CN204801921U

CN204801921U - Shank structure of sufficient formula robot

Info

Publication number: CN204801921U
Application number: CN201520498766.7U
Authority: CN
Inventors: 刘翔宇
Original assignee: SHAANXI JIULI ROBOT MANUFACTURING Co Ltd
Current assignee: SHAANXI JIULI ROBOT MANUFACTURING Co Ltd
Priority date: 2015-07-10
Filing date: 2015-07-10
Publication date: 2015-11-25
Anticipated expiration: 2025-07-10

Abstract

The utility model discloses a shank structure of sufficient formula robot, this shank structure of its characterized in that is based on the linkage, including servo motor, chain, input sprocket, U type support frame, arc pole, runner, 1 -3 bearing end plate, special -shaped axis, universal bearing, output pole, output sprocket, 1 -3 bearing and minor axis, output sprocket and servo motor connect, both synchronous revolutions, both synchronous revolutions are connected with the output sprocket to the input sprocket, the output pole is connected with the input sprocket, and pole and the non - fixed connection of U type support frame are exported simultaneously to both synchronous revolutions, but both relative rotations, arc pole and the non - fixed connection of output pole, the arc pole can be for 360 degrees rotations on the output pole, special -shaped axis both ends and the non - fixed connection of U type support frame, but the two relative rotation, the non - fixed connection of minor axis both ends and special -shaped axis, the minor axis can be rotatory for the special -shaped axis, arc pole and minor axis are non - fixed connection, and the arc pole can be around the minor axis at certain angle internal rotation.

Description

A kind of leg structure of legged type robot

Technical field

The utility model relates to legged type robot technology, is specially a kind of leg structure of legged type robot.

Background technology

Legged type robot relies on it to show very strong comformability with the discontinuous contact characteristic on ground in the process of walking, especially on the passage having obstacle or on very inapproachable work-yard, there is more vast potential for future development, be therefore widely used in rescue and relief work, explosive, address exploration of removing mines, amusement and the field such as civilian.The leg (or pedipulator) of robot is the important component part of robot, plays very important effect to legged type robot motion.

Six biped robots of existing report mainly contain: novel six biped robots of one of the people such as Harbin Institute of Technology Zhang He, Zhao Jie design (number of patent application: 201310084564.3) and Southwestern University open the low energy consumption six biped robot (number of patent application: 201410592518.9) of spring design.These robot load-carrying capacitys are poor, and total quality own is large, and drive motor number used is more, complex structure, control also complicated, are unfavorable for practical application; On the other hand, the foot end track of legged type robot is not closed, and easily causes foot end and ground resulting in friction, and even cause foot end stuck time serious, robot cannot normal operation.

Utility model content

For the deficiencies in the prior art, the technical matters that the utility model quasi-solution is determined is, proposes a kind of leg structure of legged type robot.This leg structure is based on linkage, and structure is simple, and lighter weight, can realize required motion cleverly by the structure of the utility model king-rod, and significantly can promote the load-carrying capacity of leg and robot; On the other hand, comparatively large for foot end friction force, easily stuck problem, the utility model also can change the cliding friction on robot foot end and ground into friction of rolling, effectively reduces friction force, prevents the generation of stuck phenomenon.

The technical scheme that the utility model solve the technical problem is, designs a kind of leg structure of legged type robot.It is characterized in that this leg structure is based on linkage, comprise servomotor, chain, input sprocket, U-shaped bracing frame, No. 1 roller bearing end cap, bow, runner, No. 2 roller bearing end caps, driven axle, universal bearing, take-off lever, output chain gear, No. 2 bearings, No. 3 bearings, No. 3 roller bearing end caps, No. 1 bearing and minor axises;

Described output chain gear is connected with servomotor by key, both synchronous rotaries; Described input sprocket is connected with output chain gear by chain, both synchronous rotaries; Described take-off lever is connected with input sprocket by key, both synchronous rotaries, and take-off lever is connected with U-shaped bracing frame on-fixed by bearing, roller bearing end cap simultaneously, and both can rotate relatively; Described bow is connected with take-off lever on-fixed by universal bearing, and due to the characteristic of universal bearing, bow can relative to take-off lever 360 degree rotation; Described driven axle two ends are connected with U-shaped bracing frame on-fixed by bearing, roller bearing end cap, and the two can rotate relatively; Have two circular ports in the middle part of driven axle, described minor axis two ends are connected with driven axle on-fixed by bearing, roller bearing end cap, and minor axis can rotate relative to driven axle; Described minor axis is through an aperture on bow, and bow and minor axis are that on-fixed is connected, and bow can rotate in certain angle around minor axis.

Compared with prior art, the leg structure of novel legged type robot of the present utility model, based on linkage, has the following advantages and beneficial effect:

1, linkage structure simple, design ingenious, the quality of robot leg can be alleviated, reduce energy consumption, simultaneously can increase load-carrying capacity by a relatively large margin;

2, the utility model adopts universal bearing, by the transmission of bar, makes the path of motion of sufficient end become large, thus can realize the various motions of robot leg;

3, the utility model has only used a servomotor, achieves the lightweight of mechanism, low energy consumption;

4, by installing runner at foot end, cliding friction is transferred to friction of rolling, thus effective generation preventing stuck phenomenon, energy consumption is also corresponding to be reduced further.

Accompanying drawing explanation

Fig. 1 is the integral structure schematic diagram of a kind of embodiment of leg structure of the utility model legged type robot;

Fig. 2 is local (dotted portion in Fig. 1) the structure for amplifying schematic diagram of a kind of embodiment of leg structure of the utility model legged type robot;

Fig. 3 is the bow three-dimensional shape structural representation of a kind of embodiment of leg structure of the utility model legged type robot;

Fig. 4 is the take-off lever three-dimensional shape structural representation of a kind of embodiment of leg structure of the utility model legged type robot;

Fig. 5 is the driven axle three-dimensional shape structural representation of a kind of embodiment of leg structure of the utility model legged type robot.

Detailed description of the invention

The utility model is described further below in conjunction with embodiment and accompanying drawing thereof.But the claims of the application is not limited to the description scope of described embodiment.

The leg structure of a kind of legged type robot of the utility model design (is called for short leg structure, see Fig. 1-5), it is characterized in that this leg structure is based on linkage, comprise servomotor 1, chain 2, input sprocket 3, U-shaped bracing frame 4, No. 1 roller bearing end cap 5, bow 6, runner 7, No. 2 roller bearing end caps 8, driven axle 9, universal bearing 10, take-off lever 11, output chain gear 12, No. 2 bearings 13, No. 3 bearings 14, No. 3 roller bearing end caps 15, No. 1 bearing 16 and minor axis 17.

Described output chain gear 12 is connected with servomotor 1 by key, both synchronous rotaries; Described input sprocket 3 is connected with output chain gear 12 by chain 2, both synchronous rotaries; One end of described take-off lever 11 is connected with input sprocket 3 by key, both synchronous rotaries, and the other end of take-off lever 11 is by being connected with the on-fixed of U-shaped bracing frame 4 simultaneously, and both can rotate relatively; Described bow 6 is connected with the on-fixed of take-off lever 11 by universal bearing 10, and due to the characteristic of universal bearing 10, bow 6 can carry out 360 degree of rotations relative to take-off lever 11; Described driven axle 9 two ends are by being connected with U-shaped bracing frame 4 on-fixed, and the two can rotate relatively; The two ends of described minor axis 17 are connected with driven axle 9 on-fixed, and minor axis 17 can rotate relative to driven axle 9; Described bow 6 is with minor axis 17 for on-fixed is connected, and bow 6 can rotate in certain angle around minor axis 17.Described certain angle refers to the angle that the proper motion that can meet leg is corresponding.

Described bow 6 is the soldering group component of a straight-bar and a knee, and can change the angle (see Fig. 3) that bar exports, bow 6 comprises three junctions, is respectively No. 1 point of connection 61, No. 2 point of connection 62 and No. 3 point of connection 63.Described No. 1 point of connection 61 is connected with take-off lever 11 by universal bearing 10; Described No. 2 point of connection 62 are connected with minor axis 17 on-fixed, and both can relatively rotate; Described No. 3 point of connection 63 are connected with runner 7 on-fixed, and both can relatively rotate.

Described take-off lever 11 is a weldment, and similar, in crank structure (see Fig. 4), comprises two junctions, is respectively No. 4 point of connection 1101 and No. 5 point of connection 1102.Described No. 4 point of connection 1101 are connected with bow 6 on-fixed by universal bearing 10; Described No. 5 point of connection 1102 are fixedly connected with (see Fig. 4) with input sprocket 3.

Described driven axle 9 is also a weldment, and middle part has two through holes, the axes normal (see Fig. 5) of two through holes, driven axle 9 comprises four junctions, be respectively No. 6 point of connection 91, No. 7 point of connection 92, No. 8 point of connection 93 and No. 9 point of connection 94.Described No. 6 point of connection 91, No. 7 point of connection 92 are connected with U-shaped bracing frame 4 on-fixed respectively by bearing, and both can relatively rotate; Described No. 8 point of connection 93 are enclosed within the outside of bow 6, and bow 6 can go out rotate at No. 8 point of connection 93; Described No. 9 point of connection 94 are connected with minor axis 17 on-fixed, and both can relatively rotate (see Fig. 5).

Of the present utility modelly be further characterized in that, be provided with runner 7 at foot end, runner 7 can rotate around self center of circle.Described runner 7 is specifically arranged on subaerial one end of bow 6, can sufficient end (one end of bow 6 kiss the earth) and the cliding friction on ground be changed into friction of rolling like this, both effectively can prevent the generation of stuck phenomenon, energy consumption can be made again to reduce further accordingly.

The pedipulator that the utility model leg structure is specially adapted to the legged type robot doing two foots, four-footed, six foots or eight foots uses.During concrete installation, described pedipulator symmetrically should be arranged on the both sides of legged type robot body belly.

The principle of work of the utility model leg structure and process are: when robot leg advances, servomotor 1 rotates, and transmits motion to take-off lever 11 by Chain conveyer, and take-off lever 11 drives bow 6 to rotate, and realize the foot walking of robot.In this process, take-off lever 11 is an eccentric stiffener, and end is connected with bow 6 by universal bearing 10, when take-off lever 11 drives bow 6 to move, larger for ensureing the range of movement of bow 6, driven axle 9 can passive rotation, and such bow 6 can export two rotary freedoms, makes the locomitivity of leg end have large increase.In the middle of leg structure motion process, the end of leg mechanism is by runner 7 and earth surface, bow 6 passes motion to runner 7, runner 7 rotates, thus by pedipulator foot end (before loading runner 7, bow 6 directly contacts with ground) and ground between cliding friction change friction of rolling into, thus effectively prevent the generation of stuck phenomenon, energy consumption also can reduce accordingly further.On the other hand, due to the characteristic of linkage itself: input less moment and can obtain larger output torque.Thus the load-carrying capacity of robot leg structure can be made to increase substantially.

The utility model is not addressed part and is applicable to prior art.

Claims

1. the leg structure of a legged type robot, it is characterized in that this leg structure is based on linkage, comprise servomotor, chain, input sprocket, U-shaped bracing frame, No. 1 roller bearing end cap, bow, runner, No. 2 roller bearing end caps, driven axle, universal bearing, take-off lever, output chain gear, No. 2 bearings, No. 3 bearings, No. 3 roller bearing end caps, No. 1 bearing and minor axises;

2. the leg structure of legged type robot according to claim 1, it is characterized in that being provided with runner at foot end, runner can rotate around self center of circle, changes foot end into friction of rolling with the cliding friction on ground.

3. the leg structure of legged type robot according to claim 1, is characterized in that described leg structure is for doing the pedipulator of the legged type robot of two foots, four-footed, six foots or eight foots.