CN206407014U - A kind of toe structure of robot - Google Patents
A kind of toe structure of robot Download PDFInfo
- Publication number
- CN206407014U CN206407014U CN201720069415.3U CN201720069415U CN206407014U CN 206407014 U CN206407014 U CN 206407014U CN 201720069415 U CN201720069415 U CN 201720069415U CN 206407014 U CN206407014 U CN 206407014U
- Authority
- CN
- China
- Prior art keywords
- toe
- connecting rod
- bull stick
- bar
- sole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 244000309464 bull Species 0.000 claims abstract description 25
- 230000000694 effects Effects 0.000 claims abstract description 8
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 210000003462 vein Anatomy 0.000 claims description 3
- 210000003371 toe Anatomy 0.000 description 34
- 238000010586 diagram Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- Toys (AREA)
Abstract
The utility model discloses a kind of toe structure of robot, including sole, the side of the sole is symmetrically provided with recess, rotated in the recess and be provided with toe connecting rod, one end of the toe connecting rod is fixed with toe, cross bar is connected between the toe connecting rod, the middle part opposite side side wall of the cross bar is fixed with bull stick connecting rod, the bull stick connecting rod rotates connection bull stick, the opposite side of the right angle frame and the corner of right angle frame are provided with connecting hole, the journal stirrup is arranged on the upper surface side of sole, sole upper surface between the journal stirrup is provided with rotarod activity groove, the engaging lug of the straight-bar lower end rotates one end of connection hydraulic stem.The toe structure of robot, the setting of hydraulic stem can not only drive bar rotation, and convenient fixed bull stick, the structure of fixed toe is eliminated, very useful, the setting of bull stick, toe activity is driven more to facilitate, the device makes that robot toe is more flexible, and structure is more simplified.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of toe structure of robot.
Background technology
In existing robot field, most robot toes are fixed as one with sole, and this robot is only fitted
Close on level land walk, when robot ambulation ground for it is uneven when, just seem inadaptable, the easy disequilibrium of robot and
Fall down.
Utility model content
The purpose of this utility model is to provide a kind of toe structure of robot, to solve what is proposed in above-mentioned background technology
Problem.
To achieve the above object, the utility model provides following technical scheme：A kind of toe structure of robot, including pin
The palm, the side of the sole, which is symmetrically provided with to rotate in recess, the recess, is provided with toe connecting rod, the one of the toe connecting rod
End, which is fixed between toe, the toe connecting rod, is connected with cross bar, and the middle part side side wall of the cross bar is fixed with toe and consolidated
Fixed pole, one end of the toe fix bar also is provided with toe, and the middle part opposite side side wall of the cross bar is fixed with bull stick connecting rod,
The bull stick connecting rod rotates connection bull stick, and the bull stick is made up of right angle frame and straight-bar, and the straight-bar is arranged on right angle frame
Side, the opposite side of the right angle frame and the corner of right angle frame are provided with connecting hole, and the lower end outer wall of the straight-bar is provided with connection
Ear, the connecting hole of the right angle frame corner rotates connection journal stirrup, and the journal stirrup is arranged on the upper surface side of sole, the branch
Sole upper surface between ear is provided with rotarod activity groove, and the engaging lug of the straight-bar lower end rotates one end of connection hydraulic stem.
It is preferred that, the lower surface of the toe is provided with wear-resisting cushion course.
It is preferred that, the lower surface of the sole is provided with anti-slip veins.
It is preferred that, the hydraulic stem is arranged on the inside of sole.
It is preferred that, the surface of the bull stick is provided with antifriction metal (AFM) coating.
It is preferred that, the quantity of the toe is 3-5.
Technique effect of the present utility model and advantage：The toe structure of robot, rational in infrastructure, practical, hydraulic stem
Setting, can not only drive bar rotation, and convenient fixed bull stick, eliminate the structure of fixed toe, it is very useful, turn
The setting of bar, drives toe activity more to facilitate, the device makes that robot toe is more flexible, and structure is more simplified.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is A-A cross section structure diagrams of the present utility model；
Fig. 3 is rotary rod structure schematic diagram of the present utility model.
In figure：1 sole, 2 recesses, 3 toe connecting rods, 4 toes, 5 cross bars, 6 toe fix bars, 7 bull stick connecting rods, 8
Ear, 9 bull sticks, 91 right angle frames, 92 connecting holes, 93 straight-bars, 94 engaging lugs, 10 hydraulic stems, 11 rotarod activity grooves.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
The utility model provides a kind of toe structure of robot as Figure 1-3, including sole 1, the sole 1
Side, which is symmetrically provided with to rotate in recess 2, the recess 2, is provided with toe connecting rod 3, and one end of the toe connecting rod 3 is fixed with
Cross bar 5 is connected between toe 4, the toe connecting rod 3, the middle part side side wall of the cross bar 5 is fixed with toe fix bar
6, one end of the toe fix bar 6 also is provided with toe 4, and the middle part opposite side side wall of the cross bar 5 is fixed with bull stick connecting rod
7, the bull stick connecting rod 7 rotates connection bull stick 9, and the bull stick 9 is made up of right angle frame 91 and straight-bar 93, and the straight-bar 93 is set
In the side of right angle frame 91, the opposite side of the right angle frame 91 and the corner of right angle frame 91 are provided with connecting hole 92, the straight-bar
93 lower end outer wall is provided with engaging lug 94, and the connecting hole 92 of the corner of right angle frame 91 rotates connection journal stirrup 8, the journal stirrup 8
The upper surface of sole 1 being arranged between the upper surface side of sole 1, the journal stirrup 8 is provided with rotarod activity groove 11, the straight-bar 93
The engaging lug 94 at end rotates one end of connection hydraulic stem 10, and the lower surface of the toe 4 is provided with wear-resisting cushion course, the sole 1
Lower surface be provided with anti-slip veins, the hydraulic stem 10 is arranged on the inside of sole 1, and the surface of the bull stick 9 is provided with antifriction metal (AFM)
Coating, the quantity of the toe 4 is 3-5.
