CN207360449U - A kind of adaptive vola mechanism of quadruped robot - Google Patents
A kind of adaptive vola mechanism of quadruped robot Download PDFInfo
- Publication number
- CN207360449U CN207360449U CN201720933649.8U CN201720933649U CN207360449U CN 207360449 U CN207360449 U CN 207360449U CN 201720933649 U CN201720933649 U CN 201720933649U CN 207360449 U CN207360449 U CN 207360449U
- Authority
- CN
- China
- Prior art keywords
- sole
- adaptive
- quadruped robot
- vola
- head cap
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of adaptive vola mechanism of quadruped robot, from top to bottom include upper sole and sole, it is connected between the upper sole and sole by some equally distributed hexagon socket head cap screws, the damping spring being cased with every hexagon socket head cap screw between upper sole and sole；Every hexagon socket head cap screw is flexibly connected by plain radial bearing with the upper sole.The utility model can solve the problems, such as that generally rigid vola landform adaptability is poor by the spring structure between two pieces of soles and plain radial bearing, be conducive to the adjustment of robot pose, improve robot to the adaptability of complicated ground and the service life of robot component.Adaptive ability is strong, easy to adjust quick, portable good, and structure is simple and easy to implement and is easy to safeguard.
Description
Technical field
It the utility model is related to quadruped robot field, more particularly to a kind of adaptive vola mechanism of quadruped robot.
Background technology
Robot foot designs have become a vital task of legged type robot design, its 26S Proteasome Structure and Function influences machine
The kinetic stability of device people and flexibility, and the adaptability to complex environment.Traditional method is typically to be designed to just
Body, robot is without any buffer unit and directly and ground shock.This design will reduce the service life of robot component,
It is irregular to shake the control device that also damage robot.Rigid foot's designing scheme is unfavorable for the adjustment of robot pose,
Robot is reduced to the adaptability of complicated ground and reduces the service life of robot component.So design a kind of adaptive ability
By force, it is easy to adjust quick, it is portable good, and the quadruped robot sole structure easy to safeguard is necessary.
Utility model content
The adaptive vola of the quadruped robot of the utility model aims to overcome that the deficiencies in the prior art,
One kind is provided and adapts to various landform, the adaptive vola mechanism that small obstacle remains to keep robot fuselage parallel is run into, with solution
Certainly generally rigid vola landform adaptability is weak and the problem of the service life is low.
New technical solution is realized in used by above-mentioned technical problem to be solved in the utility model：
The adaptive vola mechanism of a kind of quadruped robot, from top to bottom including upper sole and sole, the upper sole
It is connected between sole by some equally distributed hexagon socket head cap screws, is cased with being located at upper foot on every hexagon socket head cap screw
Damping spring between plate and sole；Every hexagon socket head cap screw is connected by plain radial bearing and the upper sole activity
Connect.
Further, it is connected between the upper sole and sole by three equally distributed hexagon socket head cap screws.
Further, the sole is installed on the hexagon socket head cap screw by variable-diameter block, and the variable-diameter block is solid up and down
Surely have and the matched stop nut of the hexagon socket head cap screw.
Further, the bottom surface of the sole is evenly arranged with some replaceable slip-proofing devices.
Further, the slip-proofing device includes three pieces of columnar non-slip mats, and the non-slip mat 4 is uniformly divided in triangle
Cloth.
Further, the non-slip mat is using rubber antiskid pad, PVC non-slip mats, PU non-slip mats, AB glue non-slip mat, silicon
Glue non-slip mat or magic power glue non-slip mat.
Further, the hollow-out parts for mitigating dead weight are both provided with the upper sole and sole.
Further, the sole is circular plate-like shape structure.
Further, the upper sole and sole are aluminum alloy materials.
Compared with prior art, the utility model can pass through the spring structure and plain radial bearing solution between two pieces of soles
The problem of certainly generally rigid vola landform adaptability is poor, is conducive to the adjustment of robot pose, improves robot to intricately
The adaptability in face and the service life of robot component.Adaptive ability is strong, easy to adjust quick, portable good, simple in structure
Easily realize and easy to safeguard.
Brief description of the drawings
Fig. 1 is the overall structure schematic front view of the utility model embodiment.
Fig. 2 is the overall structure schematic perspective view of the utility model embodiment.
The label declaration of parts in schematic diagram：
1- damping springs, 2- stop nuts, 3- soles, 4- non-slip mats, 5- variable-diameter blocks, 6- plain radial bearings, on 7-
Sole, 8- hexagon socket head cap screws.
Embodiment
Below in conjunction with the accompanying drawings, the technical solution of the utility model is described further.
As depicted in figs. 1 and 2, the adaptive vola mechanism of a kind of quadruped robot, from top to bottom including upper sole 7 and circle
The sole 3 of shape platy structure, is connected between the upper sole 7 and sole 3 by three equally distributed hexagon socket head cap screws 8
Connect, the damping spring 1 being cased with every hexagon socket head cap screw 8 between upper sole 7 and sole 3；Every hexagon socket head cap screw 8
It is flexibly connected by plain radial bearing 6 with the upper sole 7.
