CN207536013U - A kind of leg mechanism of robot - Google Patents
A kind of leg mechanism of robot Download PDFInfo
- Publication number
- CN207536013U CN207536013U CN201721414866.2U CN201721414866U CN207536013U CN 207536013 U CN207536013 U CN 207536013U CN 201721414866 U CN201721414866 U CN 201721414866U CN 207536013 U CN207536013 U CN 207536013U
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- CN
- China
- Prior art keywords
- plate
- telescoping tube
- leg
- robot
- side plate
- 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 leg mechanisms of robot, including bottom plate, a pair of side plates is connected on bottom plate vertically, the slot hole of perforation side plate is respectively provided in each side plate, the leg plate of robot is clamped between both side plate, leg plate is left, right side connecting shaft is pierced by from slot hole respectively, each connecting shaft shaft end is connected separately with connecting seat, it is vertically-mounted on bottom plate to have cylinder, piston rod upper end is separately fixed on connecting seat in each cylinder, bottom base plate is connected with pedestal, base center is equipped with central duct, central duct internal upper part is vertically-mounted rubber corrugated telescoping tube, rubber corrugated telescoping tube is connected by tracheae in each cylinder respectively, rubber corrugated telescoping tube lower end is connected with spring, lower spring end is connected with the supporting block got lodged in the aperture of central duct lower end.The utility model has the advantages that leg mechanism movement is quick, and can play the role of elastic buffer during the motion, improves the stationarity of movement.
Description
Technical field
The utility model is related to robot field, the leg mechanism of specifically a kind of robot.
Background technology
Robot is one of scientific technological advance comprehensive as a result, to being of great significance for social development generation.Machine
The motion structure of device people has two kinds of crawler type and double-feet, and the robot of foot sport structure generally has leg mechanism at present,
The walking of robot is realized by the action of leg mechanism.The leg mechanism of prior art biped robot is mostly rigid member, just
Property part moved in the case where robot fuselage upper drive mechanism drives, make robot ambulation, in the process of walking since rigid member can not
There is provided resilient support, there are robust motion it is poor the problem of.
Utility model content
The purpose of this utility model is to provide a kind of leg mechanism of robot, to solve prior art robot rigid member
The leg mechanism of composition there are robust motion it is poor the problem of.
In order to achieve the above object, technical solution is used by the utility model：
A kind of leg mechanism of robot, it is characterised in that：Including horizontally disposed bottom plate, it is connected with one vertically on bottom plate
To symmetrical side plate, the slot hole along left and right horizontal direction perforation side plate is respectively provided in each side plate, and slot hole is perpendicular
Nogata is clamped with the leg plate of robot to certain length between both side plate, leg plate left and right side is connected separately with connecting shaft, even
Axis is pierced by from the slot hole of symmetrical side side plate respectively, and each connecting shaft shaft end is connected separately with connecting seat, is located on the bottom plate every
Vertically-mounted respectively on the outside of a side plate to have a cylinder, piston rod upper end is fixed on respective side connection straight up respectively in each cylinder
On seat, the bottom base plate is connected with pedestal, and base center is equipped with central duct, and central duct internal upper part is vertically-mounted rubber
Bellows, the rubber corrugated telescoping tube are closed conduct structure, and rubber corrugated telescoping tube inner top is distinguished by tracheae
With being connected below each piston, rubber corrugated telescoping tube lower end is connected with spring, and lower spring end is connected with the center of getting lodged in
Supporting block in the aperture of duct lower end.
A kind of leg mechanism of the robot, it is characterised in that：Lower inner wall is respectively provided in each cylinder
The land of limiting piston.
A kind of leg mechanism of the robot, it is characterised in that：It is additionally provided between both side plate on the bottom plate
For the limited block of limiting leg plate.
A kind of leg mechanism of the robot, it is characterised in that：Concentrically axis is equipped with the central duct internal upper part
Elastic rubber set, concentrically axis is arranged in elastic rubber set the rubber corrugated telescoping tube, covers clamping rubber by elastic rubber
Bellows.
