CN206436253U - A kind of anthropomorphic robot lower limb standing mechanism - Google Patents
A kind of anthropomorphic robot lower limb standing mechanism Download PDFInfo
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- CN206436253U CN206436253U CN201720056709.2U CN201720056709U CN206436253U CN 206436253 U CN206436253 U CN 206436253U CN 201720056709 U CN201720056709 U CN 201720056709U CN 206436253 U CN206436253 U CN 206436253U
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- waist
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- wire rope
- knee
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Abstract
The utility model discloses a kind of anthropomorphic robot lower limb standing mechanism, including left leg assembly and right leg assembly, left leg assembly and right leg assembly include push-rod electric machine, knee joints, waist revolving part, steel wire rope, shank and thigh respectively, one end of steel wire rope is fixed on the motor shaft of push-rod electric machine, and the other end of steel wire rope is sequentially passed through after shank, knee joints, thigh and is fixedly connected with waist revolving part；Knee joints includes body, knee joint middleware, knee axis and deep groove ball bearing, the left and right sides of body is provided with the side plate being connected with deep groove ball bearing, knee joint middleware be provided with knee axis coordinate endoporus, knee axis pass through endoporus after with deep groove ball bearing be connected；The upper end of shank is fixedly connected with body, and the lower end of thigh is fixedly connected with knee joint middleware, and the upper end of thigh is fixedly connected with waist revolving part, and the utility model is simple in construction, is easy to operation, practical, is operated steadily, structural behaviour is stable, is conveniently adjusted.
Description
Technical field
The utility model belongs to robot field, and in particular to a kind of anthropomorphic robot lower limb standing mechanism.
Background technology
The popular apery service robot of existing in the market is big most without the exercise ability of lower limbs, due to apery server
The mechanism and own wt of device people is larger, and general motor also is difficult to make robot in the presence of decelerator by moment of torsion
With standing performance, the problem of this device can effectively solve this apery service robot lower extremity movement, and structure letter
Single, processing cost is relatively low.
The content of the invention
In order to solve the above-mentioned problems in the prior art, the utility model provides a kind of anthropomorphic robot lower limb station
Vertical mechanism.The technical problems to be solved in the utility model is achieved through the following technical solutions：
A kind of anthropomorphic robot lower limb standing mechanism, including left leg assembly and right leg assembly, the left leg assembly and right leg
Component includes push-rod electric machine, knee joints, waist revolving part, steel wire rope, shank and thigh respectively,
One end of the steel wire rope is fixed on the motor shaft of push-rod electric machine, and the other end of the steel wire rope sequentially passes through small
It is fixedly connected after leg, knee joints, thigh with waist revolving part；
The knee joints includes body, knee joint middleware, knee axis and the zanjon for being arranged on knee axis two ends
Ball bearing, the left and right sides of the body is provided with side plate be connected with deep groove ball bearing, the knee joint middleware provided with
Knee axis coordinate endoporus, the knee axis pass through endoporus after with deep groove ball bearing be connected；
The upper end of the shank is fixedly connected with body, and the lower end of the thigh is fixedly connected with knee joint middleware, institute
The upper end for stating thigh is fixedly connected with waist revolving part.
As a preferred embodiment of the present utility model, the left leg assembly also includes crank element, the push-rod electric machine
Shaft end is connected by one end of latch and crank element, and the other end of the crank element is fixed by shank intermediate lever part and shank
Connection.
As a preferred embodiment of the present utility model, the waist revolving part include waist body, waist central shaft,
With waist central shaft coordinate deep groove ball bearing and waist supporting part, the waist central shaft be connected with deep groove ball bearing after again with
The other end of steel wire rope is fixedly connected, and the both sides of the waist body are provided with the side plate up and down for being used for fixing waist central shaft, institute
State waist supporting part and be provided with the centre bore being engaged with waist central shaft, the outer wall of the waist supporting part is consolidated with side plate up and down
Fixed connection.
As a preferred embodiment of the present utility model, after the push-rod electric machine in the right leg assembly is connected with steel wire rope
It is connected again with the waist steel wire rope in right leg assembly, drives thigh to be revolved around knee joint when the push-rod electric machine in right leg assembly is flexible
Turn to realize that device is stood, lower seat action.