The sole 3 is installed on the hexagon socket head cap screw 8 by variable-diameter block 5, the variable-diameter block be fixed with about 5 with
The matched stop nut 2 of hexagon socket head cap screw 8, also effectively prevents from loosening after screwing.
The bottom surface of the sole 3 is evenly arranged with three pieces of replaceable columnar non-slip mats 4, for increase and road surface
Frictional force, the non-slip mat 4 is uniformly distributed in triangle, anti-skidding using rubber antiskid pad, PVC non-slip mats, PU non-slip mats, AB glue
Pad, silica-gel antiskid pad or magic power glue non-slip mat.
In addition, being both provided with hollow-out parts on the upper sole 7 and sole 3, while mechanical strength is not influenced, subtract
Light dead-weight.
In the present embodiment, the upper sole 7 and sole 3 are aluminum alloy materials, can further mitigate vola mechanism
Dead weight.
, can be by selecting the damping spring 1 of different coefficient of elasticity for different heavy burdens and pavement behavior, or pass through
Stop nut 2 suitably adjusts the distance of sole 7 and sole 3 to be adapted to, and larger or road surface of such as bearing a heavy burden is concavo-convex tighter
In weight, the larger damping spring of coefficient of elasticity can be selected or make sole 7 and 3 spacing of sole slightly larger, so as to effectively absorb
Impact force.
1 operation principle and process for being expanded on further the present embodiment below in conjunction with the accompanying drawings：
The present embodiment is installed on to the foot of quadruped robot by upper sole 7.When the road of robot motion to out-of-flatness
During face, three pieces of non-slip mats 4 on sole 7 can be that robot motion improves enough frictional force, and pass through 1 He of damping spring
Plain radial bearing 6 makes relative motion between sole 7 and hexagon socket head cap screw 8, is adapted to various landform and is running into small barrier
It can still keep fuselage to balance when hindering, effectively absorb impact force, be conducive to the adjustment of robot pose, improve robot to complexity
The adaptability on ground and the service life of robot component.
Above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to the embodiment of the utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.
All any modification, equivalent and improvement made where within the spirit and principles of the present invention etc., should be included in this reality
Within new scope of the claims.
Claims (9)
- A kind of 1. adaptive vola mechanism of quadruped robot, it is characterised in that：From top to bottom include upper sole (7) and sole (3), it is connected between the upper sole (7) and sole (3) by some equally distributed hexagon socket head cap screws (8), in every The damping spring (1) being cased with hex bolts (8) between upper sole (7) and sole (3)；Every hexagon socket head cap screw (8) it is flexibly connected by plain radial bearing (6) with the upper sole (7).
- 2. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The upper sole (7) It is connected between sole (3) by three equally distributed hexagon socket head cap screws (8).
- 3. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The sole (3) It is installed on by variable-diameter block (5) on the hexagon socket head cap screw (8), the variable-diameter block (5) is fixed with and the interior hexagonal spiral shell up and down Bolt (8) matched stop nut (2).
- 4. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The sole (3) bottom surface is evenly arranged with some replaceable slip-proofing devices.
- 5. the adaptive vola mechanism of quadruped robot according to claim 4, it is characterised in that：The slip-proofing device Including three pieces of columnar non-slip mats (4), the non-slip mat (4) is uniformly distributed in triangle.
- 6. the adaptive vola mechanism of quadruped robot according to claim 5, it is characterised in that：The non-slip mat (4) rubber antiskid pad, PVC non-slip mats, PU non-slip mats, AB glue non-slip mat, silica-gel antiskid pad or magic power glue non-slip mat are used.
- 7. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The upper sole (7) and on sole (3) hollow-out parts for mitigating dead weight are both provided with.
- 8. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The sole (3) it is circular plate-like shape structure.
- 9. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The upper sole (7) and sole (3) is aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720933649.8U CN207360449U (en) | 2017-07-29 | 2017-07-29 | A kind of adaptive vola mechanism of quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720933649.8U CN207360449U (en) | 2017-07-29 | 2017-07-29 | A kind of adaptive vola mechanism of quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207360449U true CN207360449U (en) | 2018-05-15 |
Family
ID=62422867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720933649.8U Expired - Fee Related CN207360449U (en) | 2017-07-29 | 2017-07-29 | A kind of adaptive vola mechanism of quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207360449U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107416065A (en) * | 2017-07-29 | 2017-12-01 | 华南理工大学 | A kind of adaptive vola mechanism of quadruped robot |
-
2017
- 2017-07-29 CN CN201720933649.8U patent/CN207360449U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107416065A (en) * | 2017-07-29 | 2017-12-01 | 华南理工大学 | A kind of adaptive vola mechanism of quadruped robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180515 Termination date: 20190729 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |