CN206885200U - Robot leg sole running gear - Google Patents
Robot leg sole running gear Download PDFInfo
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- CN206885200U CN206885200U CN201720629776.9U CN201720629776U CN206885200U CN 206885200 U CN206885200 U CN 206885200U CN 201720629776 U CN201720629776 U CN 201720629776U CN 206885200 U CN206885200 U CN 206885200U
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- Prior art keywords
- sole
- running gear
- robot leg
- bearing block
- shank
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- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 210000002683 foot Anatomy 0.000 claims abstract description 26
- 210000001037 metacarpus Anatomy 0.000 claims abstract description 21
- 210000003423 ankle Anatomy 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims abstract description 14
- 230000002153 concerted effect Effects 0.000 claims abstract description 4
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 11
- 230000000694 effects Effects 0.000 description 8
- 238000004088 simulation Methods 0.000 description 7
- 230000007812 deficiency Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 210000003108 foot joint Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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Abstract
The utility model discloses a kind of robot leg sole running gear, including shank drive device and sole running gear；Shank drive device includes shin support panel and two groups of shank drive mechanisms；Two groups of shank drive mechanisms are fixedly connected on shin support panel both sides；Sole running gear includes Sole mechanism and ankle motion mechanism；Sole mechanism includes front foot metacarpus, sole portion and rear foot heel from one end to the other end；Connected between sole portion and front foot metacarpus by the first flexible hinge；Connected between sole portion and rear foot heel by the second flexible hinge；Ankle motion mechanism includes ball pivot and Hooke's hinge；Two groups of shank drive mechanisms are used to make a concerted effort to drive to drive Sole mechanism to rotate wobbling action by pin joint realization of ankle motion mechanism.Robot leg sole running gear provided by the utility model, it has, and skimulated motion action is various, and simulated performance is strong, highly reliable, all many technical advantages such as reasonable in design and practical.
Description
Technical field
It the utility model is related to robotic equipment technical field, more particularly to a kind of robot leg sole running gear.
Background technology
It is well known that robot is the automatic installations for performing work.Its task is assistance or substitution human work
Work, such as production industry, construction industry, or dangerous work.As the improvement of people's living standards, our daily life
Also increasingly us are helped to complete a few thing by robot, such as：The robot of job shop, the machine for performing task of taking photo by plane
Device people and anthropomorphic robot of simulation human body compound action etc.；
One of the high-end product of anthropomorphic robot as industry manufacture field, played for industrial intelligent process very heavy
The effect wanted.
Anthropomorphic robot has a wide range of applications field, and it can not only be carried out generation under the adverse circumstances such as poisonous, dust
People's operation, and in medical field, can also assist a physician and be performed the operation, while the effective rehabilitation of handicapped patients is helped, in addition
It is also of common occurrence in the field such as amusement and manual service.Anthropomorphic robot has advantage as is evident below compared to other robot：
Relatively wheeled first or caterpillar mobile robot, double feet walking anthropomorphic robot have more flexible locomitivity, Neng Goushi
Various complicated ground environments are answered, go beyond obstacle ability with stronger；And relatively common robot, anthropomorphic robot have more
Intellectuality, interactive capability can be better achieved.
Traditional anthropomorphic robot its in human foot joint mimics technical deficiency, traditional anthropomorphic robot's one be present
As all there was only simple sole structure, it can not realize that the torsion of complexity is realized in the similar human foot joint of simulation in three dimensions
The action such as turn, freely turn to, thus traditional anthropomorphic robot its still have technology in terms of human foot partial simulation and lack
Fall into；
Therefore, how to overcome the above-mentioned technological deficiency of traditional anthropomorphic robot is the skill that those skilled in the art are badly in need of solving
Art problem.
Utility model content
The purpose of this utility model is to provide a kind of robot leg sole running gear, to solve the above problems.