As a preferred embodiment of the present utility model, push-rod electric machine in the left leg assembly respectively with left leg assembly
In waist revolving part on steel wire rope be bi-directionally connected, form parallel-crank mechanism, push-rod electric machine limits waist when flexible
The space of supporting part, makes the waist supporting part moment keep the athletic posture opposite with thigh connector.
It is used as a preferred embodiment of the present utility model, it is characterised in that left leg assembly and right the leg assembly difference
It is fixed on bottom plate.
As a preferred embodiment of the present utility model, the push-rod electric machine is built in motor casing, the motor casing
Including motor casing upper-part and motor casing lower component, the motor casing upper-part is fixedly connected with motor casing lower component.
The beneficial effects of the utility model：
The different connected mode of each component of the utility model and cooperation realize the one of knee joint one degree of freedom and waist
The individual free degree, is moved by the flexible drive steel wire rope of the motor of right leg, makes the steel wire rope connector being connected with right leg steel wire rope
Motion is rotated together with, while driving the rotary motion of left side thigh connector, the motor of left leg is the lever piece of part under left leg
There is provided power makes lever piece form parallel-crank mechanism by the connection of steel wire rope with left leg steel wire rope connector, makes waist bar
Part in rotary motion by left leg motor position limitation, reach preferable motion state.This bionical standing device is realized
The standing of anthropomorphic robot, the kinetic characteristic sat down.
The utility model has device simple, and purpose is strong, stable movement, and mechanism performance is stable, is easy to equipment adjustment etc.
Advantage.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly or in device technique, below will be to embodiment or dress
The accompanying drawing used required in technology description is put to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is the overall structure figure of the utility model device；
Fig. 2 is the right leg waist structure figure of the utility model device；
Fig. 3 is the left leg waist structure of the utility model device；
Fig. 4 is the left leg knee joint structure of the utility model device.
Embodiment
Reach technological means and effect that predetermined purpose is taken for the utility model is expanded on further, below in conjunction with accompanying drawing
And embodiment is to embodiment of the present utility model, architectural feature and its effect, describe in detail as follows.
Embodiment 1：
Referring to the drawings, a kind of anthropomorphic robot lower limb standing mechanism, it is characterised in that including：
One bottom plate, bottom plate is fixedly connected with left and right thigh motor casing lower component respectively by bolt；
One knee joint, knee joint includes knee joint middleware, and knee joint middleware is coordinated by endoporus and knee axis, axle
Two ends coordinate biserial deep groove ball bearing to be connected with knee joint both sides side plate again；
One left leg assembly, left leg assembly includes a push-rod electric machine, and push-rod electric machine is fixed by part above and below motor casing, push rod
Motor shaft end is connected with left leg intermediate lever part again after being connected by latch with crank element.Steel wire rope one end respectively with lever piece
On holes be fixedly connected after be then passed through the centre bore of left thigh component and waist runner assembly through the endoporus of knee joints
Steel wire rope is fixedly connected；
One right leg assembly, right leg assembly includes a push-rod electric machine bottom and is connected by latch and bottom plate, motor entirely through
Part is fixed above and below motor casing, and motor shaft upper end hole is fixedly connected with steel wire rope, is bypassed knee axis and is then passed through right thigh component
Centre bore be fixedly connected with the steel wire rope connector of the waist feature of right thigh；
One waist rotary components include after waist central shaft and deep groove ball bearing coordinate again with steel wire rope part down through
Bolt is fixed, and the side plate up and down of waist rotary components, the centre bore of waist supporting part and center are fixed in central shaft left and right ends
Axle coordinates, and outside is connected with waist side plate；
Wherein, right leg push-rod electric machine bottom is fixed in floor piece, and push-rod electric machine axle is bypassed in knee joint by steel wire rope
Heart hole is connected with the steel wire rope connector in waist joint, by the flexible drive wirerope axis of push-rod electric machine to movement, promotes waist
The steel wire rope of portion's rod member is in the presence of waist central shaft and rolling bearing, and whole right leg thigh rod member is stayed with one's parents in order to make them happy joint rotation.With
Left thigh is driven to rotate jointly to by waist supporting part.
Wherein, left leg push-rod electric machine bottom is fixed in floor piece, and push-rod electric machine axle upper end is connected with a crank element with latch
Connect, the crank element other end is connected by bolt with lever piece one end, lever piece both upper ends thereof hole is fixedly connected with steel wire rope to be bypassed
Knee axis is connected with the holes on waist steel wire rope connector, and thigh rotation in left and right is driven when the push-rod electric machine of right leg shrinks
During standing, left thigh push-rod electric machine elongation, one end for promoting steel wire rope to connect is loosened, and makes the waist supporting part being connected with steel wire rope
Relative reverse movement is done with thigh rod member under the left and right of gravity.
Wherein, robot leg rod member sit down action when or so leg motor do opposite motion.
Wherein, knee joint central part rotates in the presence of central shaft and rolling bearing all the time.
Wherein, the steel wire rope connector of right leg is only connected one side with steel wire rope, is moved with the flexible drive steel wire rope of motor,
Make whole rod member close axle around knee to rotate.
Wherein, the lever piece of left thigh constitutes parallelogram by steel wire rope with being connected at left leg waist steel wire rope two
Device, in the presence of push-rod electric machine and the gravity being seated on the heavy part of waist, is remained and the thigh in leg assembly
Rod member does reverse movement.
Wherein, robot upper body weight is born in fixation to left and right waist supporting part above the waist with robot, and keeps left and right waist
The uniformity of the motion of portion's supporting part.
Wherein, the push-rod electric machine of right leg is connected with steel wire rope is connected with the steel wire rope connector in right leg waist again, in electricity
Drive thigh to be rotated around knee joint when machine is flexible and realize that device is stood, lower seat action.
Wherein, steel wire rope connector of the push-rod electric machine of left leg respectively with left leg waist is bi-directionally connected, and forms parallel four side
Shape mechanism, motor it is flexible when limit waist supporting part space, make the waist supporting part moment keep be connected with thigh
The opposite athletic posture of part.
The different connected mode of each component of the utility model and cooperation realize the one of knee joint one degree of freedom and waist
The individual free degree, is moved by the flexible drive steel wire rope of the motor of right leg, makes the steel wire rope connector being connected with right leg steel wire rope
Motion is rotated together with, while driving the rotary motion of left side thigh connector, the motor of left leg is the lever piece of part under left leg
There is provided power makes lever piece form parallel-crank mechanism by the connection of steel wire rope with left leg steel wire rope connector, makes waist bar
Part in rotary motion by left leg motor position limitation, reach preferable motion state.This bionical standing device is realized
The standing of anthropomorphic robot, the kinetic characteristic sat down.
The utility model has device simple, and purpose is strong, stable movement, and mechanism performance is stable, is easy to equipment adjustment etc.
Advantage.
Embodiment 2：
Reference picture 1- Fig. 4, the utility model is described with reference to reference in detail：
Right leg shank component includes：Right leg push-rod electric machine 29, right leg push-rod electric machine shell upper-part 18, right leg push-rod electric machine shell
Lower component 21, knee joint supporting part 12.
The right bottom of leg push-rod electric machine 29 is bolted on bottom plate with bottom plate 1, motor casing upper-part 18 and motor casing
Lower component 21 is bolted together, and push-rod electric machine is built in motor casing, and right leg shank upper motor shell 18 passes through spiral shell
Bolt is fixedly connected with knee joint supporting part 12, and left leg shank lower component is identical with right leg structure.
Knee components include：Side plate 3 on the left of side plate 27 on the right side of knee axis 2, knee joints 25, knee joint, knee joint,
Angular contact ball bearing 5203.
Knee axis 2 is built in knee joints 25, and angular contact ball bearing 5203 is assembled respectively in the both sides of knee axis,
Angular contact bearing uses basic shaft system interference fits with knee joints 25, and basic hole system interference fits, knee joint are used with knee axis 2
Left plate 3, knee joint right plate 27 has blind hole to coordinate with knee axis 2, limits the axial displacement of axle.Left leg knee joint and the right side
Leg knee joint structure is the same.
Left leg shank upper element includes：Left leg shank supporting 10, left leg knee joints 8, crank element 28, lever piece 9,
Nut 11, horizontal lever piece 23, deep groove ball bearing 6000.
Left leg push-rod electric machine shaft end is connected with crank element 28 by pin, left leg shank supporting 10 and left leg knee joints
8 are bolted to connection, and the other end and the lever piece 9 of crank element 28 are bolted, and axle is passed through on horizontal lever piece 23
Shoulder fixes deep groove ball bearing 6000 with nut 11, then is connected with lever piece 9 with basic shaft system interference fits, and horizontal lever piece passes through a left side
The axial movement of the horizontal lever piece of the position limitation of groove on leg knee joints 8.
