CN207060207U

CN207060207U - Legged type robot leg mechanism

Info

Publication number: CN207060207U
Application number: CN201720915230.XU
Authority: CN
Inventors: 陈曦
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-07-26
Filing date: 2017-07-26
Publication date: 2018-03-02
Anticipated expiration: 2027-07-26

Abstract

The utility model discloses a kind of legged type robot leg mechanism, body includes upper plate and the lower plate be arrangeding in parallel, and driving joint is fixed with body, drives joint input and motor connection, driving joint output end and output axis connection；Multiple six circular arc cams are fixedly connected with an output shaft, each six circular arc cam is connected in corresponding square groove, square groove is fixedly connected with one end of corresponding sliding bar, the other end of sliding bar is connected with sliding ball angle mechanism, one end of sliding ball angle mechanism and connecting rod connects, connecting rod is installed on the rotating shaft by small axle, rotary shaft is arranged between upper plate and lower plate by bearing, the other end of connecting rod is provided with walking leg, and the length of corresponding sliding bar is set according to the installation site of different walking legs.A plurality of walking leg is controlled by power source, it is simple in construction, in light weight, small volume, amphibious environment is taken into account, the problem of it is excessive to solve the power source of multi-foot robot in the prior art, very flexible, and range of movement is limited.

Description

Legged type robot leg mechanism

Technical field

The utility model belongs to robotic technology field, is related to a kind of legged type robot leg mechanism, applied to polypody machine Device people, it can be used for simulating the foot movement of the biological for polypodies such as sea crab, spider.

Background technology

The continuous progress and development of the subjects such as aquatic bionic, robotics, mechanical kinetics, many demands of society Be continuously increased, polypody bio-robot because its is adaptable, be widely used the features such as mechanical field study hotspot.It is more Sufficient bio-robot can stably move at a high speed under Various Complex surface conditions.With the artificial platform of polypody bionic machine, take Different Work tools is carried, can be removed mines, welded, the dangerous property such as pipeline cleaning, biological specimen collection, bad environments Work.Walking leg realizes the main portions of function as multi-foot robot, and the design for sufficient formula structure is bionical polypody machine The most important thing of people's design.The structure of existing bionical multi-foot robot is excessively complicated, power source is excessive, so as to cause robot mistake Weight, it is difficult to reach miniaturization, the actual demand that flexibility is strong, range of movement is wide；And current legged type robot mostly can not Take into account amphibious environment.

Utility model content

In order to achieve the above object, the utility model provides a kind of legged type robot leg mechanism, passes through a power source A plurality of walking leg is controlled, it is simple in construction, in light weight, small volume, amphibious environment is taken into account, solve multi-foot robot in the prior art Power source it is excessive, very flexible, the problem of range of movement is limited.

The utility model is the technical scheme adopted is that a kind of legged type robot leg mechanism, it is characterised in that including machine Body, body include upper plate and the lower plate be arrangeding in parallel, driving joint are fixed with body, drive diarthrodial input and connect with motor Connect, drive diarthrodial output end and output axis connection；Multiple six circular arc cams are fixedly connected with an output shaft, each six circle Arc cam is connected in corresponding square groove, and square groove is fixedly connected with one end of corresponding sliding bar, sliding bar it is another End is connected with sliding ball angle mechanism, and one end connection of sliding ball angle mechanism and connecting rod, this one end of connecting rod is arranged on by small axle In rotary shaft, rotary shaft is arranged between upper plate and lower plate by bearing, and the other end of connecting rod is provided with walking leg；According to difference The installation site of walking leg sets the length of corresponding sliding bar, is equipped with the middle part of each sliding bar and prolongs respectively to upper plate, lower plate The wing plate stretched, self-lubricating material corresponding with wing plate is respectively equipped with upper plate and lower plate, along the length direction of upper plate and lower plate The chute of system, the end of wing plate are engaged and installed in chute.

Of the present utility model to be further characterized in that, further, the sliding ball angle mechanism includes U-shaped big support and U-shaped Small rack, be equipped with ring buckle on the inside of two of big support U-shaped sides, small rack is stuck in the U-shaped of big support by ring buckle and opened It is intraoral, it is provided with second bearing between small rack and big support, baffle plate is fixed with by fastening nail at the U-shaped opening of small rack, keeps off Rotating ball is stuck in the U-shaped opening of small rack by plate and 3rd bearing, between rotating ball and small rack, between rotating ball and baffle plate It is equipped with 3rd bearing；Big support is connected with sliding bar, and one end connection of rotating ball and connecting rod, the other end of connecting rod is provided with step Row foot, the middle part of connecting rod are rotatablely connected by clutch shaft bearing and small axle, the mounting hole of radial direction are provided with rotary shaft, small axle passes through peace Hole is vertical with rotary shaft is fixedly connected for dress.

Further, the wing plate end is circular arc.

Further, more support columns are provided between the upper plate and lower plate, in the outer surface of upper plate and lower plate, with supporting Post corresponding position is equipped with gland.

Further, it is described driving joint be fixed on by fore-stock and after-poppet in body, driving joint respectively with control Device processed, remote control connection, controller, remote control are installed on body.

Further, encoder is housed, to gather the reading of driving joint output revolutions on the output shaft.

Further, chute gland is provided with the outer surface of the upper plate and lower plate, chute, bearing is distinguished by gland It is fixedly connected with upper plate, lower plate.

Further, the sufficient end of the walking leg is provided with toe.

Further, the multiple six circular arc cam is arranged in order from inside to outside in sequence on an output shaft, often The hole coordinated with output shaft is offered on individual six circular arc cam.

The beneficial effects of the utility model are：The utility model includes body and multiple leg mechanisms, is fixed with body Joint is driven, each leg mechanism includes six circular arc cams, and it is diarthrodial defeated that multiple six circular arc cams are connected to a drive On shaft, each six circular arc cam is connected in corresponding square groove, and square groove is fixed with one end of corresponding sliding bar to be connected Connect, the other end of sliding bar is connected with sliding ball angle, and one end connection of sliding ball angle and connecting rod, connecting rod is arranged on by small axle to be turned On moving axis, the other end of connecting rod is provided with walking leg；The length of corresponding sliding bar is set according to the installation site of different walking legs, It is equipped with the middle part of each sliding bar respectively to upper plate, the wing plate of lower plate extension, on upper plate and lower plate, along upper plate and lower plate Length direction is respectively equipped with chute corresponding with wing plate, and the end of wing plate is engaged and installed in chute.Each leg mechanism passes through The walking movement of six circular arc cams and the corresponding walking leg of sliding ball angle mechanism controls, multiple leg mechanisms control multiple walking legs Walking movement, realize and control a plurality of walking leg to walk by a power source, the compound movement of biological for polypody can be imitated, have There are simple in construction, in light weight, small volume, efficiency high, low cost and other advantages.

The utility model uses Modular Structure Design, and driving joint is waterproof driving device, environment can be made under water With so that the utility model can the operation under amphibious environment, flexibility is strong, and range of movement is wide.

Brief description of the drawings

, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work Under, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is the front view of the utility model single group leg mechanism；

Fig. 2 is the right view of the utility model single group leg mechanism；

Fig. 3 is the structural representation of the utility model body；

Fig. 4 is the front view of sliding ball angle mechanism；

Fig. 5 is the right view of sliding ball angle mechanism；

Fig. 6 is the motion principle figure of six circular arc cam mechanisms；

Fig. 7 is the kinematic sketch of six circular arc cam mechanisms；

Fig. 8 is the structural representation of sliding ball angle driving walking leg motion；

Fig. 9 is the structural representation that a driving joint drives three walking legs.

In figure, 1-1. upper plates, 1-2. lower plates, 2. 6 circular arc cams, 3. sliding bars, 4. walking legs, 5. connecting rods, 6. rotate Axle, 7. small axles, 8. clutch shaft bearings, 9. glands, 10. toes, 11. support columns, 12. chutes, 13. sliding ball angle mechanisms, 14. codings Device, 15. fore-stocks, 16. driving joints, 17. after-poppets, 18. chute glands, 19. bearings, 20. big supports, 21. small racks, 22. second bearing, 23. baffle plates, 24. rotating balls, 25. fastening nails, 26. 3rd bearings, 27. output shafts, 28. wing plates.

Embodiment

Below in conjunction with the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out it is clear, It is fully described by, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole implementation Example.Based on the embodiment in the utility model, those of ordinary skill in the art are obtained under the premise of creative work is not made The every other embodiment obtained, belong to the scope of the utility model protection.

The structure of the utility model single group leg mechanism, as Figure 1-3, including body and a leg mechanism, body Including the upper plate 1-1 and lower plate 1-2 be arrangeding in parallel, upper plate 1-1 and lower plate 1-2 can use carbon fiber, lucite, aluminium alloy Or stainless steel material is made, more support columns 11 are provided between upper plate 1-1 and lower plate 1-2, in the outer of upper plate 1-1 and lower plate 1-2 Surface and the corresponding position of support column 11 are equipped with gland 9；Driving joint 16 is fixed on body by fore-stock 15 and after-poppet 17 Interior, driving joint 16 is connected with controller, remote control respectively, and controller, remote control are installed in upper plate 1-1, lower plate 1-2 On, the input and motor connection in joint 16 are driven, drives the output end in joint 16 to be connected with output shaft 27, is filled on output shaft 27 There is encoder 14, to gather the reading of the driving output revolutions of joint 16；Leg mechanism includes six circular arc cams 2, and six circular arcs are convex Wheel 2 is fixedly connected with output shaft 27, and six circular arc cams 2 are connected in square groove, can be rotated in square groove, square groove and cunning One end of lever 3 is fixedly connected, and the other end of sliding bar 3 is connected with sliding ball angle mechanism 13, and the middle part of sliding bar 3 is provided with difference The wing plate 28 extended to upper plate 1-1, lower plate 1-2, is equipped with chute 12 corresponding with wing plate 28 on upper plate 1-1, lower plate 1-2, Length direction of the chute 12 along upper plate 1-1, lower plate 1-2 is set, and is provided with upper plate 1-1 and lower plate 1-2 outer surface, chute 12 Chute gland 18, the end of wing plate 28 are engaged and installed in chute 12, can be slided in chute 12, and the end of wing plate 28 is circular arc；It is sliding Dong Qiu angles mechanism 13 is connected with one end of connecting rod 5, and the other end of connecting rod 5 is provided with walking leg 4, and the sufficient end of walking leg 4 is provided with foot Point 10, play damping and slide-prevention effect；Connecting rod 5 is arranged in rotary shaft 6 by small axle 7, and rotary shaft 6 is arranged on upper by bearing 19 Between plate 1-1 and lower plate 1-2；Bearing 19 is fixedly connected with upper plate 1-1, lower plate 1-2 respectively by gland 9, for positioning, is fixed Rotary shaft 6.

Sliding ball angle mechanism 13 is a kind of gyroscope-like structure that can realize space multiple degrees of freedom transmission campaign, and structure is as schemed Shown in 4-5, including big support 20 and small rack 21, big support 20 and small rack 21 are U-shaped, and small rack 21 is stuck in big support 20 U-shaped opening in, be equipped with ring buckle on the inside of two of big support 20 U-shaped sides, small rack 21 is stuck in support 20 by ring buckle U-shaped opening in, be provided with second bearing 22 between small rack 21 and big support 20, big support 20 is buckled in one by identical two parts It is U-shaped to play composition so that second bearing 22 and small rack 21 can be snapped together in assembling；The U-shaped opening of small rack 21 Place 25 is fixed with baffle plate 23 by fastening nail, and rotating ball 24 is stuck in the U-shaped opening of small rack 21 by baffle plate 23, rotating ball 24 with Between small rack 21,3rd bearing 26 is equipped between rotating ball 24 and baffle plate 23, second bearing 22,3rd bearing 26 play Reduce friction, make the more smooth effect of rotation；Big support 20 is connected with sliding bar 3, and rotating ball 24 is connected with one end of connecting rod 5, The other end of connecting rod 5 is provided with walking leg 4, and the middle part of connecting rod 5 is rotatablely connected by clutch shaft bearing 8 and small axle 7, in rotary shaft 6 The mounting hole of radial direction is provided with, small axle 7 is fixedly connected by the way that mounting hole is vertical with rotary shaft 6.

The motion principle of the utility model legged type robot leg mechanism, as shown in figs 6-8, six circular arc cams 2 are with driving The output shaft 27 in joint 16 rotates together, while six circular arc cams 2 slide in square groove, and six circular arc cams 2 are due to eccentric special Property, drive sliding bar 3 to move back and forth in the horizontal plane, while swung up and down in vertical plane, the end of wing plate 28 is circular arc, just Swung up and down in sliding bar 3 in perpendicular；Two wing plates 28 of sliding bar 3 slide in chute 12, and chute 12 limits The free degree of the sliding bar 3 along upper plate 1-1, lower plate 1-2 width, make sliding bar 3 can only be along upper plate 1-1, lower plate 1-2 length Degree side carries out horizontal reciprocating movement and vertically swung.When length direction of the sliding bar 3 along upper plate 1-1, lower plate 1-2 enters water-filling It is flat that sliding bar 3 drives big support 20 to be synchronized with the movement when moving back and forth and vertically swinging, the big horizontal reciprocating movement of support 20 and Vertically swing, small rack 21 rotates in the presence of second bearing 22 around the axis of vertical direction, and rotating ball 24 is around water Square to axis rotated in small rack 21, the horizontal reciprocating movement of rotating ball 24 is converted to promotion by the limitation of rotary shaft 6 and connected Bar 5, small axle 7 rotate around the horizontal reciprocating of rotary shaft 6；The middle part of connecting rod 5 is rotatablely connected by clutch shaft bearing 8 and small axle 7 so that even Bar 5 can smoothly rotate around small axle 7, and the vertically swing drivening rod 5 of rotating ball 24 vertically turns around small axle 7 Dynamic, the vertically rotation of connecting rod 5 rotates with horizontal reciprocating to be synthesized on walking leg 4, forms three dimensions geometric locus so that Walking leg 4 realizes walking movement.

One driving joint 16 drives the structure of three walking legs 4, as shown in figure 9, including three foot mechanisms, each foot Portion mechanism includes six circular arc cams 2, and output shaft 27 of multiple six circular arc cams 2 with a driving joint 16 is connected, often The outside of individual six circular arc cam 2 is arranged with square groove, and square groove is fixedly connected with one end of corresponding sliding bar 3, sliding bar 3 The other end connected with corresponding sliding ball angle mechanism 13, sliding ball angle mechanism 13 is connected with one end of connecting rod 5, and connecting rod 5 passes through Small axle 7 is arranged in rotary shaft 6, and the other end of connecting rod 5 is connected with walking leg 4；Set according to the installation site of different walking legs 4 The length of sliding bar 3, the middle part of each sliding bar 3 is equipped with the wing plate 28 extended respectively to upper plate 1-1, lower plate 1-2, in upper plate Chute 12 corresponding with wing plate 28, wing plate are respectively equipped with 1-1 and lower plate 1-2, along upper plate 1-1 and lower plate 1-2 length direction 28 end is engaged and installed in chute 12.

One driving joint 16 controls the motion principle of a plurality of walking leg：Driving joint 16 drives output shaft 27 to rotate, often Individual six circular arc cam 2 drive corresponding to sliding bar 3 moves back and forth in the horizontal plane and vertical plane in swing up and down, sliding bar 3 and The connection end of sliding ball angle mechanism 13 drives sliding ball angle mechanism 13 to be synchronized with the movement, the horizontal reciprocating movement of sliding ball angle mechanism 13 Being converted to by the limitation of rotary shaft 6 promotes connecting rod 5, small axle 7 to be rotated around the horizontal reciprocating of rotary shaft 6；The middle part of connecting rod 5 passes through first axle Hold 8 to be rotatablely connected with small axle 7 so that connecting rod 5 smoothly can vertically rotate around small axle 7, and connecting rod 5 vertically turns Dynamic rotated with horizontal reciprocating is synthesized on walking leg 4 so that walking leg 4 realizes walking movement, i.e., each six circular arc cam 2 drives One walking leg 4 does walking movement；The bias of multiple six circular arc cams 2 is both connected to a driving joint 16 by the utility model Output shaft 27 on, multiple six circular arc cams 2 drive a plurality of walking leg 4 to do walking movement, you can realize one driving joint 16 (power source) controls a plurality of walking leg 4 to walk, and greatly reduces robot weight, simplifies structure, reduces volume so that The flexibility of robot is stronger, and range of movement is wider.

During actual motion, a plurality of leg is not while moved to equidirectional animal, and we are by same nesting Foot mechanism above machine be divided into it is multigroup, each group by one driving joint control；So, it is multiple to drive joint different directions not The rotation of same frequency, it is achieved that the different frequency of multigroup foot mechanism towards different directions moves.

Multiple cams 2 of each group of foot mechanism are both connected to above the output shaft 27 in same driving joint 16, according to suitable Sequence is arranged in order from inside to outside.The hole coordinated with output shaft 27 is offered on each six circular arc cam 2, is easy to connect with output shaft 27 Connect firmly；Motion phase that the position in hole is actually needed according to foot mechanism determines.

Preferred embodiment of the present utility model is the foregoing is only, is not intended to limit protection model of the present utility model Enclose.All made within spirit of the present utility model and principle any modification, equivalent substitution and improvements etc., are all contained in this reality With in new protection domain.

Claims

1. a kind of legged type robot leg mechanism, it is characterised in that including body, body includes the upper plate (1-1) be arrangeding in parallel With lower plate (1-2), driving joint (16) is fixed with body, drives the input and motor connection of joint (16), drives joint (16) output end is connected with output shaft (27)；Multiple six circular arc cams (2) are fixedly connected with an output shaft (27), each Six circular arc cams (2) are connected in corresponding square groove, and square groove is fixedly connected with the one end of corresponding sliding bar (3), sliding The other end of lever (3) is connected with sliding ball angle mechanism (13), and sliding ball angle mechanism (13) is connected with one end of connecting rod (5), even This one end of bar (5) is arranged in rotary shaft (6) by small axle (7), and rotary shaft (6) is arranged on upper plate (1- by bearing (19) 1) between lower plate (1-2), the other end of connecting rod (5) is provided with walking leg (4)；According to the installation site of different walking legs (4) The length of corresponding sliding bar (3) is set, is equipped with the middle part of each sliding bar (3) and prolongs respectively to upper plate (1-1), lower plate (1-2) The wing plate (28) stretched, set respectively on upper plate (1-1) and lower plate (1-2), along the length direction of upper plate (1-1) and lower plate (1-2) There is the chute (12) of self-lubricating material corresponding with wing plate (28), the end of wing plate (28) is engaged and installed in chute (12).

A kind of 2. legged type robot leg mechanism according to claim 1, it is characterised in that the sliding ball angle mechanism (13) include U-shaped big support (20) and U-shaped small rack (21), annular is equipped with the inside of two U-shaped sides of big support (20) Button, small rack (21) are stuck in the U-shaped opening of big support (20) by ring buckle, set between small rack (21) and big support (20) There is a second bearing (22), baffle plate (23) is fixed with by fastening nail (25) at the U-shaped opening of small rack (21), baffle plate (23) and the Rotating ball (24) is stuck in the U-shaped opening of small rack (21) by three bearings (26), between rotating ball (24) and small rack (21), is turned It is dynamic that 3rd bearing (26) is equipped between ball (24) and baffle plate (23)；Big support (20) is connected with sliding bar (3), rotating ball (24) It is connected with one end of connecting rod (5), the other end of connecting rod (5) is provided with walking leg (4), and connecting rod passes through clutch shaft bearing in the middle part of (5) (8) it is rotatablely connected with small axle (7), the mounting hole of radial direction is provided with rotary shaft (6), small axle (7) passes through mounting hole and rotary shaft (6) Vertically it is fixedly connected.

A kind of 3. legged type robot leg mechanism according to claim 1, it is characterised in that the end of the wing plate (28) For circular arc.

A kind of 4. legged type robot leg mechanism according to claim 1, it is characterised in that the upper plate (1-1) and under More support columns (11) are provided between plate (1-2), in the outer surface of upper plate (1-1) and lower plate (1-2), corresponding with support column (11) Place is equipped with gland (9).

5. a kind of legged type robot leg mechanism according to claim 1, it is characterised in that driving joint (16) is logical Cross fore-stock (15) and after-poppet (17) is fixed in body, driving joint (16) is connected with controller, remote control respectively, is controlled Device processed, remote control are installed on body.

6. a kind of legged type robot leg mechanism according to claim 1, it is characterised in that filled on the output shaft (27) There is encoder (14), to gather the reading of driving joint (16) output revolutions.

A kind of 7. legged type robot leg mechanism according to claim 1, it is characterised in that in the upper plate (1-1) and Outer surface, chute (12) place of lower plate (1-2) are provided with chute gland (18), bearing (19) by gland (9) respectively with upper plate (1- 1), lower plate (1-2) is fixedly connected.

A kind of 8. legged type robot leg mechanism according to claim 1, it is characterised in that the foot of the walking leg (4) End is provided with toe (10).

A kind of 9. legged type robot leg mechanism according to claim 1, it is characterised in that the multiple six circular arc cam (2) it is arranged in order from inside to outside in sequence on an output shaft (27), offers and export on each six circular arc cam (2) The hole that axle (27) coordinates.