In order to achieve the above object, the technical solution of the utility model is realized in：
The utility model provides a kind of robot leg sole running gear, including shank drive device and sole walking
Device；
Wherein, the shank drive device includes shin support panel and two groups of shank drive mechanisms；Shank described in two groups drives
Motivation structure is fixedly connected on the shin support panel both sides；
Wherein, the sole running gear includes Sole mechanism and ankle motion mechanism；The Sole mechanism is from one end
Include front foot metacarpus, sole portion and rear foot heel to the other end；And the sole portion is planar structure；The front foot metacarpus with
The connection end in the sole portion is planar structure, and the other end of the remote connection end of the front foot metacarpus is arc surface structure；Institute
It is planar structure to state rear foot heel and the connection end in the sole portion, and the other end of the remote connection end of the rear foot heel is
Arc surface structure；And connected between the sole portion and the front foot metacarpus by the first flexible hinge；The sole portion and institute
State and connected by the second flexible hinge between rear foot heel；
The ankle motion mechanism includes ball pivot and Hooke's hinge；Wherein, the bottom of shank drive mechanism leads to described in two groups
The ball pivot is crossed to be respectively hinged in the sole portion；And the shin support panel is cut with scissors by the Hooke's hinge and the sole portion
Connect；Shank drive mechanism described in two groups is be hinged for making a concerted effort the driving drive Sole mechanism using the ankle motion mechanism
Point, which is realized, rotates wobbling action.
Preferably, can embodiment as one kind；The shank drive mechanism is included along the shin support panel from upper
The linear drive motor of order arrangement, electric machine support, shaft coupling, fixed end bearing block, feed screw nut, push rod, axle successively under and
Bearing, support end bearing block and ball-screw, fixed connecting rod；
Wherein, the electric machine support is fixedly connected on shin support panel；The linear drive motor is fixedly connected on electricity
Machine support, and ball screw turns are driven by shaft coupling；Pacify in the fixed end bearing block and the support end bearing block
Equipped with bearing；The both ends of the ball-screw are respectively protruding into the bearing in the fixed end bearing block and the support end bearing block
Endoporus is simultaneously rotatably assorted；The ball-screw coordinates with the feed screw nut forms ball-screw kinematic pair；The one of the push rod
End is fixedly connected on the feed screw nut, and the other end of the push rod, which is stretched into the bearing block, to be slidably matched, and passes through institute
Fixed connecting rod is stated to be connected with the sole running gear；
The head end of the fixed connecting rod is fixedly connected with the push rod, and the tail end of the fixed connecting rod and the sole row
Walking apparatus is fixedly connected.
Preferably, can embodiment as one kind；It is provided with the bearing block and is led for what the push rod was slidably matched
Xiang Kong.
Preferably, can embodiment as one kind；The push rod is specially cylindrical push rod, and the institute on the bearing block
It is cylindrical hole to state pilot hole；The external diameter of the internal diameter of the cylindrical hole of the bearing block and the push rod is adapted.
Preferably, can embodiment as one kind；The linear drive motor is specially servomotor.
Preferably, can embodiment as one kind；Engraved structure is provided with the surface of the shin support panel.
Preferably, can embodiment as one kind；The engraved structure is waist-shaped hole；And the institute on the shin support panel
The arragement direction for stating waist-shaped hole is set along the shin support panel bearing of trend.
Preferably, can embodiment as one kind；The both ends of the fixed connecting rod of the shank drive mechanism bottom lead to
The ball pivot is crossed to be connected between push rod and the sole portion.
Preferably, can embodiment as one kind；It is soft that the largest deformation amount of first flexible hinge is more than described second
The largest deformation amount of property hinge.
Preferably, can embodiment as one kind；Both sides pair of two groups of shank drive mechanisms along the shin support panel
Claim to set.
Compared with prior art, it is the advantages of the utility model embodiment：
A kind of robot leg sole running gear provided by the utility model, analysis the utility model embodiment provide
The primary structural configurations of robot leg sole running gear are understood：
Above-mentioned robot leg sole running gear is mainly made up of the structure such as shank drive device and sole running gear；
In concrete structure, the shank drive device includes shin support panel and two groups of shank drive mechanisms；Two groups of institutes
State shank drive mechanism and be fixedly connected on the shin support panel both sides；
The sole running gear includes Sole mechanism and ankle motion mechanism；The Sole mechanism is from one end to another
End includes front foot metacarpus, sole portion and rear foot heel；And the sole portion is planar structure；The front foot metacarpus and the pin
The connection end of plate portion is planar structure, and the other end of the remote connection end of the front foot metacarpus is arc surface structure；The rear foot
Heel and the connection end in the sole portion are planar structure, and the other end of the remote connection end of the rear foot heel is arc surface
Structure；And connected between the sole portion and the front foot metacarpus by the first flexible hinge；The sole portion and the rear foot
Connected between heel by the second flexible hinge；Shank drive mechanism described in two groups drives the pin by ankle motion mechanism
Slap mechanism for implementing 3 D auto go to action.
Wherein, shank drive mechanism is to drive the PTO of sole running gear rotational motion, shank driving machine
It is two groups to structure, is respectively fixedly connected with shin support panel both sides；Cut with scissors respectively by ball pivot the bottom of two groups of shank drive mechanisms
It is connected in sole portion and (forms two pin joints)；And shin support panel (forms the 3rd by the way that Hooke's hinge and sole portion are be hinged
Individual pin joint)；Two groups of shank drive mechanisms coordinate the be hinged effect of ankle motion mechanism simultaneously, are driven by three point articulated modes
It is dynamic to drive Sole mechanism to realize rotation wobbling action.So, can be completed pair by robot leg sole running gear
Human body lower limbs skimulated motion acts.
To sum up, robot leg sole running gear provided by the utility model, its compensate for conventional serial robot with
And the technical deficiency of conventional parallel robot, take into account both technical advantages.There is skimulated motion to act various, simulation for it
Can strong, highly reliable, all many technical advantages such as reasonable in design and practical.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the general assembly structural representation for the robot leg sole running gear that the utility model embodiment provides；
Fig. 2 is the local knot of the top half in the robot leg sole running gear that the utility model embodiment provides
Structure schematic diagram；
Fig. 3 is the local knot of the latter half in the robot leg sole running gear that the utility model embodiment provides
Structure schematic diagram；
Fig. 4 is the knot of the shank drive mechanism in the robot leg sole running gear that the utility model embodiment provides
Structure schematic diagram；
Fig. 5 is that the structure of the Sole mechanism in the robot leg sole running gear that the utility model embodiment provides is shown
It is intended to；
Label：
100- shank drive devices；110- shin support panels；120- shank drive mechanisms；1201- linear drive motors；
1202- electric machine supports；1203- shaft couplings；1204- fixes end bearing block；1205- feed screw nuts；1206- push rods；1207- bearings
Seat；1208- supports end bearing block；1209- ball-screws；1210- fixes connecting rod；
200- sole running gears；210- Sole mechanisms；2101- front foot metacarpus；2102- soles portion；2103- rear heels
Portion；The flexible hinges of 2104- first；The flexible hinges of 2105- second；220- ankle motions mechanism；2201- ball pivots；2202- Hookes
Hinge.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
The utility model is described in further detail below by specific examples of the implementation and with reference to accompanying drawing.
Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of robot leg sole running gear of the utility model embodiment offer,
Including shank drive device 100 and sole running gear 200；
The shank drive device 100 includes shin support panel 110 and two groups of shank drive mechanisms 120；It is small described in two groups
Leg drive mechanism 120 is fixedly connected on the both sides of shin support panel 110；
Wherein, Fig. 5 is see also, the sole running gear 200 includes Sole mechanism 210 and ankle motion mechanism 220；
The Sole mechanism 210 includes front foot metacarpus 2101, sole portion 2102 and rear foot heel 2103 from one end to the other end；And institute
It is planar structure to state sole portion 2102；The connection end in the front foot metacarpus 2101 and the sole portion 2102 is planar structure, institute
The other end for stating the remote connection end of front foot metacarpus 2101 is arc surface structure；The rear foot heel 2103 and the sole portion
2102 connection end is planar structure, and the other end of the remote connection end of the rear foot heel 2103 is arc surface structure；And
Connected between the sole portion 2102 and the front foot metacarpus 2101 by the first flexible hinge 2104；The sole portion 2102 with
Connected between the rear foot heel 2103 by the second flexible hinge 2105；In sole running gear structure；Two groups of shanks drive
Both sides of the motivation structure along the shin support panel are symmetrical arranged.
The ankle motion mechanism 220 includes ball pivot 2201 and Hooke's hinge 2202；Wherein, shank driving machine described in two groups
The bottom of structure is respectively hinged in the sole portion by the ball pivot 2201；And the shin support panel passes through the Hooke's hinge
2202 are hinged with the sole portion；Shank drive mechanism 120 described in two groups be used to making a concerted effort to drive drive the Sole mechanism 210 with
The ankle motion mechanism 220 is that pin joint realizes rotation wobbling action.It should be noted that need to illustrate on Hooke's hinge
, Hooke's hinge is the combination for two revolute pairs that axis passes through same point, and the hinge allows component to have two relative rotations
The free degree.Because it has, two independent angle ranges are larger, gap is small；The Hooke's hinge can be very good to adapt to be arranged on this practicality
On the primary structure for the robot leg sole running gear that new embodiment provides.
The primary structure for analyzing the robot leg sole running gear that the utility model embodiment provides is understood：
Above-mentioned robot leg sole running gear mainly employs serial mechanism and the configuration of parallel institution combination；It is small
Leg drive mechanism is to drive the PTO of sole running gear rotational motion, and it is two groups to shank drive mechanism, respectively
It is fixedly connected on shin support panel both sides；The bottom of two groups of shank drive mechanisms is respectively hinged in sole portion (i.e. by ball pivot
Form two pin joints)；And shin support panel is be hinged (forming the 3rd pin joint) by Hooke's hinge and sole portion；It is two groups small
Leg drive mechanism coordinates the be hinged effect of ankle motion mechanism simultaneously, is driven by three point articulated modes and drives Sole mechanism real
Now rotate wobbling action.So, can be completed to human body lower limbs skimulated motion by robot leg sole running gear
Action.
To sum up, robot leg sole running gear provided by the utility model, its compensate for conventional serial robot with
And the technical deficiency of conventional parallel robot, take into account both technical advantages.There is skimulated motion to act various, simulation for it
Can strong, highly reliable, all many technical advantages such as reasonable in design and practical.
The concrete structure of the robot leg sole running gear provided below the utility model embodiment and specific
Technique effect, which is done, to be described in detail：
In shank driving device structure；Fig. 4 is see also, the shank drive mechanism 120 is included along the shank branch
The fagging linear drive motor 1201 that order is arranged successively from top to bottom, electric machine support 1202, shaft coupling 1203, fixed end bearing
Seat 1204, feed screw nut 1205, push rod 1206, bearing block 1207, support end bearing block 1208 and ball-screw 1209, fixed company
Bar 1210；
Wherein, the electric machine support 1202 is fixedly connected on shin support panel；The linear drive motor 1201 is fixed
Electric machine support 1202 is connected to, and drives ball-screw 1209 to rotate by shaft coupling 1203；The fixed end bearing block 1204
Bearing is mounted on in the support end bearing block 1208；The both ends of the ball-screw 1209 are respectively protruding into the fixation
The brearing bore of end bearing block 1204 and the support end bearing block 1208 is simultaneously rotatably assorted；The ball-screw 1209 with it is described
Feed screw nut 1205, which coordinates, forms ball-screw kinematic pair；One end of the push rod 1206 is fixedly connected on the feed screw nut
On 1205, the other end of the push rod 1206, which is stretched into the bearing block 1207, to be slidably matched, and passes through the fixed connecting rod
1210 are connected with the sole running gear；
The head end of the fixed connecting rod 1210 is fixedly connected with the push rod 1206, and the tail end of the fixed connecting rod 1210
It is fixedly connected with the sole running gear.In ankle motion mechanism structure；The shank drive mechanism bottom it is described
The both ends of fixed connecting rod 1210 are connected between push rod and the sole portion by the ball pivot.
In shank driving device structure；It is provided with what is be slidably matched for the push rod 1206 on the bearing block 1207
Pilot hole.
The push rod 1206 is specially cylindrical push rod, and the pilot hole on the bearing block 1207 is logical for cylinder
Hole；The external diameter of the internal diameter of the cylindrical hole of the bearing block 1207 and the push rod 1206 is adapted.
It should be noted that it will be apparent that be provided with pilot hole on above-mentioned bearing block 1207, and the pilot hole is preferably using circle
Cylindricality through hole.1206 preferably cylindrical push rod of push rod simultaneously, so when push rod 1206 is being slidably matched on bearing block 1207
Using guarantee 1206 reciprocating stability of push rod.
In shank driving device structure；The linear drive motor 1201 is specially servomotor.
It should be noted that above-mentioned linear drive motor 1201 can select the motor using multiple structural forms, such as
Common electric machine, servomotor and stepper motor；But in the technical scheme of the present embodiment, linear drive motor 1201 is preferred
Use servomotor.The selection of servomotor also especially suitable linear drive motor 1201；Because servomotor cost is low, structure
Simply, detent torque is big, speed-regulating range width, controls easily, it is necessary to safeguard, but safeguard inconvenient (changing carbon brush), generation electromagnetism is done
Disturb, environment is required.Therefore it can be used for the general industry to cost sensitivity and civilian occasion.
In shank driving device structure；Engraved structure is provided with the surface of the shin support panel 110.
The engraved structure is waist-shaped hole；And the arragement direction of the waist-shaped hole on the shin support panel is along described
Shin support panel bearing of trend is set.
It should be noted that being provided with engraved structure on the surface of shin support panel, above-mentioned design has prominent technology
Effect；One side engraved structure can be advantageous to maintain the balance of shin support panel stress, and another aspect engraved structure can have
Mitigate weight beneficial to shin support panel, reduce the load that driving structure exports to it.
In sole running gear structure；It is flexible that the largest deformation amount of first flexible hinge 2104 is more than described second
The largest deformation amount of hinge 2105.
It should be noted that devising front foot metacarpus, sole portion and rear foot heel in Sole mechanism, and use flexible hinge
Chain link, the effect for slowing down ground shock power can be admirably achieved；At the same time it is preferably to simulate human foot part
Posture, can be some larger by the design of the largest deformation amount of the first flexible hinge 2104, second flexible hinge 2105
Largest deformation amount can be with more relatively small, because the Curved variable of front foot metacarpus is more than the bending of rear heel during human body walking
Deformation quantity；Such simulation effect is more notable and true to nature.
The robot leg sole running gear that the utility model embodiment provides has the technical advantage of following aspect：
First, the robot leg sole running gear that the utility model embodiment provides, it is mainly by shank drive device
Formed with structures such as sole running gears；In concrete structure, shank drive mechanism passes through ankle motion mechanism described in two groups
The Sole mechanism is driven to implement 3 D auto go to action.Shank drive mechanism is driving sole running gear rotational motion
PTO, it is two groups to shank drive mechanism, is respectively fixedly connected with shin support panel both sides；Two groups of shank driving machines
The bottom of structure is respectively hinged in sole portion by ball pivot and (forms two pin joints)；And shin support panel by Hooke's hinge with
Sole portion is be hinged (forming the 3rd pin joint)；Two groups of shank drive mechanisms coordinate the be hinged work of ankle motion mechanism simultaneously
With, by three point articulated modes drive drive Sole mechanism realize rotate wobbling action.So, robot leg pin is passed through
Palm running gear can be completed to act human body lower limbs skimulated motion.
To sum up, robot leg sole running gear provided by the utility model, its lightweight construction, transmission control letter
Single, outward appearance and the effect for functionally all reaching simulation human body foot traffic well；Therefore, robot provided by the utility model
Leg sole running gear, it has, and skimulated motion action is various, and simulated performance is strong, highly reliable, reasonable in design and real
With all many technical advantages such as property is strong.
Many significant technical advantages based on more than, robot leg sole running gear provided by the utility model will
Bring good market prospects and economic benefit.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of robot leg sole running gear, it is characterised in that including shank drive device and sole running gear；
Wherein, the shank drive device includes shin support panel and two groups of shank drive mechanisms；Shank driving machine described in two groups
Structure is fixedly connected on the shin support panel both sides；
Wherein, the sole running gear includes Sole mechanism and ankle motion mechanism；The Sole mechanism is from one end to another
One end includes front foot metacarpus, sole portion and rear foot heel；And the sole portion is planar structure；The front foot metacarpus with it is described
The connection end in sole portion is planar structure, and the other end of the remote connection end of the front foot metacarpus is arc surface structure；After described
Heel portion and the connection end in the sole portion are planar structure, and the other end of the remote connection end of the rear foot heel is circular arc
Face structure；And connected between the sole portion and the front foot metacarpus by the first flexible hinge；The sole portion with it is described after
Connected between heel portion by the second flexible hinge；
The ankle motion mechanism includes ball pivot and Hooke's hinge；Wherein, the bottom of shank drive mechanism passes through institute described in two groups
Ball pivot is stated to be respectively hinged in the sole portion；And the shin support panel is hinged by the Hooke's hinge and the sole portion；
Shank drive mechanism described in two groups is used to make a concerted effort to drive to drive the Sole mechanism using the ankle motion mechanism as pin joint
Realize and rotate wobbling action.
2. robot leg sole running gear as claimed in claim 1, it is characterised in that
The shank drive mechanism include along the shin support panel from top to bottom successively order arrangement linear drive motor,
Electric machine support, shaft coupling, fixed end bearing block, feed screw nut, push rod, bearing block, support end bearing block and ball-screw, fixation
Connecting rod；
Wherein, the electric machine support is fixedly connected on shin support panel；The linear drive motor is fixedly connected on motor branch
Frame, and ball screw turns are driven by shaft coupling；It is mounted in the fixed end bearing block and the support end bearing block
Bearing；The both ends of the ball-screw are respectively protruding into the brearing bore in the fixed end bearing block and the support end bearing block
And it is rotatably assorted；The ball-screw coordinates with the feed screw nut forms ball-screw kinematic pair；One end of the push rod is consolidated
Surely it is connected on the feed screw nut, the other end of the push rod, which is stretched into the bearing block, to be slidably matched, and by described solid
Determine connecting rod to be connected with the sole running gear；
The head end of the fixed connecting rod is fixedly connected with the push rod, and the tail end of the fixed connecting rod fills with sole walking
Put and be fixedly connected.
3. robot leg sole running gear as claimed in claim 2, it is characterised in that
The pilot hole being slidably matched for the push rod is provided with the bearing block.
4. robot leg sole running gear as claimed in claim 3, it is characterised in that
The push rod is specially cylindrical push rod, and the pilot hole on the bearing block is cylindrical hole；The bearing
The external diameter of the internal diameter and the push rod of the cylindrical hole of seat is adapted.
5. robot leg sole running gear as claimed in claim 2, it is characterised in that
The linear drive motor is specially servomotor.
6. robot leg sole running gear as claimed in claim 1, it is characterised in that
Engraved structure is provided with the surface of the shin support panel.
7. robot leg sole running gear as claimed in claim 6, it is characterised in that
The engraved structure is waist-shaped hole；And the arragement direction of the waist-shaped hole on the shin support panel is along the shank
Supporting plate bearing of trend is set.
8. robot leg sole running gear as claimed in claim 2, it is characterised in that
The both ends of the fixed connecting rod of the shank drive mechanism bottom are connected to push rod and institute by the ball pivot
State between sole portion.
9. robot leg sole running gear as claimed in claim 1, it is characterised in that
The largest deformation amount of first flexible hinge is more than the largest deformation amount of second flexible hinge.
10. robot leg sole running gear as claimed in claim 1, it is characterised in that
Both sides of two groups of shank drive mechanisms along the shin support panel are symmetrical arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720629776.9U CN206885200U (en) | 2017-05-31 | 2017-05-31 | Robot leg sole running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720629776.9U CN206885200U (en) | 2017-05-31 | 2017-05-31 | Robot leg sole running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206885200U true CN206885200U (en) | 2018-01-16 |
Family
ID=61321129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720629776.9U Expired - Fee Related CN206885200U (en) | 2017-05-31 | 2017-05-31 | Robot leg sole running gear |
Country Status (1)
| Country | Link |
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| CN (1) | CN206885200U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128397A (en) * | 2017-05-31 | 2017-09-05 | 地壳机器人科技有限公司 | Robot leg sole running gear |
| CN110104091A (en) * | 2019-05-22 | 2019-08-09 | 中南大学 | Two leg walking robot based on parallel institution |
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2017
- 2017-05-31 CN CN201720629776.9U patent/CN206885200U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128397A (en) * | 2017-05-31 | 2017-09-05 | 地壳机器人科技有限公司 | Robot leg sole running gear |
| CN110104091A (en) * | 2019-05-22 | 2019-08-09 | 中南大学 | Two leg walking robot based on parallel institution |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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