CN207536013U - A kind of leg mechanism of robot - Google Patents

A kind of leg mechanism of robot Download PDF

Info

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
Authority
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
Application number
CN201721414866.2U
Other languages
Chinese (zh)
Inventor
徐文哲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
West Anhui University
Original Assignee
West Anhui University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by West Anhui University filed Critical West Anhui University
Priority to CN201721414866.2U priority Critical patent/CN207536013U/en
Application granted granted Critical
Publication of CN207536013U publication Critical patent/CN207536013U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Landscapes

  • Manipulator (AREA)

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

A kind of leg mechanism of robot
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.
CN201721414866.2U 2017-10-30 2017-10-30 A kind of leg mechanism of robot Expired - Fee Related CN207536013U (en)

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)

* Cited by examiner, † Cited by third party
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

Cited By (2)

* Cited by examiner, † Cited by third party
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

Similar Documents

Publication Publication Date Title
CN203941067U (en) A kind of pick-up unit for devitrified glass shock-testing
CN104924318B (en) A kind of vacuum cup machinery paw
CN205764580U (en) A kind of welding tool setup is with striking out clamp system
CN205764760U (en) A kind of auxiliary hold-down mechanism for engine line
CN206811841U (en) A kind of ignition lead astragal bag and shell combination press-loading apparatus
CN207536013U (en) A kind of leg mechanism of robot
CN107486091A (en) A kind of low leakage aluminum electrolysis capacitor working electrolytic solution Preparation equipment
CN208386320U (en) A kind of motor fixing device with shock-absorbing function for artificial intelligence robot
CN205600618U (en) Compress tightly into position frock utensil
CN204138270U (en) The self-powered platform of Novel car door taping machine
CN202894077U (en) Package riveting die of cylinder piece
CN207610630U (en) A kind of gunnery training target drone of automatic lifting and translation
CN207841382U (en) Mechanical arm for drawing small dimension jig
CN102615145A (en) Leveling device
CN204408913U (en) Automatic centering type Xue Panyawen mechanism
CN205587561U (en) Structure is snatched to punching press material loading platform secondary location
CN203998843U (en) Fork truck roller type side shifter
CN208948290U (en) A kind of double hydraulic cylinder Material moving device
CN209364545U (en) A kind of support device convenient for adjusting the furniture plastic rubber connector production of height
CN207957013U (en) A kind of iron pan movement robot
CN206170972U (en) Novel automatic trammels
CN207145879U (en) A kind of understructure of simple lifting movement
CN206839675U (en) A kind of fixture for being used to process decelerator mould assembling face
CN206436185U (en) A kind of rotatable pneumatic valve piston assembly tooling
CN206505971U (en) Machinery increase and decrease pressure self-locking device

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