The big leg assembly in left and right is by thigh connector 26, hip joint supporting 4, waist lower side panel 19, right leg waist upside
Plate 13, left leg waist epipleural 24.
Left and right thigh is connected by screw by one end of thigh connector 26 with knee joints 25, the other end respectively with hip
Joint supporting 4 is bolted, and waist lower side panel 19 and right leg waist epipleural 13, left leg waist epipleural 24 lead to respectively
Cross bolt connection.
Right leg waist runner assembly includes：Waist rotary shaft 17, right leg steel wire rope connector 6, deep groove ball bearing 6004, waist
Portion's supporting part 20.
Waist rotary shaft 17 and deep groove ball bearing 6004 are by basic hole system interference fits, built in the deep groove ball bearing part of left and right
In hip joint supporting 4 and waist supporting part 20, hip joint supporting 4 has blind hole to be rotated with waist with waist supporting part 20
Axle 17 coordinates, and the axial displacement steel wire ropes connector 6 of limitation waist rotary shaft 17 is coordinated two-by-two by bolt, is pressed on zanjon
On ball bearing 6004.And the axial movement of the opposite side of limitation deep groove ball bearing 6004 simultaneously.
Left leg waist feature includes：Left leg waist rotary shaft 22, left leg steel wire rope connector 7, waist supporting part 20, a pair
Deep groove ball bearing 6004 is constituted.
Waist rotary shaft 22 and deep groove ball bearing 6004 are by basic hole system interference fits, built in the deep groove ball bearing part of left and right
In hip joint supporting 4 and waist supporting part 20, hip joint supporting part 4 has blind hole to be rotated with waist with waist supporting part 20
Axle 22 coordinates, and the left leg steel wire rope connectors 7 of axial displacement of limitation waist rotary shaft 22 are coordinated two-by-two by bolt, are pressed on
On deep groove ball bearing 6004.And the opposite side axial displacement of deep groove ball bearing 6004 is limited simultaneously.Left leg steel wire rope connection simultaneously
Part coordinates with waist supporting part 20 to be fixed.
Right leg steel wire rope is connected after the axis hole of right leg push-rod electric machine first, then by the endoporus of knee joint supporting part 12, then
Knee axis 2 is bypassed, the through hole after thigh connector 26 with one end on right leg steel wire rope connector 6 is then passed through and is fixedly connected.
Left leg steel wire rope is fixedly connected with the two ends of lever piece 9 respectively first, then passes around knee axis 2, is connected through thigh
It is respectively fixedly connected with after fitting 26 with the left two ends through hole of leg steel wire rope connector 7.
Right leg push-rod electric machine 29 provides the power required for standing for whole device, is passed power by the connection of steel wire rope
Be delivered on right leg steel wire rope connector 6, motor contraction phase in the presence of knee axis 2, make whole thigh connector
26 rotate around knee axis 2.Robot upper part body is fixedly connected by waist supporting part 20, while making left and right big
Leg connector 26 has identical forms of motion.
The type of attachment of left leg steel wire rope and lever piece 9 and left leg steel wire rope connector 7 constitutes plane quadrilateral mechanism,
When right leg motor drives whole lower devices standing, left leg push-rod electric machine elongation makes one side of parallel-crank mechanism relax, waist
Portion's supporting part 20 gravity effect and steel wire rope while being moved under the given space of relaxation.
Whole lower limb standing device receives device right leg motor in stance under the mutual cooperation of left and right push-rod electric machine
Contracting, drives the thigh rod member of whole device to do operating counterclockwise, left leg motor carries out elongation and promotes waist supporting part in weight simultaneously
Operated clockwise in the presence of the space that power and push-rod electric machine are given.
The utility model is by the Bionic Design of structure, interstructural reasonable connection and cooperation, effective between power set
Collocation, successfully realizes the exercise performance of anthropomorphic robot lower limb standing, this is scientific and reasonable for structure, perfect in shape and function, device
Can be stable, it is easy to scheduling and planning.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations.For the ordinary skill of the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to protection domain of the present utility model.
