CN204821785U - Shank structure of sufficient formula robot - Google Patents
Shank structure of sufficient formula robot Download PDFInfo
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- CN204821785U CN204821785U CN201520498605.8U CN201520498605U CN204821785U CN 204821785 U CN204821785 U CN 204821785U CN 201520498605 U CN201520498605 U CN 201520498605U CN 204821785 U CN204821785 U CN 204821785U
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Abstract
The utility model discloses a shank structure of sufficient formula robot, this shank structure of its characterized in that includes frame, driving system and actuating system, the frame mainly includes forebay board and afer bay board, forebay board and afer bay board are through axle, screw fixed connection, driving system mainly includes servo motor, input shaft, crank, flange axle, upper left joint, left hypozygal, upper right joint and right hypozygal, the actuating system mainly includes input rod, descends input rod, goes up the tripod, plays tripod, outer joint pole and in -connection pole, the actuating system can be divided into actuating system and lower actuating system, it includes input rod, goes up tripod, outer joint pole and in -connection pole to go up the actuating system, the actuating system includes input rod, lower tripod, outer joint pole and in -connection pole down.
Description
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.But the every bar leg of current legged type robot has 3 initiatively degree of freedom, every bar leg needs 3 driving links, so both improves the cost of manufacture of robot, turn increases the overall weight of robot, the load-carrying capacity of robot is caused to decline, the deficiencies such as the slack-off and very flexible of kinematic velocity.
Robot leg is the important component part of robot, plays very important effect to legged type robot motion.Therefore legged type robot will be enable better to work, and the design of leg is particularly important.Legged type robot majority common at present adopts motor (as stepping motor, servomotor etc.) as joint drive source, and structure is simple, but the locomitivity of robot significantly reduces.
201420480836.1) and the staggered form legged type robot (number of patent application: 201410833599.7) of Zhejiang Polytechnical University's leaf filial piety fine jade design existing legged type robot mainly contains the legged type robot model (number of patent application: of the people such as Zhejiang Polytechnical University Wu Hua woods design.By increasing the degree of freedom in leg exercise joint, though can improve the alerting ability of legged type robot, can increase control difficulty like this, load-carrying capacity is poor, and robot total quality increases, complex structure, and stability and alerting ability are deteriorated.
Utility model content
For the deficiencies in the prior art, the technical matters that the utility model quasi-solution is determined is, provides a kind of leg structure of legged type robot.This leg structure adopts linkage, and one group of leg shares a motor, can alleviate the quality of leg, reduce energy consumption, simultaneously can increase load-carrying capacity by a relatively large margin, for solving existing legged type robot high energy consumption and environmental adaptation sex chromosome mosaicism is laid a good foundation, there is good application prospect.
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 comprises frame, power system and drive system; Described frame mainly comprises forebay plate and afer bay plate; Described forebay plate is fixedly connected with by axle, screw with afer bay plate;
Described power system mainly comprises servomotor, input shaft, crank, flanged shaft, joint, upper left, joint, lower-left, upper right joint and joint, bottom right; Described servomotor is fixedly connected with input shaft by coupler, both synchronous axial system; Described input shaft is connected with forebay plate on-fixed by bearing, roller bearing end cap, and both can relatively rotate; Described crank is fixedly connected with input shaft by screw; Described flanged shaft is fixedly connected with crank by screw; Joint, described upper left, joint, lower-left, upper right joint are connected with flanged shaft on-fixed by bearing, roller bearing end cap respectively with joint, bottom right, and all can rotate around flanged shaft; Described auxiliary support bar is connected with flanged shaft, afer bay plate on-fixed respectively by bearing, roller bearing end cap;
Described drive system mainly comprises input lever, lower input lever, upper spider, lower spider, outer tie rod and inside connecting rod; Drive system can be divided into drive system and lower drive system; Upper drive system comprises input lever, upper spider, outer tie rod and inside connecting rod; Described upper input lever one end is connected with upper left arthrodesis by screw, and the other end is connected with upper spider on-fixed by axle, bearing, roller bearing end cap; Described outer tie rod, inside connecting rod are connected with an end points on-fixed of upper spider respectively by axle, bearing, roller bearing end cap; Described upper spider, inside connecting rod are connected with forebay plate, afer bay plate on-fixed by bearing, roller bearing end cap, axle; Lower drive system comprises lower input lever, lower spider, outer tie rod and inside connecting rod; Described lower input lever is connected with lower-left arthrodesis by screw; Described inside connecting rod, lower spider are connected with lower input lever on-fixed by axle, bearing, roller bearing end cap; Another end points of described lower spider is connected with outer tie rod on-fixed by axle, bearing, roller bearing end cap.
