4), adjacent toe plate (4) is hinged, and the upper slip of toe plate (4) is wherein fitted with slide block (5);
Inner side movable cylinder (2), its one end is fixedly connected with upper bracket (1), the other end and slide block (5) hinged.
2. articulated robot toe structure according to claim 1, it is characterized in that: the downside of each toe plate (4) is also provided with shock-damping structure, this shock-damping structure comprises stay bearing plate (7) and organizes spring (6) more, one end of spring (6) is connected with corresponding toe plate (4), and the other end is connected with stay bearing plate (7).
3. articulated robot toe structure according to claim 2, is characterized in that: spring (6) described on each shock-damping structure is 2 ~ 3 groups.
4. the articulated robot toe structure according to Claims 2 or 3, it is characterized in that: also comprise compression ground installation, this compression ground installation comprises the movable cylinder in outside (3), connecting panel (8) and outer baffle (9), one end and the outermost toe plate (4) of connecting panel (8) are hinged, the other end of connecting panel (8) and one end of outer baffle (9) are hinged, the other end and the outermost stay bearing plate (7) of outer baffle (9) are hinged, one end and the upper bracket (1) of the movable cylinder (3) in described outside are hinged, the other end and connecting panel (8) are hinged.
5. articulated robot toe structure according to claim 4, is characterized in that: the movable cylinder (3) in described outside is cylinder or oil cylinder or multi-stage cylinder group or multi-stage oil cylinder group.
6. articulated robot toe structure according to claim 1, is characterized in that: described toe plate (4) is 2 ~ 4.
7. articulated robot toe structure according to claim 1, is characterized in that: the movable cylinder (2) in described inner side is cylinder or oil cylinder or multi-stage cylinder group or multi-stage oil cylinder group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420757940.0U CN204236613U (en) | 2014-12-04 | 2014-12-04 | Articulated robot toe structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420757940.0U CN204236613U (en) | 2014-12-04 | 2014-12-04 | Articulated robot toe structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204236613U true CN204236613U (en) | 2015-04-01 |
Family
ID=52766136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420757940.0U Expired - Fee Related CN204236613U (en) | 2014-12-04 | 2014-12-04 | Articulated robot toe structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204236613U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481668A (en) * | 2019-08-30 | 2019-11-22 | 吉林大学 | A kind of adaptive strain posture bionic mechanical foot |
-
2014
- 2014-12-04 CN CN201420757940.0U patent/CN204236613U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481668A (en) * | 2019-08-30 | 2019-11-22 | 吉林大学 | A kind of adaptive strain posture bionic mechanical foot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150401 Termination date: 20171204 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |