CN206856829U - A kind of big carrying legged type robot leg structure - Google Patents
A kind of big carrying legged type robot leg structure Download PDFInfo
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- CN206856829U CN206856829U CN201720491079.1U CN201720491079U CN206856829U CN 206856829 U CN206856829 U CN 206856829U CN 201720491079 U CN201720491079 U CN 201720491079U CN 206856829 U CN206856829 U CN 206856829U
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- China
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- thigh
- shank
- cylinder
- base pitch
- otic placode
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Abstract
The utility model discloses a kind of big carrying legged type robot leg structure, it is made up of base pitch, thigh, shank, thigh cylinder and shank cylinder, the thigh root is hinged with base pitch, and the thigh head is hinged with shank, and the thigh cylinder and shank cylinder may be contained within thigh；The thigh cylinder both ends are hingedly connected to base pitch and big midleg, to control corner of the thigh relative to base pitch；The shank cylinder both ends are hingedly connected to big midleg and shank, to control corner of the shank relative to thigh.Big carrying legged type robot leg decoration structure features simple design described in the utility model, optimizes driver installation site, makes that the leg structure inertia of big carrying legged type robot is small, flexibility is high, is easily installed maintenance.
Description
Technical field
The utility model belongs to legged type robot technical field, more particularly to a kind of big carrying legged type robot leg structure.
Background technology
More and more extensive with the application field of legged type robot, the research to legged type robot both at home and abroad is gradually goed deep into,
It is particularly harsh especially for the leg structural requirement of big carrying legged type robot.Prior art is mostly small scale robot leg
Structure, the heavier-weight if scaling up, causes inertia larger, is unfavorable for controlling.In addition, existing heavily loaded legged type robot
Leg structure is complex, is not easy I＆M.
The content of the invention
In order to solve above-mentioned the deficiencies in the prior art, the utility model provides a kind of big carrying legged type robot
Leg structure, the leg structure use more succinct design, optimize driver installation site, the leg structure have inertia it is small,
Flexibility is high and is easily installed the advantages of safeguarding.It is as follows with reference to Figure of description, the technical solution of the utility model：
A kind of big carrying legged type robot leg structure, is made up of base pitch 1, thigh 2, shank 3, thigh cylinder 4 and shank cylinder 5,
The root of thigh 2 is be hinged with base pitch 1, and the head of thigh 2 is be hinged with shank 3, and the thigh cylinder and shank cylinder may be contained within
On thigh 2；
The both ends of thigh cylinder 4 are hingedly connected to the middle part of base pitch 1 and thigh 2, to control thigh 2 relative to base pitch 1
Corner；
The both ends of shank cylinder 5 are hingedly connected to middle part and the shank 3 of thigh 2, to control shank 3 relative to thigh 2
Corner.
A kind of big carrying legged type robot leg structure, wherein, between the base pitch 1 and thigh 2 and thigh 2 and shank 3 it
Between be hinged by Assembly of pin；
Between the thigh cylinder 4 and base pitch 1, between thigh cylinder 4 and thigh 2, between shank cylinder 5 and thigh 2 and shank
It is hinged between cylinder 5 and shank 3 by Assembly of pin.
Further, the base pitch 1 is made up of thigh cylinder barrel ear mount 11, paracoxa plate 15 and base pitch axle sleeve 16, described big
Leg cylinder barrel ear mount 11 is individually fixed in the inner side upper and lower of base pitch 1, the thigh cylinder barrel ear mount 11 and thigh cylinder with base pitch axle sleeve 16
4 one end are hinged, and the base pitch axle sleeve 16 is hinged with the one end of thigh 2.
Further, the base pitch 1 also pushes away seat 13 including side-sway cylinder, and the side-sway cylinder pushes away seat 13 and is fixed on base pitch 1
On the lateral surface of paracoxa plate 15.
Further, the side-sway cylinder, which pushes away seat 13 and pushes away a bolt 14 by side-sway cylinder, is fixed on paracoxa plate 15, and
The bolt hole of multigroup diverse location is provided with the paracoxa plate 15, seat 13 is pushed away to fix the side-sway cylinder of different model size.
A kind of big carrying legged type robot leg structure, wherein, the thigh 2 is by mid-thigh 28, thigh root otic placode 27, big
The compound otic placode 22 of leg head otic placode 29, thigh and calf cylinder and thigh reinforcing plate 25 form, the thigh root otic placode 27 and thigh head otic placode
29 are separately fixed at the both ends of mid-thigh 28, and the thigh root otic placode 27 is be hinged with base pitch 1, the thigh head otic placode 29 with it is small
The one end of leg 3 is hinged.
A kind of big carrying legged type robot leg structure, wherein, the shank 3 by shank cylinder otic placode 32, shank flange disk 34,
Shank axle sleeve 35 and shank stage casing 36 form；The shank cylinder otic placode 32 is fixed on the top in shank stage casing 36, the shank cylinder
Otic placode 32 is hinged with the one end of shank cylinder 5；The shank flange disk 34 is fixed on the bottom in shank stage casing 36；The shank axle sleeve 35
The top in shank stage casing 36 is fixed on, the shank axle sleeve 35 is hinged with the one end of thigh 2.
Further, shank axis pin base reinforcing plate is also welded with the fixed connection place in shank axle sleeve 35 and shank stage casing 36
33, to strengthen the structural strength of the junction.
A kind of big carrying legged type robot leg structure, wherein, the mid-thigh 28 of the thigh 2 is fixedly arranged above one greatly
The compound otic placode 22 of shank cylinder, the compound otic placode 22 of thigh and calf cylinder are welded together by thigh reinforcing plate 25 and thigh 2；
The both ends of the thigh cylinder 4 are be hinged with base pitch 1 and the compound otic placode 22 of thigh and calf cylinder respectively；
Compound with thigh and calf cylinder otic placode 22 and shank 3 are be hinged respectively at the both ends of the shank cylinder 5.
Compared with prior art, the beneficial effects of the utility model are：
1st, in a kind of big carrying legged type robot leg structure described in the utility model, thigh cylinder and shank as driver
Cylinder is arranged in structure more than thigh so that thigh has bigger range of movement with shank, and structure stress is more preferable；
2nd, in a kind of big carrying legged type robot leg structure described in the utility model, shank is without unnecessary heavy burden so that its matter
Amount is smaller, effectively reduces the inertia of leg structure end, control process is easier, and has saved driving energy；
3rd, in a kind of big carrying legged type robot leg structure described in the utility model, thigh and calf is with base pitch using welding knot
Structure, technique is simple, saves material, and processing and manufacturing cost is small；
4th, on the premise of basic exercise function is met, a kind of big carrying legged type robot leg structure described in the utility model
Structure it is simple, be easily installed and safeguard, and move it is more flexible.
Brief description of the drawings
Fig. 1 is a kind of axonometric drawing of big carrying legged type robot leg structure described in the utility model；
Fig. 2 is carried in legged type robot leg structure for one kind described in the utility model is big, the axonometric drawing of base pitch；
Fig. 3 is carried in legged type robot leg structure for one kind described in the utility model is big, the axonometric drawing of thigh；
Fig. 4 is carried in legged type robot leg structure for one kind described in the utility model is big, the axonometric drawing of shank.
In figure：
1. base pitch, 2. thighs, 3. shanks,
4. thigh cylinder, 5. shank cylinders；
11. thigh cylinder barrel ear mount, 12. thigh cylinder barrel Assembly of pin, 13. side-sway cylinders push away seat,
14. side-sway cylinder pushes away a bolt, 15. paracoxa plates, 16. base pitch axle sleeves；
21. thigh Assembly of pin, the 22. compound otic placodes of thigh and calf cylinder, 23. shank cylinder barrel Assembly of pin,
24. thigh cylinder rod Assembly of pin, 25. thigh reinforcing plates, 26. shank Assembly of pin,
27. thigh root otic placode, 28. mid-thighs, 29. thigh head otic placodes；
31. shank cylinder rod Assembly of pin, 32. shank cylinder otic placodes, 33. shank axis pin base reinforcing plates,
34. shank flange disk, 35. shank axle sleeves, 36. shank stage casings.
Embodiment
For the technical solution of the utility model is expanded on further, with reference to Figure of description, specific implementation of the present utility model
Mode is as follows：
Refering to Fig. 1, the utility model discloses a kind of big carrying legged type robot leg structure, by base pitch 1, thigh 2, shank
3rd, thigh cylinder 4 and shank cylinder 5 are formed, and the root of the thigh 2 is connected on base pitch 1, and shank 3 is connected with the head of thigh 2, institute
State thigh cylinder 4 and shank cylinder 5 be installed on the position of thigh 2, the thigh cylinder 4 be connected to base pitch 1 and thigh 2 middle part it
Between, the shank cylinder 5 is connected between the middle part of thigh 2 and the top of shank 3.
Refering to Fig. 2, the base pitch 1 pushes away seat 13 by thigh cylinder barrel ear mount 11, side-sway cylinder, side-sway cylinder pushes away a bolt 14, base pitch
Side plate 15 and base pitch axle sleeve 16 form.The paracoxa plate 15 is two, and is symmetrical arranged composition base pitch framework；The thigh cylinder
Cylinder ear seat 11 is located at base pitch framework inside front；The base pitch axle sleeve 16 is located at side-lower in base pitch framework；The thigh cylinder barrel
Ear mount 11, paracoxa plate 15 are welded and fixed with base pitch axle sleeve 16 and are integrated；The side-sway cylinder pushes away seat 13 and pushes away a spiral shell by side-sway cylinder
Bolt 14 is fixed on the lateral surface of paracoxa plate 15, wherein, the spiral shell of multigroup diverse location is provided with the side of paracoxa plate 15
Keyhole, to facilitate the side-sway cylinder of fixing different types to push away seat 13.
Refering to Fig. 3, the thigh 2 is compound by mid-thigh 28, thigh root otic placode 27, thigh head otic placode 29, thigh and calf cylinder
Otic placode 22 and thigh reinforcing plate 25 form.The thigh root otic placode 27 is welded on one end of mid-thigh 28, the thigh head ear
Plate 29 is welded on the other end of mid-thigh 28, and the compound otic placode 22 of thigh and calf cylinder is located above the middle part of mid-thigh 28,
And by being welded with thigh reinforcing plate 25, and then weld together with mid-thigh 28；The thigh root otic placode 27 of thigh 2 is by big
Leg Assembly of pin 21 and the assembly connection of base pitch axle sleeve 16 on base pitch 1, and then form revolute pair between thigh 2 and base pitch 1.
Refering to Fig. 4, the shank 3 is by shank cylinder otic placode 32, shank axis pin base reinforcing plate 33, shank flange disk 34, shank
Axle sleeve 35 and shank stage casing 36 form.The shank cylinder otic placode 32 is welded on the top in shank stage casing 36；The shank flange disk
34 are welded on the bottom in shank stage casing 36；Shank axle sleeve 35 is welded on the shank stage casing 36 of the lower section of shank cylinder otic placode 32, and logical
Cross the enhancing structure intensity of shank axis pin base reinforcing plate 33 welded together with shank axle sleeve 35 and shank stage casing 36；The thigh
2 thigh head otic placode 29 by the assembly connection of shank axle sleeve 35 of shank Assembly of pin 26 and shank 3, and then thigh 2 with it is small
Revolute pair is formed between leg 3.
Refering to Fig. 1, Fig. 2, Fig. 3, the cylinder body end of the thigh cylinder 4 passes through on thigh cylinder barrel Assembly of pin 12 and base pitch 1
The assembly connection of thigh cylinder barrel ear mount 11, meanwhile, the tailpiece of the piston rod of the thigh cylinder 4 is by thigh cylinder rod Assembly of pin 24 with being located at
The mounting hole assembly connection of the compound downside of otic placode 22 of thigh and calf cylinder, the thigh cylinder 4 are used to control thigh 2 relative to base pitch 1
Corner；
Refering to Fig. 1, Fig. 3, Fig. 4, the cylinder body end of the shank cylinder 5 by shank cylinder barrel Assembly of pin 23 and is located at thigh and calf
The mounting hole assembly connection of the compound upside of otic placode 22 of cylinder, meanwhile, the tailpiece of the piston rod of the shank cylinder 5 passes through shank cylinder rod bearing pin group
Part 31 and the assembly connection of shank cylinder otic placode 32 on shank 3, the shank cylinder 5 are used to control shank 3 relative to thigh 2 to turn
Angle.
Claims (9)
- A kind of 1. big carrying legged type robot leg structure, by base pitch (1), thigh (2), shank (3), thigh cylinder (4) and shank cylinder (5) form, it is characterised in that：Thigh (2) root and base pitch (1) are be hinged, and thigh (2) head is be hinged with shank (3), the thigh cylinder and small Leg cylinder may be contained within thigh (2)；Thigh cylinder (4) both ends are hingedly connected to the middle part of base pitch (1) and thigh (2), to control thigh (2) relative to base pitch (1) corner；Shank cylinder (5) both ends are hingedly connected to middle part and the shank (3) of thigh (2), to control shank (3) relative to thigh (2) corner.
- A kind of 2. big carrying legged type robot leg structure as claimed in claim 1, it is characterised in that：It is hinged between the base pitch (1) and thigh (2) between thigh (2) and shank (3) by Assembly of pin；Between the thigh cylinder (4) and base pitch (1), between thigh cylinder (4) and thigh (2), between shank cylinder (5) and thigh (2) And it is hinged between shank cylinder (5) and shank (3) by Assembly of pin.
- A kind of 3. big carrying legged type robot leg structure as claimed in claim 2, it is characterised in that：The base pitch (1) is made up of thigh cylinder barrel ear mount (11), paracoxa plate (15) and base pitch axle sleeve (16), the thigh cylinder barrel Ear mount (11) is individually fixed in upper and lower on the inside of base pitch (1), the thigh cylinder barrel ear mount (11) and thigh with base pitch axle sleeve (16) Cylinder (4) one end is hinged, and the base pitch axle sleeve (16) is hinged with thigh (2) one end.
- A kind of 4. big carrying legged type robot leg structure as described in claim 1 or 3, it is characterised in that：The base pitch (1) also pushes away seat (13) including side-sway cylinder, and the side-sway cylinder pushes away the paracoxa plate that seat (13) is fixed on base pitch (1) (15) on lateral surface.
- A kind of 5. big carrying legged type robot leg structure as claimed in claim 4, it is characterised in that：The side-sway cylinder, which pushes away seat (13), to be pushed away a bolt (14) by side-sway cylinder and is fixed on paracoxa plate (15), and the base pitch side The bolt hole of multigroup diverse location is provided with plate (15), seat (13) is pushed away to fix the side-sway cylinder of different model size and position.
- A kind of 6. big carrying legged type robot leg structure as claimed in claim 2, it is characterised in that：The thigh (2) is by mid-thigh (28), thigh root otic placode (27), thigh head otic placode (29), the compound otic placode of thigh and calf cylinder (22) and thigh reinforcing plate (25) composition, the thigh root otic placode (27) are separately fixed at mid-thigh with thigh head otic placode (29) (28) both ends, the thigh root otic placode (27) is be hinged with base pitch (1), and the thigh head otic placode (29) is cut with scissors with shank (3) one end Connect.
- A kind of 7. big carrying legged type robot leg structure as claimed in claim 2, it is characterised in that：The shank (3) is by shank cylinder otic placode (32), shank flange disk (34), shank axle sleeve (35) and shank stage casing (36) group Into；The shank cylinder otic placode (32) is fixed on the top of shank stage casing (36), the shank cylinder otic placode (32) and shank cylinder (5) one End is be hinged；The shank flange disk (34) is fixed on the bottom of shank stage casing (36)；The shank axle sleeve (35) is fixed on shank The top in stage casing (36), the shank axle sleeve (35) are hinged with thigh (2) one end.
- A kind of 8. big carrying legged type robot leg structure as claimed in claim 7, it is characterised in that：Shank axis pin base reinforcing plate (33) is also welded with the fixed connection place of shank axle sleeve (35) and shank stage casing (36), to increase The structural strength of the strong junction.
- A kind of 9. big carrying legged type robot leg structure as claimed in claim 2, it is characterised in that：The mid-thigh (28) of the thigh (2) is fixedly arranged above a compound otic placode of thigh and calf cylinder (22), the thigh and calf cylinder Compound otic placode (22) is welded together by thigh reinforcing plate (25) and thigh (2)；The both ends of the thigh cylinder (4) are be hinged with base pitch (1) and the compound otic placode of thigh and calf cylinder (22) respectively；The both ends of the shank cylinder (5) are be hinged with the compound otic placode of thigh and calf cylinder (22) and shank (3) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720491079.1U CN206856829U (en) | 2017-05-04 | 2017-05-04 | A kind of big carrying legged type robot leg structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720491079.1U CN206856829U (en) | 2017-05-04 | 2017-05-04 | A kind of big carrying legged type robot leg structure |
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| Publication Number | Publication Date |
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| CN206856829U true CN206856829U (en) | 2018-01-09 |
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| CN201720491079.1U Active CN206856829U (en) | 2017-05-04 | 2017-05-04 | A kind of big carrying legged type robot leg structure |
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| CN (1) | CN206856829U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965871A (en) * | 2017-05-04 | 2017-07-21 | 吉林大学 | A kind of big carrying legged type robot leg structure |
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2017
- 2017-05-04 CN CN201720491079.1U patent/CN206856829U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965871A (en) * | 2017-05-04 | 2017-07-21 | 吉林大学 | A kind of big carrying legged type robot leg structure |
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