CN207902604U - It is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity - Google Patents
It is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity Download PDFInfo
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- CN207902604U CN207902604U CN201721307687.9U CN201721307687U CN207902604U CN 207902604 U CN207902604 U CN 207902604U CN 201721307687 U CN201721307687 U CN 201721307687U CN 207902604 U CN207902604 U CN 207902604U
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- mounting base
- spring damper
- thigh
- rear shell
- front housing
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Abstract
The utility model proposes it is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity, including DC speed-reducing one, DC speed-reducing mounting base one, bearing block, thigh front housing, joint end cap, spring damper axis pin, spring damper, shank front housing, wheel hub motor, motor control panel end cap, wheel hub motor mounting base, shank rear shell, thigh rear shell, straight line lead screw stepper motor, upper bearing axis, spring damper mounting base, middle part bearing axis, rolling bearing, DC speed-reducing two, DC speed-reducing mounting base two, Hooks coupling universal coupling, bottom bearing axis, the straight line lead screw stepper motor can change the stress size of spring damper by driving spring damper mounting base, to realize the rigidity from the entire shock mitigation system of main regulation.
Description
Technical field
The present invention relates to mobile robot technology fields, and in particular to it is a kind of can be from the machinery of main regulation shock mitigation system rigidity
Leg.
Background technology
To ensure the ride comfort of machine operation, the service life of each parts is improved, most of mobile robots are equipped with
Shock mitigation system, but the rigidity of its shock mitigation system is all constant mostly, and robot is in face of different Run-time scenarios needed for it
Best shock mitigation system rigidity is different.
Invention content
The object of the present invention is to provide it is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity.
The technical solution adopted in the present invention is：
1. a kind of can be from the pedipulator of main regulation shock mitigation system rigidity, including DC speed-reducing one (1-01), direct current subtracts
Speed motor mounting base one (1-13), bearing block (1-12), thigh front housing (1-02), joint end cap (1-03), spring damper pin
Axis (1-04), spring damper (1-05), shank front housing (1-06), wheel hub motor (1-07), motor control panel end cap (1-
08), wheel hub motor mounting base (1-09), shank rear shell (1-10), thigh rear shell (1-11), straight line lead screw stepper motor (1-
14), upper bearing axis (1-22), spring damper mounting base (1-21), middle part bearing axis (1-15), rolling bearing (1-20),
DC speed-reducing two (1-16), DC speed-reducing mounting base two (1-17), Hooks coupling universal coupling (1-19), bottom bearing axis
(1-18), the thigh rear shell (1-11) are fixedly mounted with thigh front housing (1-02), and straight line lead screw stepper motor (1-14) is fixed
Between thigh rear shell (1-11) and thigh front housing (1-02), the spring damper (1-05) passes through spring damper axis pin
It is rotatablely connected respectively with spring damper mounting base (1-21) and shank rear shell (1-10) and shank front housing (1-06), the thigh
Rear shell (1-11) forms middle part joint, the straight line lead screw stepper motor (1-14) and bullet with shank front housing (1-06) rotation connection
Spring damper mounting base (1-21) forms leading screw and nut mechanism, and the straight line lead screw stepper motor (1-14) can be by driving bullet
Spring damper mounting base (1-21) changes the stress size of spring damper (1-05), to realize from the entire damping system of main regulation
The rigidity of system.
2. further, there are guide groove, the thigh rear shells (1-11) on the spring damper mounting base (1-21)
It is respectively kept with guide rail with thigh front housing (1-02), the spring damper mounting base (1-21) can be by guide groove along thigh rear shell
Guide rail sliding on (1-11) and thigh front housing (1-02).
3. further, pedipulator load constant timing, the size of spring damper (1-05) stress with it is described
Spring damper mounting base (1-21) is negatively correlated at a distance from straight line lead screw stepper motor (1-14), the straight line lead screw stepping
Motor (1-14) driving spring damper mounting base (1-21) moves downward the stress that can reduce spring damper (1-05), from
And the rigidity of entire shock mitigation system is independently improved, straight line lead screw stepper motor (1-14) the driving spring damper mounting base
(1-21) moves upwards the stress that can increase spring damper (1-05), to independently reduce the rigidity of entire shock mitigation system.
4. further, the DC speed-reducing one (1-01) is fixedly mounted on one (1- of DC speed-reducing mounting base
13) on, the DC speed-reducing mounting base one (1-13) wherein one end and bearing block (1-12) are fixedly mounted, the other end with
Body module side is fixedly mounted, and the bearing block (1-12) forms upper joints with thigh rear shell (1-11) rotation connection, institute
It states shank rear shell (1-10) to be fixedly mounted with shank front housing (1-06), the wheel hub motor (1-07) and wheel hub motor mounting base
(1-09) is fixedly mounted, and motor control panel, the motor control panel end cap (1- are housed on the wheel hub motor mounting base (1-09)
08) be fixedly mounted on the wheel hub motor mounting base (1-09), the wheel hub motor mounting base (1-09) and shank rear shell and
Shank front housing is rotatablely connected to form lower joint.