Claims (7)
1. a kind of anthropomorphic robot lower limb standing mechanism, it is characterised in that including left leg assembly and right leg assembly, the left leg group
Part and right leg assembly include push-rod electric machine, knee joints, waist revolving part, steel wire rope, shank and thigh respectively,
One end of the steel wire rope is fixed on the motor shaft of push-rod electric machine, the other end of the steel wire rope sequentially pass through shank,
It is fixedly connected after knee joints, thigh with waist revolving part；
The knee joints includes body, knee joint middleware, knee axis and the deep-groove ball axle for being arranged on knee axis two ends
Hold, the left and right sides of the body is provided with the side plate being connected with deep groove ball bearing, the knee joint middleware is provided with to close with knee
Nodal axisn coordinate endoporus, the knee axis pass through endoporus after with deep groove ball bearing be connected；
The upper end of the shank is fixedly connected with body, and the lower end of the thigh is fixedly connected with knee joint middleware, described big
The upper end of leg is fixedly connected with waist revolving part.
2. anthropomorphic robot lower limb standing mechanism according to claim 1, it is characterised in that the left leg assembly also includes
Crank element, the push-rod electric machine shaft end is connected by one end of latch and crank element, and the other end of the crank element passes through shank
Intermediate lever part is fixedly connected with shank.
3. anthropomorphic robot lower limb standing mechanism according to claim 1, it is characterised in that the waist revolving part includes
Waist body, waist central shaft, with waist central shaft coordinate deep groove ball bearing and waist supporting part, the waist central shaft with
It is fixedly connected again with the other end of steel wire rope after deep groove ball bearing connection, the both sides of the waist body, which are provided with, to be used to fix waist
The side plate up and down of central shaft, the waist supporting part is provided with the centre bore being engaged with waist central shaft, the waist load-bearing
The outer wall of part is fixedly connected with side plate up and down.
4. anthropomorphic robot lower limb standing mechanism according to claim 3, it is characterised in that pushing away in the right leg assembly
Bar motor is connected with the waist steel wire rope in right leg assembly again after being connected with steel wire rope, and the push-rod electric machine in right leg assembly stretches
When drive thigh rotate around knee joint to realize that device is stood, lower seat is acted.
5. anthropomorphic robot lower limb standing mechanism according to claim 3, it is characterised in that pushing away in the left leg assembly
Bar motor is bi-directionally connected with the steel wire rope on the waist revolving part in left leg assembly respectively, forms parallel-crank mechanism, push rod
Motor limits the space of waist supporting part when stretching, and the waist supporting part moment is kept the fortune opposite with thigh connector
Dynamic posture.
6. the anthropomorphic robot lower limb standing mechanism according to claim any one of 1-5, it is characterised in that the left leg group
Part and right leg assembly are separately fixed on bottom plate.
7. the anthropomorphic robot lower limb standing mechanism according to claim any one of 1-5, it is characterised in that the push rod electricity
Machine is built in motor casing, the motor casing include motor casing upper-part and motor casing lower component, the motor casing upper-part and
Motor casing lower component is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720056709.2U CN206436253U (en) | 2017-01-18 | 2017-01-18 | A kind of anthropomorphic robot lower limb standing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720056709.2U CN206436253U (en) | 2017-01-18 | 2017-01-18 | A kind of anthropomorphic robot lower limb standing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206436253U true CN206436253U (en) | 2017-08-25 |
Family
ID=59635243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720056709.2U Expired - Fee Related CN206436253U (en) | 2017-01-18 | 2017-01-18 | A kind of anthropomorphic robot lower limb standing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206436253U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108721050A (en) * | 2018-05-25 | 2018-11-02 | 合肥工业大学 | Limbs active-passive rehabilitation training device and control method under a kind of magnetorheological force feedback type |
| CN109551469A (en) * | 2018-10-24 | 2019-04-02 | 上海交通大学 | Mechanical arm based on the driving of more motor coupling lines |
-
2017
- 2017-01-18 CN CN201720056709.2U patent/CN206436253U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108721050A (en) * | 2018-05-25 | 2018-11-02 | 合肥工业大学 | Limbs active-passive rehabilitation training device and control method under a kind of magnetorheological force feedback type |
| CN109551469A (en) * | 2018-10-24 | 2019-04-02 | 上海交通大学 | Mechanical arm based on the driving of more motor coupling lines |
| CN109551469B (en) * | 2018-10-24 | 2020-07-14 | 上海交通大学 | Mechanical arm based on multi-motor coupling line driving |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170825 Termination date: 20180118 |
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| CF01 | Termination of patent right due to non-payment of annual fee |