CN207889864U - A kind of series-parallel connection pedipulator - Google Patents
A kind of series-parallel connection pedipulator Download PDFInfo
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- CN207889864U CN207889864U CN201820309406.1U CN201820309406U CN207889864U CN 207889864 U CN207889864 U CN 207889864U CN 201820309406 U CN201820309406 U CN 201820309406U CN 207889864 U CN207889864 U CN 207889864U
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- China
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- support frame
- shank
- thigh
- thigh support
- knee endoprosthesis
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Abstract
A kind of series-parallel connection pedipulator, is related to robotic technology field, including sequentially connected fixed top plate, hip joint, thigh, knee endoprosthesis, shank and foot from top to bottom, and the hip joint includes 3 groups of flexural pivot components；The thigh is parallel-connection structure, including thigh support frame and 2 electric cylinders, thigh support frame is connect with one of flexural pivot connector, 2 electric cylinders are connect with other 2 flexural pivot connectors respectively, the lower end of electric cylinder is connect by electric cylinder fixed frame with thigh support frame, the telescopic variation of electric cylinder drives the action of thigh support frame, realizes pitching movement and the roll motion of thigh.The utility model advantageous effect：Pedipulator simple structure and reasonable design provided by the utility model, flexibility is higher, and basis is provided for the research of multi-foot robot.
Description
Technical field
The utility model is related to robot field, specifically a kind of series-parallel connection pedipulator.
Background technology
Robot is one of most active research field in recent years, and according to motion mode difference, robot can be divided into wheel
Formula, crawler type and legged type robot etc..Relative to wheeled and caterpillar type robot, legged type robot is adapted to good environment
Property, people can be helped to be completed under hazardous environment in the movement under the complex environments such as hollow, bright stone, meadow, rugged mountainous region
Rescue and exploration task.In military affairs, legged type robot can both complete battlefield substance and carry, and can also carry military investigation, work
War equipment assists soldier to fight.Therefore, the design and development of legged type robot has broad application prospects.But existing foot formula machine
The pedipulator underaction of device people designs method that is not simple enough, and not controlled pedipulator movement locus.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of series-parallel connection pedipulators, and it is not clever enough to solve existing machinery leg
Problem living provides basis for the research of multi-foot robot.
Used technical solution is the utility model to solve above-mentioned technical problem：A kind of series-parallel connection pedipulator, including by
Sequentially connected fixed top plate, hip joint, thigh, knee endoprosthesis, shank and foot under, the hip joint include 3 groups of balls
Hinge component, the flexural pivot component are made of sequentially connected ball hinge, flexural pivot and flexural pivot connector, and ball hinge is set to fixed top
The bottom of plate；The thigh is parallel-connection structure, including thigh support frame and 2 electric cylinders, thigh support frame and one of ball
Hinge fitting connects, and 2 electric cylinders are connect with other 2 flexural pivot connectors respectively, and the lower end of electric cylinder is fixed by electric cylinder
Frame is connect with thigh support frame, and the telescopic variation of electric cylinder drives the action of thigh support frame, realizes pitching movement and the cross of thigh
Rolling movement；The knee endoprosthesis upper end and the bottom end of thigh support frame are hinged, and lower end is fixedly connected with shank, is set on knee endoprosthesis
It is useful for the driving mechanism of driving knee endoprosthesis movement, the driving mechanism includes servo motor, synchronizing wheel, synchronous belt, deceleration
Wheel and planetary reduction gear, the servo motor are connect with the synchronizing wheel being set on thigh support frame to drive turning for synchronizing wheel
Dynamic, ratio wheel is set to the shaft end of knee endoprosthesis and the articulated shaft of thigh support frame, and ratio wheel is connect with planetary reduction gear, together
Step band is sheathed in synchronizing wheel and ratio wheel, and servo motor drives knee by synchronizing wheel, synchronous belt, ratio wheel and planetary reduction gear
Lid joint motions, to drive the shank of pedipulator to lift and put down；The shank is cascaded structure, and shank is connected to knee pass
The lower end of section and between shank and knee endoprosthesis be equipped with buffer spring and three-dimensional force sensor；Foot is fixedly installed under shank
End.
It is connected by linear bearing and internal thread optical axis between knee endoprosthesis and shank described in the utility model, linear bearing
It is fixed on knee endoprosthesis, internal thread optical axis one end is set in linear bearing, and the other end passes through the through-hole opened up on shank, with
The compressive deformation and recovery of buffer spring, internal thread optical axis is moved up and down in linear bearing to coordinate stretching for buffer spring
Contracting.
Thigh support frame described in the utility model is inverse u shape, and knee endoprosthesis is U-typed.
The foot of pedipulator described in the utility model is spherical shape.
The utility model has the beneficial effects that：Pedipulator simple structure and reasonable design provided by the utility model, flexibility
Higher, thigh uses parallel-connection structure, drives the action of thigh support frame to realize that the pitching of thigh is transported by the telescopic variation of electric cylinder
Dynamic and roll motion；Shank uses cascaded structure, servo motor to be driven by synchronizing wheel, synchronous belt, ratio wheel and planetary reduction gear
Dynamic knee endoprosthesis movement, to drive the shank of pedipulator to lift and put down, realizes the movement of pedipulator；The utility model is more
The research of biped robot provides basis.
Description of the drawings
Fig. 1 is the utility model front view；
Fig. 2 is the utility model knee endoprosthesis and shank attachment structure schematic diagram；
Fig. 3 is the utility model dimensional structure diagram.
It is marked in figure：1, fixed top plate, 2, ball hinge, 3, flexural pivot, 4, flexural pivot connector, 5, electric cylinder, 6, thigh support
Frame, 7, electric cylinder fixed frame, 8, articulated shaft, 9, buffer spring, 10, three-dimensional force sensor, 11, shank, 12, foot, 13, servo electricity
Machine, 14, synchronizing wheel, 15, synchronous belt, 16, ratio wheel, 17, planetary reduction gear, 18, knee endoprosthesis, 19, linear bearing, 20, interior
Screw thread optical axis.
Specific implementation mode
As shown, a kind of series-parallel connection pedipulator, including from top to bottom sequentially connected fixed top plate 1, hip joint, thigh,
Knee endoprosthesis 18, shank 11 and foot 12, the hip joint include 3 groups of flexural pivot components, and the flexural pivot component is by sequentially connected
Ball hinge 2, flexural pivot 3 and flexural pivot connector 4 are constituted, and ball hinge 2 is set to the bottom of fixed top plate 1；The thigh is and is coupled
Structure, including thigh support frame 6 and 2 electric cylinders 5, thigh support frame 6 are connect with one of flexural pivot connector, 2 electric cylinders 5
Top connect respectively with other 2 flexural pivot connectors, the lower end of electric cylinder 5 passes through electric cylinder fixed frame 7 and thigh support frame 6
The telescopic variation of connection, electric cylinder 5 drives thigh support frame 6 to act, and realizes pitching movement and the roll motion of thigh；The knee
18 upper end of lid joint and the bottom end of thigh support frame 6 are hinged, and lower end is fixedly connected with shank 11, and knee endoprosthesis 18 is equipped with and is used for
The driving mechanism for driving knee endoprosthesis 18 to move, the driving mechanism include servo motor 13, synchronizing wheel 14, synchronous belt 15, subtract
Speed wheel 16 and planetary reduction gear 17, the servo motor 13 are connect with the synchronizing wheel 14 being set on thigh support frame 6 to drive
The rotation of synchronizing wheel 14, ratio wheel 16 are set to the shaft end of knee endoprosthesis 18 and the articulated shaft 8 of thigh support frame 6, and ratio wheel
16 connect with planetary reduction gear 17, and synchronous belt 15 is sheathed in synchronizing wheel 14 and ratio wheel 16, and servo motor 13 passes through synchronizing wheel
14, synchronous belt 15, ratio wheel 16 and planetary reduction gear 17 drive knee endoprosthesis 18 to move, to drive the shank 11 of pedipulator to lift
It rises and puts down；The shank 11 is cascaded structure, and shank 11 is connected to the lower end of knee endoprosthesis 18 and shank 11 is closed with knee
Buffer spring 9 and three-dimensional force sensor 10 are equipped between section 18；Foot 12 is fixedly installed on the lower end of shank 11.
Further, it is connected by linear bearing 19 and internal thread optical axis 20 between the knee endoprosthesis 18 and shank 11, directly
Spool holds 19 and is fixed on knee endoprosthesis 18, and 20 one end of internal thread optical axis is set in linear bearing 19, and the other end passes through shank
The through-hole opened up on 11, with the compressive deformation and recovery of buffer spring 9, internal thread optical axis 20 is transported up and down in linear bearing 19
It moves to coordinate the flexible of buffer spring 9.
Further, the thigh support frame 6 is inverse u shape, and knee endoprosthesis is U-typed.
Further, the foot of the pedipulator is spherical shape.
Further, the shank is cylinder.
Utility model works principle and method：It drives thigh support frame 6 to act by the telescopic variation of electric cylinder 5 to realize
The pitching movement of thigh and roll motion；Shank 11 use cascaded structure, servo motor 13 by synchronizing wheel 14, synchronous belt 15,
Ratio wheel 16 and planetary reduction gear 17 drive knee endoprosthesis 18 to move, real to drive the shank 11 of pedipulator to lift and put down
The movement of existing pedipulator.
Claims (4)
1. a kind of series-parallel connection pedipulator, including sequentially connected fixed top plate from top to bottom（1）, hip joint, thigh, knee endoprosthesis
（18）, shank（11）And foot（12）, it is characterised in that：The hip joint include 3 groups of flexural pivot components, the flexural pivot component by according to
The ball hinge of secondary connection（2）, flexural pivot（3）With flexural pivot connector（4）It constitutes, ball hinge（2）It is set to fixed top plate（1）Bottom
Portion；The thigh is parallel-connection structure, including thigh support frame（6）With 2 electric cylinders（5）, thigh support frame（6）With one of them
Flexural pivot connector connects, 2 electric cylinders（5）It is connect respectively with other 2 flexural pivot connectors, electric cylinder（5）Lower end pass through electricity
Dynamic cylinder fixed frame（7）With thigh support frame（6）Connection, electric cylinder（5）Telescopic variation drive thigh support frame（6）Action, it is real
The pitching movement of existing thigh and roll motion；The knee endoprosthesis（18）Upper end and thigh support frame（6）Bottom end it is hinged, lower end
With shank（11）It is fixedly connected, knee endoprosthesis（18）It is equipped with for driving knee endoprosthesis（18）The driving mechanism of movement, it is described
Driving mechanism includes servo motor（13）, synchronizing wheel（14）, synchronous belt（15）, ratio wheel（16）And planetary reduction gear（17）, institute
State servo motor（13）Be set to thigh support frame（6）On synchronizing wheel（14）Connection is to drive synchronizing wheel（14）Rotation,
Ratio wheel（16）It is set to knee endoprosthesis（18）With thigh support frame（6）Articulated shaft（8）Shaft end, and ratio wheel（16）With row
Star retarder（17）Connection, synchronous belt（15）It is sheathed on synchronizing wheel（14）And ratio wheel（16）On, servo motor（13）By same
Step wheel（14）, synchronous belt（15）, ratio wheel（16）And planetary reduction gear（17）Drive knee endoprosthesis（18）Movement, to motivation
The shank of tool leg（11）It lifts and puts down；The shank（11）For cascaded structure, shank（11）It is connected to knee endoprosthesis（18）'s
Lower end and shank（11）With knee endoprosthesis（18）Between be equipped with buffer spring（9）And three-dimensional force sensor（10）；Foot（12）Gu
Surely it is set to shank（11）Lower end.
2. a kind of series-parallel connection pedipulator according to claim 1, it is characterised in that：The knee endoprosthesis（18）With shank（11）
Between pass through linear bearing（19）With internal thread optical axis（20）Connection, linear bearing（19）It is fixed on knee endoprosthesis（18）On, it is interior
Screw thread optical axis（20）One end is set to linear bearing（19）Interior, the other end passes through shank（11）On the through-hole that opens up, with buffering
Spring（9）Compressive deformation and recovery, internal thread optical axis（20）In linear bearing（19）Interior up and down motion is to coordinate buffer spring
（9）It is flexible.
3. a kind of series-parallel connection pedipulator according to claim 1, it is characterised in that：The thigh support frame（6）For inverted " u "
Type, knee endoprosthesis are U-typed.
4. a kind of series-parallel connection pedipulator according to claim 1, it is characterised in that：The foot of the pedipulator is spherical shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820309406.1U CN207889864U (en) | 2018-03-06 | 2018-03-06 | A kind of series-parallel connection pedipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820309406.1U CN207889864U (en) | 2018-03-06 | 2018-03-06 | A kind of series-parallel connection pedipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207889864U true CN207889864U (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820309406.1U Active CN207889864U (en) | 2018-03-06 | 2018-03-06 | A kind of series-parallel connection pedipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216421A (en) * | 2018-03-06 | 2018-06-29 | 河南科技大学 | A kind of series-parallel connection pedipulator and its control method |
| CN113635993A (en) * | 2021-07-23 | 2021-11-12 | 广州大学 | Four-legged robot with rigid-flexible coupling structure |
-
2018
- 2018-03-06 CN CN201820309406.1U patent/CN207889864U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216421A (en) * | 2018-03-06 | 2018-06-29 | 河南科技大学 | A kind of series-parallel connection pedipulator and its control method |
| CN113635993A (en) * | 2021-07-23 | 2021-11-12 | 广州大学 | Four-legged robot with rigid-flexible coupling structure |
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