The beneficial effects of the invention are as follows：Mobile robot, can be autonomous according to actual motion scene by installing the pedipulator additional
The rigidity of shock mitigation system is adjusted, the ride comfort of robot operation is preferably controlled, ensures the service life of each parts of machine.
Description of the drawings
Fig. 1 pedipulator axonometric drawings；
Fig. 2 pedipulator internal structure charts；
Fig. 3 robots load be 600N when straight line lead screw motor driving spring damper mounting base with the speed of 5mm/s from
Spring damper stress time plot when top movements are to bottom.
Specific implementation mode
1. as shown in Fig. 1~2, it is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity, including DC speed-reducing one
(1-01), DC speed-reducing mounting base one (1-13), bearing block (1-12), thigh front housing (1-02), joint end cap (1-03),
Spring damper axis pin (1-04), spring damper (1-05), shank front housing (1-06), wheel hub motor (1-07), motor control
Plate end cap (1-08), wheel hub motor mounting base (1-09), shank rear shell (1-10), thigh rear shell (1-11), straight line lead screw stepping
Motor (1-14), upper bearing axis (1-22), spring damper mounting base (1-21), middle part bearing axis (1-15), rolling bearing
(1-20), DC speed-reducing two (1-16), DC speed-reducing mounting base two (1-17), Hooks coupling universal coupling (1-19), bottom
Bearing axis (1-18), the thigh rear shell (1-11) are fixedly mounted with thigh front housing (1-02), straight line lead screw stepper motor (1-
14) it is fixedly mounted between thigh rear shell (1-11) and thigh front housing (1-02), the spring damper (1-05) is subtracted by spring
Device axis pin is shaken respectively to connect with spring damper mounting base (1-21) and shank rear shell (1-10) and shank front housing (1-06) rotation
It connects, the thigh rear shell (1-11) forms middle part joint, the straight line lead screw stepping electricity with shank front housing (1-06) rotation connection
Machine (1-14) forms leading screw and nut mechanism with spring damper mounting base (1-21), and the straight line lead screw stepper motor (1-14) can
The stress size for changing spring damper (1-05) by driving spring damper mounting base (1-21), to realize from main regulation
The rigidity of entire shock mitigation system.
2. as shown in Fig. 1~2, there are guide groove, the thigh rear shell (1- on the spring damper mounting base (1-21)
11) it is respectively kept with guide rail with thigh front housing (1-02), the spring damper mounting base (1-21) can be by guide groove along thigh
Guide rail sliding in rear shell (1-11) and thigh front housing (1-02).
3. as shown in Figures 1 to 3, pedipulator load constant timing, the size of spring damper (1-05) stress with
The spring damper mounting base (1-21) is negatively correlated at a distance from straight line lead screw stepper motor (1-14), the straight line lead screw
Stepper motor (1-14) driving spring damper mounting base (1-21) move downward can reduce spring damper (1-05) by
Power, to independently improve the rigidity of entire shock mitigation system, straight line lead screw stepper motor (1-14) the driving spring damper peace
Dress seat (1-21) moves upwards the stress that can increase spring damper (1-05), to independently reduce the rigid of entire shock mitigation system
Degree.
4. as shown in Fig. 1~2, the DC speed-reducing one (1-01) is fixedly mounted on DC speed-reducing mounting base one
On (1-13), the DC speed-reducing mounting base one (1-13) wherein one end is fixedly mounted with bearing block (1-12), the other end
It being fixedly mounted with body module side, the bearing block (1-12) forms upper joints with thigh rear shell (1-11) rotation connection,
The shank rear shell (1-10) is fixedly mounted with shank front housing (1-06), the wheel hub motor (1-07) and wheel hub motor mounting base
(1-09) is fixedly mounted, and motor control panel, the motor control panel end cap (1- are housed on the wheel hub motor mounting base (1-09)
08) be fixedly mounted on the wheel hub motor mounting base (1-09), the wheel hub motor mounting base (1-09) and shank rear shell and
Shank front housing is rotatablely connected to form lower joint.