Compared with prior art, the leg structure of the utility model legged type robot has the following advantages and beneficial effect:
1. the linkage structure described in is simple, designs ingenious, can alleviate the quality of leg, reduces energy consumption, simultaneously can increase load-carrying capacity by a relatively large margin;
2. the utility model designs two legs and shares a servomotor, and namely by linkage, a servomotor drives the motion of two legs simultaneously, and energy consumption is low, and efficiency is high, is convenient to control;
3. outer leg structure shape is attractive in appearance, and from bionic angle, the profile of design leg is more close to the actual legged type robot requirement used.
Accompanying drawing explanation
Fig. 1 is the bulk shape perspective view of a kind of embodiment of the utility model legged type robot leg structure;
Fig. 2 is the bulk shape perspective view removing forebay plate of a kind of embodiment of the utility model legged type robot leg structure;
Fig. 3 is local (the dotted line frame in Fig. 2) perspective view removing forebay plate of a kind of embodiment of the utility model legged type robot leg structure;
Fig. 4 is each driving joint (joint, upper left, joint, lower-left, upper right joint, joint, the bottom right) perspective view of a kind of embodiment of the utility model legged type robot leg structure;
Fig. 5 is the perspective view of the upper spider of a kind of embodiment of the utility model legged type robot leg structure;
Fig. 6 is the perspective view of the lower spider of a kind of embodiment of the utility model legged type robot leg structure.
Fig. 7 is the flanged shaft perspective view of a kind of embodiment of the utility model legged type robot leg structure.
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 (being called for short leg structure, see Fig. 1-7) of the legged type robot of the utility model design, the structure of left and right leg is identical, and leg symmetry in left and right is installed.Therefore below only introduce left leg structure, be of the present utility modelly characterised in that this leg structure mainly comprises frame, power system and drive system (see Fig. 1,2).Frame mainly comprises forebay plate 1 and afer bay plate 2; Described forebay plate 1 is fixedly connected with by axle, screw with afer bay plate 2.
Described power system mainly comprises servomotor 10, input shaft 9, crank 14, flanged shaft 16, joint, upper left 12, joint, lower-left 13, upper right joint 11 and joint, bottom right 15 (see Fig. 1,3,4).Described servomotor 10 is fixedly connected with input shaft 9 by coupler, both synchronous axial system; Described input shaft 9 is connected with forebay plate 1 on-fixed by bearing, roller bearing end cap, and both can relatively rotate; Described crank 14 is fixedly connected with input shaft 9 by screw; Described flanged shaft 16 is fixedly connected with crank 14 by screw; Joint, described upper left 12, joint, lower-left 13, upper right joint 11, joint, bottom right 15 are connected with flanged shaft 16 on-fixed respectively by bearing, roller bearing end cap, all can rotate around flanged shaft 16; Described auxiliary support bar 17 is connected (see Fig. 1,3) with flanged shaft 16, afer bay plate 2 on-fixed respectively by bearing, roller bearing end cap.
Described drive system mainly comprises input lever 3, lower input lever 8, upper spider 5, lower spider 7, outer tie rod 6 and inside connecting rod 4; Drive system can be divided into drive system and lower drive system.Upper drive system comprises input lever 3, upper spider 5, outer tie rod 6 and inside connecting rod 4 (outer tie rod 6 and the actual parts being upper drive system and lower drive system and sharing of inside connecting rod 4); Described upper input lever one end is connected with upper left arthrodesis by screw, and the other end is connected with upper spider on-fixed by axle, bearing, roller bearing end cap; Described outer tie rod, inside connecting rod are connected with an end points on-fixed of upper spider respectively by axle, bearing, roller bearing end cap; Described upper spider, inside connecting rod are connected with forebay plate, afer bay plate on-fixed by bearing, roller bearing end cap, axle.Lower drive system comprises lower input lever 8, lower spider 7, outer tie rod 6 and inside connecting rod 4.Described lower input lever 8 is fixedly connected with joint, lower-left 13 by screw; Described inside connecting rod 4, lower spider 7 are connected with lower input lever 8 on-fixed by axle, bearing, roller bearing end cap; Another end points of described lower spider 7 is connected with outer tie rod 6 on-fixed by axle, bearing, roller bearing end cap.(see Fig. 1,2).
Upper spider 5 is weldments, and structure as shown in Figure 5, mainly comprises a bar 502, No. two bars 504, No. three bars 506, connecting panel 501, No. two connecting panels 503, No. three connecting panels 505.Three pipe links are fixed together by welding by three contiguous blocks.
Lower spider 7 is weldments, structure as shown in Figure 6, its composition and connection mode and upper spider 5 identical.
Flanged shaft 16 is weldments, and structure as shown in Figure 7, mainly comprises pivot shaft 1602, flange section 1601.Pivot shaft 1602 and flange section 1601 are fixed together by welding manner.
The principle of work of the utility model leg structure and process are: when leg structure works, servomotor 10 rotates, rotated by coupler band driven input shaft 9, input shaft 9 is by Movement transmit crank 14, crank 14 drives flanged shaft 16, and then drives joint, upper left 12, joint, lower-left 13, upper right joint 11, joint, bottom right 15 simultaneously around the output shaft rotation of servomotor 10.Joint, upper left 12 drives upper spider 5 to move, and joint, lower-left 13 drives lower spider 7 to move, and upper spider 5 and lower spider link together by inside connecting rod 4, outer tie rod 6, combined action.In the middle of motion process, the state of kinematic motion of two legs is contrary, and when left leg is supporting leg, right leg strides forward, and when right leg is supporting leg, left leg strides forward, and hockets, thus completes leg walking movement.
The utility model leg structure is applicable to the legged type robot of multiple sufficient number, but is particularly useful for the pedipulator of the legged type robot of eight foots.
The utility model is not addressed part and is applicable to prior art.
Claims (2)
1. a leg structure for legged type robot, is characterized in that this leg structure comprises frame, power system and drive system; Described frame mainly comprises forebay plate and afer bay plate; Described forebay plate is fixedly connected with by axle, screw with afer bay plate;
Described power system mainly comprises servomotor, input shaft, crank, flanged shaft, joint, upper left, joint, lower-left, upper right joint and joint, bottom right; Described servomotor is fixedly connected with input shaft by coupler, both synchronous axial system; Described input shaft is connected with forebay plate on-fixed by bearing, roller bearing end cap, and both can relatively rotate; Described crank is fixedly connected with input shaft by screw; Described flanged shaft is fixedly connected with crank by screw; Joint, described upper left, joint, lower-left, upper right joint are connected with flanged shaft on-fixed by bearing, roller bearing end cap respectively with joint, bottom right, and all can rotate around flanged shaft; Auxiliary support bar is connected with flanged shaft, afer bay plate on-fixed respectively by bearing, roller bearing end cap;
Described drive system mainly comprises input lever, lower input lever, upper spider, lower spider, outer tie rod and inside connecting rod; Drive system can be divided into drive system and lower drive system; Upper drive system comprises input lever, upper spider, outer tie rod and inside connecting rod; Described upper input lever one end is connected with upper left arthrodesis by screw, and the other end is connected with upper spider on-fixed by axle, bearing, roller bearing end cap; Described outer tie rod, inside connecting rod are connected with an end points on-fixed of upper spider respectively by axle, bearing, roller bearing end cap; Described upper spider, inside connecting rod are connected with forebay plate, afer bay plate on-fixed by bearing, roller bearing end cap, axle; Lower drive system comprises lower input lever, lower spider, outer tie rod and inside connecting rod; Described lower input lever is connected with lower-left arthrodesis by screw; Described inside connecting rod, lower spider are connected with lower input lever on-fixed by axle, bearing, roller bearing end cap; Another end points of described lower spider is connected with outer tie rod on-fixed by axle, bearing, roller bearing end cap.
2. 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 eight foots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520498605.8U CN204821785U (en) | 2015-07-10 | 2015-07-10 | Shank structure of sufficient formula robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520498605.8U CN204821785U (en) | 2015-07-10 | 2015-07-10 | Shank structure of sufficient formula robot |
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| CN204821785U true CN204821785U (en) | 2015-12-02 |
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| CN201520498605.8U Active CN204821785U (en) | 2015-07-10 | 2015-07-10 | Shank structure of sufficient formula robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973162A (en) * | 2015-07-10 | 2015-10-14 | 陕西九立机器人制造有限公司 | Leg structure of leg robot |
| CN105905185A (en) * | 2016-06-12 | 2016-08-31 | 江苏工程职业技术学院 | Connecting-rod type robot travelling device and method |
-
2015
- 2015-07-10 CN CN201520498605.8U patent/CN204821785U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973162A (en) * | 2015-07-10 | 2015-10-14 | 陕西九立机器人制造有限公司 | Leg structure of leg robot |
| CN105905185A (en) * | 2016-06-12 | 2016-08-31 | 江苏工程职业技术学院 | Connecting-rod type robot travelling device and method |
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Address after: Room 1205, building 1, Internet Industrial Park, Weibin District, No.1, South Binhe Road, Weibin District, Baoji City, Shaanxi Province Patentee after: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. Address before: 712100 No.6, East Ring Road, Yangling Demonstration Area, Xianyang City, Shaanxi Province Patentee before: SHAANXI JIULI ROBOT MANUFACTURING Co.,Ltd. |
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| CP02 | Change in the address of a patent holder |