CN205686505U - A kind of walking robot leg knee hypozygal and walking robot lower limb structure - Google Patents
A kind of walking robot leg knee hypozygal and walking robot lower limb structure Download PDFInfo
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- CN205686505U CN205686505U CN201620617514.6U CN201620617514U CN205686505U CN 205686505 U CN205686505 U CN 205686505U CN 201620617514 U CN201620617514 U CN 201620617514U CN 205686505 U CN205686505 U CN 205686505U
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- shank
- walking robot
- angle
- lower limb
- drive rod
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Abstract
The utility model relates to a kind of walking robot leg knee hypozygal, be to be connected seat, knee upper joint hinged seat and shank to drive hinged seat to constitute the integrative-structure of tree fork shape by shank；Knee upper joint hinged seat is provided with the first hinge hole, and the center of circle of the first hinge hole is set to C；Shank drives hinged seat to be provided with the second hinge hole, and the center of circle of the second hinge hole is set to D；It is acute angle that the angle of straight line CD and shank axis is set to angle a, angle a.This utility model simple in construction, in integrative-structure, simplify robot parts, facilitate the assembling of robot；Straight line through two hinge hole centers of circle is acute angle with the angle of shank axis, contributes to regulating thigh drive rod and the length of shank drive rod and stroke, makes the thrust of drive rod most preferably be played, reduce robot energy consumption, improves energy utilization rate.The invention also discloses a kind of walking robot lower limb structure being made up of this knee hypozygal.
Description
Technical field
This utility model relates to robotics, in particular a kind of walking robot leg knee hypozygal
And walking robot lower limb structure.
Background technology
The motion mode of existing robot mainly includes the various ways such as wheeled, crawler type, foot formula.Wheeled robot can
In the upper high-speed mobile of flat road surface (highway), but in rugged landform, energy consumption will be greatly increased, even completely lose row
Kinetic force.Crawler frame is more suitable for soft landform action and is not absorbed in, but its in rugged landform motility with
Wheeled robot is the poorest.
Foot formula device people is then different from above two robot, and it is in motor process, it is only necessary to some discrete points are for it
Fall foot, it is possible to successfully passes rugged, soft or muddy ground.Just because of legged type robot has in terms of complicated ground walking
Having higher adaptation ability, Multifeet walking robot attracts widespread attention, and has been applied to military and national defense, aviation boat
My god, industry agricultural etc. field.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned deficiency, it is provided that: a kind of simple in construction, the energy consumption that reduces, increase machine
The walking robot leg knee hypozygal of people's dynamic property, also discloses the walking robot lower limb being made up of this knee hypozygal
Structure.
For achieving the above object, technical solution of the present utility model is:
A kind of walking robot leg knee hypozygal, is to be connected seat, knee upper joint hinged seat and shank by shank to drive
Dynamic hinged seat constitutes the integrative-structure of tree fork shape；Knee upper joint hinged seat is provided with the first hinge hole, the center of circle of the first hinge hole
It is set to C；Shank drives hinged seat to be provided with the second hinge hole, and the center of circle of the second hinge hole is set to D；Straight line CD and shank axis
It is acute angle that angle is set to angle a, angle a.
A kind of walking robot lower limb structure, including on hip, thigh, shank, thigh drive rod, shank drive rod, knee
Walking robot leg knee hypozygal described in joint and claim 1；Knee upper joint is L-shaped, and its bending place is articulated with
Knee upper joint hinged seat；The upper end thereof of thigh is in the middle part of hip, and lower end is hinged with one end of knee upper joint；Thigh drives
The upper end thereof of lever is in the front portion of hip, and lower end is hinged with the other end of knee upper joint；The upper end thereof of shank drive rod
In the rear portion of hip, lower end is articulated with shank and drives hinged seat；Shank is fixedly connected on shank and connects seat；Thigh drive rod and little
Lower limb drive rod all can stretch along its length.
Preferably, shank drive rod rotates around the A point of hip；When walking robot lower limb steps forward, the angle of included angle A DC is
Between 75 °-105 °；When walking robot lower limb steps backward, the angle of included angle A DC is between 75 °-105 °.
Preferably, walking robot lower limb steps forward to time foremost, and the angle of included angle A DC is 83-88 °；Walking robot
When lower limb steps backward to rearmost end, the angle of included angle A DC is returned to 83-88 °.
Preferably, walking robot lower limb steps forward to foremost, and the angle of included angle A DC is 85 °；Walking robot lower limb is backward
Stepping to rearmost end, the angle of included angle A DC is returned to 85 °.
Preferably, thigh drive rod and shank drive rod are flexible along its length is driven by hydraulic pressure, air pressure or motor.
Preferably, being fixedly connected with foot bottom shank, the bottom of foot is spherical in shape.
Preferably, resilient pad is fixed in the bottom surface of foot.
Preferably, pad is made up of rubber.
By using above-mentioned technical scheme, the beneficial effects of the utility model are: walking robot leg knee ShiShimonoseki
Joint simple in construction, in integrative-structure, simplify robot parts, facilitate the assembling of robot；Through two hinge hole circles
The straight line of the heart and the angle of shank axis are acute angle, contribute to regulating thigh drive rod and the length of shank drive rod and stroke,
Make drive rod thrust most preferably be played, reduce robot energy consumption, improve energy utilization rate.
Using the walking robot lower limb structure that above-mentioned knee hypozygal forms, its knee endoprosthesis position does not contains any power
Source, simple in construction is light and handy, it is possible to obtain high movement velocity, and walking robot lower limb is positioned at extreme with rearmost end two foremost
Time, included angle A DC angular dimension is consistent or close and convergence 90 °, and shank drive rod obtains maximum moment, it is ensured that shank drive rod is
For laborsaving, effectively reduce energy consumption.
Accompanying drawing explanation
Fig. 1 is walking robot leg knee hypozygal schematic diagram；
Fig. 2 is walking robot lower limb architecture schematic diagram；
Fig. 3 is structural representation advanced in years before walking robot lower limb structure；
Fig. 4 is structural representation advanced in years after walking robot lower limb structure；
(1, walking robot leg knee hypozygal；11, shank connects seat；12, knee upper joint hinged seat；121,
One hinge hole；13, shank drives hinged seat；131, the second hinge hole；2, hip；3, thigh；4, shank；5, thigh drive rod；
6, shank drive rod；7, knee upper joint；8, foot；).
Detailed description of the invention
This utility model is further illustrated below in conjunction with the drawings and specific embodiments.
The direction term being previously mentioned in this utility model, upper and lower is upper and lower to bright book accompanying drawing 1-4；Before refer to description
The right side of accompanying drawing 2-4, after refer to the left side of Figure of description 2-4；The direction term used is used to illustrate not for limiting
This utility model.
As it is shown in figure 1, a kind of walking robot leg knee hypozygal, it is to be connected seat 11, knee upper joint hinge by shank
Joint chair 12 and shank drive hinged seat 13 to constitute the integrative-structure of tree fork shape, and it can be square or circular set that shank connects seat 11
Pipe.Wherein, knee upper joint hinged seat 12 is provided with the first hinge hole 121, and the center of circle of the first hinge hole 121 is set to C；Shank drives
Dynamic hinged seat 13 is provided with the second hinge hole 131, and the center of circle of the second hinge hole 131 is set to D.Straight line CD and shank 4 axis
It is acute angle that angle is set to angle a, angle a.
As in figure 2 it is shown, a kind of walking robot lower limb structure, including hip 2, thigh 3, shank 4, thigh drive rod 5, shank
Drive rod 6, knee upper joint 7 and walking robot leg knee hypozygal 1.Knee upper joint 7 is L-shaped, and bending place is passed through
Bearing (not shown) is articulated with knee upper joint hinged seat 12；The upper end thereof of thigh 3 is in the middle part of hip 2, lower end and knee
One end of upper joint 7 is hinged to be connect；The upper end thereof of thigh drive rod 6 is in the front portion of hip 2, and lower end is another with knee upper joint 7
One end is hinged；The upper end thereof of shank drive rod 6 is in the rear portion of hip 2, and lower end is articulated with shank and drives hinged seat 13；Shank 4
It is fixedly connected on shank and connects seat 11.In this structure, thigh drive rod 5 and shank drive rod 6 all can stretch along its length, its
Flexible hydraulic pressure, air pressure, motor or other modes can be used to drive, optimum selection is thigh drive rod 5 and shank drive rod 6 is
Electric cylinder.Being fixedly connected with foot 8 bottom shank 4, the bottom of foot 8 is spherical in shape, be favorably improved robotic movement flexibly and
Stability；For reduce foot 8 contact with ground time impulse force and reduce abrasion, foot 8 bottom surface is fixed with elastomeric pad and (does not shows
Go out), elastomeric pad can use polyurethane, silicone rubber or soft nylon to make.
Shank drive rod 6 top rotates around a fixing point, and this fixing point is set to A point, and A point is positioned at the rear end of hip 2；Thigh
3 tops rotate around another fixing point, and this fixing point is set to B point, and B point is positioned at the front end of hip 2.As it is shown on figure 3, walking robot
Lower limb steps period forward, and the angle of included angle A DC changes between 75-105 °；When walking robot lower limb steps to time foremost, angle
The angle of ADC is 85-90 °, optimal for 85 °.As shown in Figure 4, walking robot lower limb steps period, the angle of included angle A DC backward
Change between 75-105 °；When walking robot lower limb steps to rearmost end, included angle A DC is it is still further preferred that the angle of included angle A DC is
85-90 °, optimal for 85 °.When walking robot lower limb is positioned at extreme with rearmost end two foremost, included angle A DC angular dimension one
Causing or close and convergence 90 °, now shank drive rod obtains maximum moment, and then makes shank drive rod the most laborsaving, effectively reduces
Energy consumption.
Above-described, preferred embodiment the most of the present utility model, it is impossible to limit the model that this utility model is implemented
Enclose, every impartial change made according to this utility model claim and decoration, all should still fall within this utility model and contain
In the range of.
Claims (9)
1. a walking robot leg knee hypozygal, it is characterised in that be to be connected seat, knee upper joint hinged seat by shank
Hinged seat is driven to constitute the integrative-structure of tree fork shape with shank；Knee upper joint hinged seat is provided with the first hinge hole, and first is hinged
The center of circle in hole is set to C；Shank drives hinged seat to be provided with the second hinge hole, and the center of circle of the second hinge hole is set to D；Straight line CD and shank
It is acute angle that the angle of axis is set to angle a, angle a.
2. a walking robot lower limb structure, it is characterised in that include that hip, thigh, shank, thigh drive rod, shank drive
Walking robot leg knee hypozygal described in bar, knee upper joint and claim 1；Knee upper joint is L-shaped, and it is curved
Knee upper joint hinged seat it is articulated with at folding；The upper end thereof of thigh in the middle part of hip, one end of lower end and knee upper joint
Hinged；The upper end thereof of thigh drive rod is in the front portion of hip, and lower end is hinged with the other end of knee upper joint；Shank drive rod
Upper end thereof in the rear portion of hip, lower end be articulated with shank drive hinged seat；Shank is fixedly connected on shank and connects seat；Thigh
Drive rod and shank drive rod all can stretch along its length.
Walking robot lower limb structure the most according to claim 2, it is characterised in that shank drive rod rotates around the A point of hip；
When walking robot lower limb steps forward, the angle of included angle A DC is between 75 °-105 °；When walking robot lower limb steps backward, included angle A DC
Angle be between 75 °-105 °.
Walking robot lower limb structure the most according to claim 3, it is characterised in that walking robot lower limb steps forward to foremost
Time, the angle of included angle A DC is 83-88 °；When walking robot lower limb steps backward to rearmost end, the angle of included angle A DC is returned to 83-
88°。
Walking robot lower limb structure the most according to claim 4, it is characterised in that walking robot lower limb steps forward to before
End, the angle of included angle A DC is 85 °；Walking robot lower limb steps backward to rearmost end, and the angle of included angle A DC is returned to 85 °.
Walking robot lower limb structure the most according to claim 2, it is characterised in that thigh drive rod and shank drive rod are along long
Degree direction is flexible uses hydraulic pressure, air pressure or motor to drive.
Walking robot lower limb structure the most according to claim 2, it is characterised in that be fixedly connected with foot bottom shank, foot
The bottom in portion is spherical in shape.
Walking robot lower limb structure the most according to claim 7, it is characterised in that resilient pad is fixed in the bottom surface of foot
Sheet.
Walking robot lower limb structure the most according to claim 8, it is characterised in that pad is made up of rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620617514.6U CN205686505U (en) | 2016-06-22 | 2016-06-22 | A kind of walking robot leg knee hypozygal and walking robot lower limb structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620617514.6U CN205686505U (en) | 2016-06-22 | 2016-06-22 | A kind of walking robot leg knee hypozygal and walking robot lower limb structure |
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| Publication Number | Publication Date |
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| CN205686505U true CN205686505U (en) | 2016-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620617514.6U Expired - Fee Related CN205686505U (en) | 2016-06-22 | 2016-06-22 | A kind of walking robot leg knee hypozygal and walking robot lower limb structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882286A (en) * | 2017-03-14 | 2017-06-23 | 北京工业大学 | A kind of hydraulic drive type robot leg foot structure |
| CN108426728A (en) * | 2018-02-28 | 2018-08-21 | 浙江工业职业技术学院 | A kind of end pulling test system for the temperature control of robot leg joint |
| CN111439320A (en) * | 2020-03-31 | 2020-07-24 | 厦门大学 | Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method |
| CN112937719A (en) * | 2021-02-05 | 2021-06-11 | 重庆工程职业技术学院 | Walking robot shank structure |
-
2016
- 2016-06-22 CN CN201620617514.6U patent/CN205686505U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882286A (en) * | 2017-03-14 | 2017-06-23 | 北京工业大学 | A kind of hydraulic drive type robot leg foot structure |
| CN108426728A (en) * | 2018-02-28 | 2018-08-21 | 浙江工业职业技术学院 | A kind of end pulling test system for the temperature control of robot leg joint |
| CN111439320A (en) * | 2020-03-31 | 2020-07-24 | 厦门大学 | Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method |
| CN111439320B (en) * | 2020-03-31 | 2021-01-08 | 厦门大学 | Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method |
| CN112937719A (en) * | 2021-02-05 | 2021-06-11 | 重庆工程职业技术学院 | Walking robot shank structure |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161116 Termination date: 20190622 |