Claims (4)
1. a kind of electricity that can slow down from the pedipulator of main regulation shock mitigation system rigidity, including DC speed-reducing one (1-01), direct current
Machine mounting base one (1-13), bearing block (1-12), thigh front housing (1-02), joint end cap (1-03), spring damper axis pin (1-
04), spring damper (1-05), shank front housing (1-06), wheel hub motor (1-07), motor control panel end cap (1-08), wheel hub
Motor mount (1-09), shank rear shell (1-10), thigh rear shell (1-11), straight line lead screw stepper motor (1-14), upper axis
Axis (1-22) is held, spring damper mounting base (1-21), middle part bearing axis (1-15), rolling bearing (1-20), direct current slows down electric
Machine two (1-16), DC speed-reducing mounting base two (1-17), Hooks coupling universal coupling (1-19), bottom bearing axis (1-18) are described
Thigh rear shell (1-11) is fixedly mounted with thigh front housing (1-02), after straight line lead screw stepper motor (1-14) is fixedly mounted on thigh
Between shell (1-11) and thigh front housing (1-02), the spring damper (1-05) is subtracted with spring respectively by spring damper axis pin
Shake device mounting base (1-21) and shank rear shell (1-10) and shank front housing (1-06) be rotatablely connected, the thigh rear shell (1-11) and
Shank front housing (1-06) rotation connection forms middle part joint, and the straight line lead screw stepper motor (1-14) is installed with spring damper
Seat (1-21) forms leading screw and nut mechanism, and the straight line lead screw stepper motor (1-14) can pass through driving spring damper mounting base
(1-21) changes the stress size of spring damper (1-05), to realize the rigidity from the entire shock mitigation system of main regulation.
2. it is as described in claim 1 it is a kind of can from the pedipulator of main regulation shock mitigation system rigidity, it is further characterized in that：Institute
State in spring damper mounting base (1-21) that there are guide grooves, the thigh rear shell (1-11) to be stayed respectively with thigh front housing (1-02)
There are guide rail, the spring damper mounting base (1-21) can be by guide groove along thigh rear shell (1-11) and thigh front housing (1-02)
On guide rail sliding.
3. it is as described in claim 1 it is a kind of can from the pedipulator of main regulation shock mitigation system rigidity, it is further characterized in that：Institute
State pedipulator load constant timing, size and the spring damper mounting base (1-21) of spring damper (1-05) stress
It is negatively correlated at a distance from straight line lead screw stepper motor (1-14), straight line lead screw stepper motor (1-14) the driving spring damping
Device mounting base (1-21) moves downward the stress that can reduce spring damper (1-05), to independently improve entire shock mitigation system
Rigidity, straight line lead screw stepper motor (1-14) the driving spring damper mounting base (1-21), which moves upwards, can increase bullet
The stress of spring damper (1-05), to independently reduce the rigidity of entire shock mitigation system.
4. it is as described in claim 1 it is a kind of can from the pedipulator of main regulation shock mitigation system rigidity, it is further characterized in that：Institute
It states DC speed-reducing one (1-01) to be fixedly mounted in DC speed-reducing mounting base one (1-13), the DC speed-reducing
Mounting base one (1-13) wherein one end is fixedly mounted with bearing block (1-12), and the other end is fixedly mounted with body module side, institute
It states bearing block (1-12) and thigh rear shell (1-11) is rotatablely connected and forms upper joints, before the shank rear shell (1-10) and shank
Shell (1-06) is fixedly mounted, and the wheel hub motor (1-07) is fixedly mounted with wheel hub motor mounting base (1-09), the wheel hub electricity
Motor control panel is housed, the motor control panel end cap (1-08) is fixedly mounted on the wheel hub motor in machine mounting base (1-09)
In mounting base (1-09), the wheel hub motor mounting base (1-09) is rotatablely connected to form lower part pass with shank rear shell and shank front housing
Section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721307687.9U CN207902604U (en) | 2017-10-11 | 2017-10-11 | It is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721307687.9U CN207902604U (en) | 2017-10-11 | 2017-10-11 | It is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity |
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| CN207902604U true CN207902604U (en) | 2018-09-25 |
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| CN201721307687.9U Active CN207902604U (en) | 2017-10-11 | 2017-10-11 | It is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600218A (en) * | 2017-10-11 | 2018-01-19 | 深圳市普渡科技有限公司 | It is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity |
| CN111361661A (en) * | 2020-03-24 | 2020-07-03 | 山东大学 | Connecting rod type mechanical leg with spring energy storage function and robot |
| CN115091501A (en) * | 2022-06-06 | 2022-09-23 | 北京工业大学 | Knee joint structure with dynamically adjustable speed ratio in high-explosive jumping motion |
-
2017
- 2017-10-11 CN CN201721307687.9U patent/CN207902604U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600218A (en) * | 2017-10-11 | 2018-01-19 | 深圳市普渡科技有限公司 | It is a kind of can be from the pedipulator of main regulation shock mitigation system rigidity |
| CN107600218B (en) * | 2017-10-11 | 2024-04-09 | 深圳市普渡科技有限公司 | Mechanical leg capable of automatically adjusting rigidity of damping system |
| CN111361661A (en) * | 2020-03-24 | 2020-07-03 | 山东大学 | Connecting rod type mechanical leg with spring energy storage function and robot |
| CN115091501A (en) * | 2022-06-06 | 2022-09-23 | 北京工业大学 | Knee joint structure with dynamically adjustable speed ratio in high-explosive jumping motion |
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