Operation principle：Hydraulic stem 10 drives bull stick 9 to rotate, and the opposite side of bull stick 9 drives bull stick connecting rod 7 to rotate, cross bar 5
And toe connecting rod 3 is rotated, toe 4 is just movable, very convenient, using hydraulic stem 10, and the expansion link of hydraulic stem 10 is easy to
Fixed, the liquid volume in hydraulic stem 10 is determined, toe 4 also allows for fixing.
Finally it should be noted that：Preferred embodiment of the present utility model is the foregoing is only, this is not limited to
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it can still modify to the technical scheme described in foregoing embodiments, or to which part technical characteristic
Equivalent substitution is carried out, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvements made etc.,
It should be included within protection domain of the present utility model.
Claims (6)
1. a kind of toe structure of robot, including sole（1）, it is characterised in that：The sole（1）Side be symmetrically provided with recess
（2）, the recess（2）Interior rotate is provided with toe connecting rod（3）, the toe connecting rod（3）One end be fixed with toe（4）,
The toe connecting rod（3）Between be connected with cross bar（5）, the cross bar（5）Middle part side side wall be fixed with toe fix bar
（6）, the toe fix bar（6）One end also be provided with toe（4）, the cross bar（5）Middle part opposite side side wall be fixed with turn
Bar connecting rod（7）, the bull stick connecting rod（7）Rotate connection bull stick（9）, the bull stick（9）By right angle frame（91）And straight-bar
（93）Composition, the straight-bar（93）It is arranged on right angle frame（91）Side, the right angle frame（91）Opposite side and right angle frame
（91）Corner be provided with connecting hole（92）, the straight-bar（93）Lower end outer wall be provided with engaging lug（94）, the right angle frame
（91）The connecting hole of corner（92）Rotate connection journal stirrup（8）, the journal stirrup（8）It is arranged on sole（1）Upper surface side, institute
State journal stirrup（8）Between sole（1）Upper surface is provided with rotarod activity groove（11）, the straight-bar（93）The engaging lug of lower end（94）Rotate
Connect hydraulic stem（10）One end.
2. a kind of toe structure of robot according to claim 1, it is characterised in that：The toe（4）Lower surface set
There is wear-resisting cushion course.
3. a kind of toe structure of robot according to claim 1, it is characterised in that：The sole（1）Lower surface set
There are anti-slip veins.
4. a kind of toe structure of robot according to claim 1, it is characterised in that：The hydraulic stem（10）It is arranged on pin
The palm（1）Inside.
5. a kind of toe structure of robot according to claim 1, it is characterised in that：The bull stick（9）Surface be provided with
Antifriction metal (AFM) coating.
6. a kind of toe structure of robot according to claim 1, it is characterised in that：The toe（4）Quantity be 3-5
It is individual.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720069415.3U CN206407014U (en) | 2017-01-20 | 2017-01-20 | A kind of toe structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720069415.3U CN206407014U (en) | 2017-01-20 | 2017-01-20 | A kind of toe structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206407014U true CN206407014U (en) | 2017-08-15 |
Family
ID=59556062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720069415.3U Expired - Fee Related CN206407014U (en) | 2017-01-20 | 2017-01-20 | A kind of toe structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206407014U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310656A (en) * | 2017-08-27 | 2017-11-03 | 刘哲 | A kind of walking robot |
| CN107554638A (en) * | 2017-08-27 | 2018-01-09 | 刘哲 | A kind of strong walking robot foot device of earth-grasping force |
| CN110525536A (en) * | 2019-09-25 | 2019-12-03 | 北京理工大学 | A kind of super dynamic robot of pseudo direct-drive leg foot based on multi-joint coupling |
-
2017
- 2017-01-20 CN CN201720069415.3U patent/CN206407014U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310656A (en) * | 2017-08-27 | 2017-11-03 | 刘哲 | A kind of walking robot |
| CN107554638A (en) * | 2017-08-27 | 2018-01-09 | 刘哲 | A kind of strong walking robot foot device of earth-grasping force |
| CN110525536A (en) * | 2019-09-25 | 2019-12-03 | 北京理工大学 | A kind of super dynamic robot of pseudo direct-drive leg foot based on multi-joint coupling |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170815 |