A kind of leg mechanism of the robot, it is characterised in that：Central duct lower end aperture is set as necking,
Supporting block bottom be equipped with the matched plug of undergauge mouth-shaped, and plug is blocked up in necking, by necking limited support block.
A kind of leg mechanism of the robot, it is characterised in that：The connecting shaft is square shaft.
A kind of leg mechanism of the robot, it is characterised in that：The tracheae extends to connect rubber in the soleplate
Bellows and cylinder.
During the utility model original state, piston drops to minimum point i.e. land position, and cylinder interior gas is pressed
It is reduced in rubber corrugated telescoping tube, makes rubber corrugated telescopic tube, while base end face, supporting block bottom surface are placed on ground,
Therefore the elongation of rubber corrugated telescoping tube can compress its spring between supporting block.
When the driving mechanism of robot fuselage drives leg plate to rise, leg plate is driven living in cylinder by connecting shaft, connecting seat
It rises beyond the Great Wall, since rubber corrugated telescoping tube is made up of closed gas circuit system tracheae and cylinder, in rubber corrugated telescoping tube
Gas, which can enter in cylinder, helps the lifting of leg plate, since gas is reduced in rubber corrugated telescoping tube, rubber corrugated telescoping tube
It is collapsible.The spring compressed simultaneously provides the power for squeezing rubber corrugated telescoping tube, and rubber corrugated telescoping tube is made further to stretch,
When leg plate rises to connecting shaft with slot hole upper-end contact, the lifting of leg plate can drive the lifting of entire leg mechanism.
When robot leg plate declines, decline piston, cylinder interior gas is pressed into rubber corrugated telescoping tube, rubber
The elongation of glue bellows squeezes spring, when pedestal finally when being contacted with ground, spring-compressed can be stored power.Therefore, gas is utilized
The closed gas circuit system that cylinder, rubber corrugated telescoping tube and internal gas are formed, cooperation spring can be realized in the process of walking
Elastic buffer acts on, and improves robust motion.
The utility model has the advantages that leg mechanism movement is quick, and can play elastic buffer during the motion
Effect improves the stationarity of movement.
Description of the drawings
FIG. 1 is a schematic structural view of the utility model.
Specific embodiment
As shown in Figure 1, a kind of leg mechanism of robot, including horizontally disposed bottom plate 1, be connected with vertically on bottom plate 1
A pair of symmetrical side plate 2 is respectively provided with the slot hole 3 along left and right horizontal direction perforation side plate 2 in each side plate 2, and long
Hole 3 has certain length in vertical direction, and the leg plate 4 of robot is clamped between both side plate 2, and 4 left and right side of leg plate connects respectively
There is connecting shaft 5, connecting shaft 5 is pierced by from the slot hole 3 of symmetrical side side plate 2 respectively, and each 5 shaft end of connecting shaft is connected separately with connecting seat 6, bottom
It is located at that 2 outside of each side plate is vertically-mounted respectively a cylinder 7 on plate 1, piston rod upper end is solid straight up respectively in each cylinder 7
It is scheduled on respective side connecting seat 6,1 bottom of bottom plate is connected with pedestal 8, and 8 center of pedestal is equipped with central duct 13, in central duct 13
Upper vertical is equipped with rubber corrugated telescoping tube 9, and rubber corrugated telescoping tube 9 is closed conduct structure, in rubber corrugated telescoping tube 9
By tracheae 10 respectively with being connected below each 7 inner carrier of cylinder, 9 lower end of rubber corrugated telescoping tube is connected with spring 11 at top,
11 lower end of spring is connected with the supporting block 12 got lodged in 13 lower end aperture of central duct.
Lower inner wall is respectively provided with the land 14 of limiting piston in each cylinder 7.
The limited block 15 for limiting leg plate 4 is additionally provided between both side plate 2 on bottom plate 1.
Concentrically axis is equipped with elastic rubber set 16 to 13 internal upper part of central duct, and concentrically axis is set rubber corrugated telescoping tube 9
In elastic rubber set 16, by 16 clamping rubber corrugated telescoping tube 9 of elastic rubber set.
13 lower end aperture of central duct is set as necking, and 12 bottom of supporting block is equipped with and the matched plug of undergauge mouth-shaped
17, and plug 17 is blocked up in necking, by necking limited support block 12.
Connecting shaft 5 is square shaft.
Tracheae 10 extends to connect rubber corrugated telescoping tube 9 and cylinder 7 in bottom plate 1.
Claims (7)
1. a kind of leg mechanism of robot, it is characterised in that：Including horizontally disposed bottom plate, it is connected with a pair vertically on bottom plate
Symmetrical side plate is respectively provided with the slot hole along left and right horizontal direction perforation side plate in each side plate, and slot hole is vertical
Direction has certain length, and the leg plate of robot is clamped between both side plate, and leg plate left and right side is connected separately with connecting shaft, connecting shaft
It is pierced by from the slot hole of symmetrical side side plate respectively, each connecting shaft shaft end is connected separately with connecting seat, is located on the bottom plate each
Vertically-mounted respectively on the outside of side plate to have a cylinder, piston rod upper end is fixed on respective side connecting seat straight up respectively in each cylinder
On, the bottom base plate is connected with pedestal, and base center is equipped with central duct, and central duct internal upper part is vertically-mounted rubber wave
Line telescoping tube, the rubber corrugated telescoping tube be closed conduct structure, rubber corrugated telescoping tube inner top by tracheae respectively with
It is connected below each piston, rubber corrugated telescoping tube lower end is connected with spring, and lower spring end, which is connected with, gets lodged in centre bore
Supporting block in the aperture of road lower end.
2. a kind of leg mechanism of robot according to claim 1, it is characterised in that：Lower inner wall point in each cylinder
The land of limiting piston She You be used for.
3. a kind of leg mechanism of robot according to claim 1, it is characterised in that：It is located at both side plate on the bottom plate
Between be additionally provided with for the limited block of limiting leg plate.
4. a kind of leg mechanism of robot according to claim 1, it is characterised in that：The central duct internal upper part is total to
Central shaft is equipped with elastic rubber set, and concentrically axis is arranged in elastic rubber set the rubber corrugated telescoping tube, by elastic rubber
Set clamping rubber corrugated telescoping tube.
5. a kind of leg mechanism of robot according to claim 1, it is characterised in that：Central duct lower end aperture
Be set as necking, supporting block bottom be equipped with the matched plug of undergauge mouth-shaped, and plug is blocked up in necking, is limited by necking
Position supporting block.
6. a kind of leg mechanism of robot according to claim 1, it is characterised in that：The connecting shaft is square shaft.
7. a kind of leg mechanism of robot according to claim 1, it is characterised in that：The tracheae extends in the soleplate
To connect rubber corrugated telescoping tube and cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721414866.2U CN207536013U (en) | 2017-10-30 | 2017-10-30 | A kind of leg mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721414866.2U CN207536013U (en) | 2017-10-30 | 2017-10-30 | A kind of leg mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207536013U true CN207536013U (en) | 2018-06-26 |
Family
ID=62611593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721414866.2U Expired - Fee Related CN207536013U (en) | 2017-10-30 | 2017-10-30 | A kind of leg mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207536013U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379670A (en) * | 2022-01-24 | 2022-04-22 | 哈尔滨工业大学 | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators |
-
2017
- 2017-10-30 CN CN201721414866.2U patent/CN207536013U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379670A (en) * | 2022-01-24 | 2022-04-22 | 哈尔滨工业大学 | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators |
| CN114379670B (en) * | 2022-01-24 | 2022-12-20 | 哈尔滨工业大学 | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators |
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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: 20180626 Termination date: 20181030 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |