CN208021579U - Leg assembly for Robet for boxing - Google Patents
Leg assembly for Robet for boxing Download PDFInfo
- Publication number
- CN208021579U CN208021579U CN201820306926.7U CN201820306926U CN208021579U CN 208021579 U CN208021579 U CN 208021579U CN 201820306926 U CN201820306926 U CN 201820306926U CN 208021579 U CN208021579 U CN 208021579U
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- China
- Prior art keywords
- steering engine
- grip block
- output shaft
- sole
- joint connector
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Abstract
Simple in structure the utility model discloses a kind of leg assembly for Robet for boxing, assembling is convenient, and dismounting, the maintenance of joint connector are easy to change, help to reduce cost；Sole reasonable design is reliable.The utility model includes the first steering engine, the second steering engine and the third steering engine set gradually by bottom to top；The structure of three steering engines is identical；Each steering engine includes the circular shaft of the output shaft and the other side of side；First steering engine both sides are fixed on the first steering engine group and shelve, and the front end that the first steering engine group is shelved connects the second steering engine by joint connector；Second steering engine and third steering engine are each attached to the second steering engine group and shelve backwards to setting and the both sides of the second steering engine and third steering engine；Joint connector is also installed on the output shaft and circular shaft of first steering engine；Joint connector is equally installed on the output shaft and circular shaft of third steering engine；Sole includes three face support legs；The sole upper cover is aluminium alloy, and sole lower cover is kirsite.
Description
Technical field
The utility model is related to a kind of robot leg parts more particularly to a kind of Robet for boxing leg assemblies.
Background technology
The technology of robot is growing, and sports robot belongs to the one kind applied at present in more robot, sports
Robot makes the technology rapid development of sports robot due to its characteristic of racing；In existing Robet for boxing leg assembly, knot
Structure is complicated, meanwhile, the sports characteristic of Robet for boxing so that running maintenance is needed to replace accessory, the leg assembly of labyrinth
In joint linkage structure the cost that repair is replaced is increased, be not only the increase of time cost, excessive irrelevant accessory
Replacement also results in waste and cost increases；At the same time, the sole moulding of existing Robet for boxing is single, and sole area is big,
Robot movement is influenced, plastic cement material, intensity is low, and center is higher, influences the stability of robot.
Utility model content
The technical problem to be solved by the utility model is to the deficiencies in for the above-mentioned prior art, disclose a kind of use
Simple in structure in the leg assembly of Robet for boxing, assembling is convenient, and dismounting, the maintenance of joint connector are easy to change, help
In reducing cost；Sole reasonable design is reliable.
Technical solution adopted by the utility model to solve its technical problems is：For the leg assembly of Robet for boxing,
Including the first steering engine, the second steering engine and the third steering engine that are set gradually by bottom to top；The structure of three steering engines is identical；Each
Steering engine includes the circular shaft of the output shaft and the other side of side；First steering engine both sides are fixed on the first steering engine group and shelve, and first
The front end that steering engine group is shelved connects the second steering engine by joint connector；Second steering engine and third steering engine are backwards to setting and the second rudder
The both sides of machine and third steering engine are each attached to the second steering engine group and shelve；Joint is also installed on the output shaft and circular shaft of first steering engine
Connector；Joint connector is equally installed on the output shaft and circular shaft of third steering engine；Pacify on the output shaft and circular shaft of first steering engine
Bottom steering engine is fixedly mounted in the bottom of the joint connector of dress, and bottom steering engine equally includes to pass through joint connector on output shaft and circular shaft
Assemble sole；The sole includes sole upper cover and sole lower cover, and sole upper cover and sole lower cover are connected by screw；
The sole includes three face support legs；The sole upper cover is aluminium alloy, and sole lower cover is kirsite；
The joint connector is U-shaped structure, includes left grip block and right grip block, and setting is for rotating on left grip block
It is set with the steering engine circular shaft assembly hole of the circular shaft of steering engine, steering engine of the setting for the output shaft of fixed suit steering engine is defeated on right grip block
Shaft assembly hole；
The output shaft and steering engine output shaft assembly hole are in the spline structure coordinated；Specifically, the excircle of output shaft is equal
The sawtooth of cloth protrusion, the serrated slot of the inner wall even distribution recess of steering engine output shaft assembly hole.
A kind of preferred embodiment as the utility model：The sole edge upwarps.
A kind of preferred embodiment as the utility model：The quantity of the screw is three, respectively corresponding each branch
Spike；The outside for being located at the first steering engine above the sole is equipped with protecting crust.
A kind of preferred embodiment as the utility model：The left grip block and right grip block of the joint connector be in
The bottom of the L-type structure being oppositely arranged, left grip block and right grip block is assembled on grip block pedestal, is opened up on grip block pedestal
It is useful for the pedestal mounting hole of fixed clamp plate pedestal；The bottom of left grip block and right grip block offers screw hole；Left set
Left grip block and right grip block are fixed on grip block pedestal by cartridge screw and right group of cartridge screw after being each passed through screw hole.
A kind of preferred embodiment as the utility model：The opposite one side in bottom of the left grip block and right grip block
Docking recess is set, and corresponding, the docking boss for being embedded in docking recess is arranged in grip block pedestal both sides.
A kind of preferred embodiment as the utility model：The pass installed on the output shaft and circular shaft of the third steering engine
The other end and top steering engine for saving connector are fixed, and are pushed up installation top group on the output shaft of steering engine and are shelved；First steering engine it is defeated
The other end for the joint connector installed on shaft and circular shaft is fixed with bottom steering engine.
The utility model has the following advantages compared with prior art：
Leg assembly disclosed by the utility model for Robet for boxing, including set gradually by bottom to top
One steering engine, the second steering engine and third steering engine；The structure of three steering engines is identical；Each steering engine includes the output shaft of side and another
The circular shaft of side；The structure of three steering engines provides prodigious joint freedom degrees, and more complicated action may be implemented；This practicality is new
Each steering engine of type includes the circular shaft of the output shaft and the other side of side；Output shaft exists originally, and circle shaft design can allow
The assembling of joint connector is more steady, and movement is also relatively reliable；
The sole includes sole upper cover and sole lower cover, and sole upper cover and sole lower cover are connected by screw；The foot
The palm includes three face support legs；The sole upper cover is aluminium alloy, and sole lower cover is kirsite；With three face soles, impetus is equal
Weighing apparatus, moulding have feature, meet Grapple Robots concept.Sole upper cover is aluminium alloy, and sole lower cover is kirsite, and structure is reliable.
The joint connector is U-shaped structure, includes left grip block and right grip block, and setting is for rotating on left grip block
It is set with the steering engine circular shaft assembly hole of the circular shaft of steering engine, steering engine of the setting for the output shaft of fixed suit steering engine is defeated on right grip block
Shaft assembly hole；The structure of joint connector is simple, and two-sided clamping is more reliable and more stable.
The output shaft and steering engine output shaft assembly hole are in the spline structure coordinated；Specifically, the excircle of output shaft is equal
The sawtooth of cloth protrusion, the serrated slot of the inner wall even distribution recess of steering engine output shaft assembly hole, is so designed, and can be allowed very reliable
Torque is transmitted, assembling process is also more convenient, and power transmission can be realized after suit.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of specific implementation mode of the utility model；
Fig. 2 is a kind of structural schematic diagram of specific implementation mode of the sole component of the utility model；
Fig. 3 is a kind of explosive view of specific implementation mode of the sole of the utility model；
Fig. 4 is a kind of structural schematic diagram of specific implementation mode of joint connector；
Fig. 5 is the explosive view of Fig. 4；
Fig. 6 is the explosive view of another angles of Fig. 4.
Reference sign：
The bottoms 2- steering engine, 3- joint connectors, the first steering engines of 4-, 5- the first steering engine groups are shelved, the second steering engines of 6-, the second rudders of 7-
Unit is shelved, 8- third steering engines, and 9- pushes up steering engine, and 10- top groups are shelved, 11- protecting crusts, 12- soles；121- sole upper covers,
122- sole lower covers, 123- screws；
30- docks boss, 31- steering engine output shaft assembly holes, the right grip blocks of 32-, 33- docking recess, the right assembling spiral shells of 34-
Nail, 35- pedestal mounting holes, 36- grip block pedestals, 37- left set cartridge screws, the left grip blocks of 38-, 39- steering engine circular shaft assembly holes,
40- screw holes.
Specific implementation mode
The utility model is described in detail in each embodiment shown in below in conjunction with the accompanying drawings, but it should explanation,
These embodiments are not limitation of the utility model, and those of ordinary skill in the art are according to work(made by these embodiments
Energy, method or the equivalent transformation in structure or replacement, belong within the scope of protection of the utility model.
As shown in figures 1-4, it illustrates specific embodiment of the utility model；As shown, disclosed by the utility model
For the leg assembly of Robet for boxing, including the first steering engine, the second steering engine and the third rudder that are set gradually by bottom to top
Machine；The structure of three steering engines is identical；Each steering engine includes the circular shaft of the output shaft and the other side of side；First steering engine both sides are solid
It is scheduled on the first steering engine group to shelve, the front end that the first steering engine group is shelved connects the second steering engine by joint connector；Second steering engine
It is arranged backwards with third steering engine and the both sides of the second steering engine and third steering engine is each attached to the second steering engine group and shelves；First steering engine
Output shaft and circular shaft on joint connector is also installed；Joint connector is equally installed on the output shaft and circular shaft of third steering engine；
Bottom steering engine is fixedly mounted in the bottom for the joint connector installed on the output shaft and circular shaft of first steering engine, and bottom steering engine equally includes defeated
Sole is assembled by joint connector on shaft and circular shaft；The sole include sole upper cover and sole lower cover, sole upper cover and
Sole lower cover is connected by screw；
The sole includes three face support legs；The sole upper cover is aluminium alloy, and sole lower cover is kirsite；
The joint connector is U-shaped structure, includes left grip block and right grip block, and setting is for rotating on left grip block
It is set with the steering engine circular shaft assembly hole of the circular shaft of steering engine, steering engine of the setting for the output shaft of fixed suit steering engine is defeated on right grip block
Shaft assembly hole；
The output shaft and steering engine output shaft assembly hole are in the spline structure coordinated；Specifically, the excircle of output shaft is equal
The sawtooth of cloth protrusion, the serrated slot of the inner wall even distribution recess of steering engine output shaft assembly hole.
Preferably, as shown in Figures 2 and 3：The sole edge upwarps.Sole edge upwarps, and prevents and concave-convex ground
Collision.
Preferably, as shown in Figures 2 and 3：The quantity of the screw is three, corresponds to each support leg respectively；The foot
Palm orientation is equipped with protecting crust in the outside of the first steering engine.
Preferably, as shown in Figure 4, Figure 5 and Figure 6：The left grip block and right grip block of the joint connector are in set in opposite directions
The bottom of the L-type structure set, left grip block and right grip block is assembled on grip block pedestal, is offered and is used on grip block pedestal
The pedestal mounting hole of fixed clamp plate pedestal；The bottom of left grip block and right grip block offers screw hole；Left set cartridge screw
It is each passed through after screw hole with right group of cartridge screw and left grip block and right grip block is fixed on grip block pedestal.The present embodiment into
Joint connector is carried out split-type design by one step, and the structure of joint connector disclosed in the present embodiment helps quickly to organize assembly and disassembly
It unloads, additionally it is possible to realize the replacement of individually left grip block, right grip block and grip block pedestal.
Preferably, as shown in Figure 4, Figure 5 and Figure 6：The setting pair on one side in opposite directions of the bottom of the left grip block and right grip block
Groove is connect, corresponding, the docking boss for being embedded in docking recess is arranged in grip block pedestal both sides.Docking recess and right
Connecing boss contributes to fast accurate to align.
Preferably, as shown in Figure 1：The other end for the joint connector installed on the output shaft and circular shaft of the third steering engine
It is fixed with top steering engine, pushes up installation top group on the output shaft of steering engine and shelve；It is installed on the output shaft and circular shaft of first steering engine
The other end of joint connector fixed with bottom steering engine.The present embodiment pushes up steering engine by increase and bottom steering engine makes joint assembly more
Add whole, can realize the operation of high-freedom degree, and convenient for and other positions of body assembling.
Tool of the series of detailed descriptions listed above only for the feasible embodiment of the utility model
Body illustrates that they are all without departing from made by the utility model skill spirit not to limit the scope of protection of the utility model
Equivalent implementations or change should be included within the scope of protection of this utility model.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (6)
1. the leg assembly for Robet for boxing, it is characterised in that：Including the first steering engine set gradually by bottom to top,
Second steering engine and third steering engine；The structure of three steering engines is identical；Each steering engine includes the circle of the output shaft and the other side of side
Axis；First steering engine both sides are fixed on the first steering engine group and shelve, and the front end that the first steering engine group is shelved is connected by joint connector
Second steering engine；Second steering engine and third steering engine are each attached to the second steering engine backwards to setting and the both sides of the second steering engine and third steering engine
Group is shelved；Joint connector is also installed on the output shaft and circular shaft of first steering engine；It is same on the output shaft and circular shaft of third steering engine
Sample installs joint connector；Bottom rudder is fixedly mounted in the bottom for the joint connector installed on the output shaft and circular shaft of first steering engine
Machine, bottom steering engine equally include to assemble sole by joint connector on output shaft and circular shaft；The sole include sole upper cover and
Sole lower cover, sole upper cover and sole lower cover are connected by screw；
The sole includes three face support legs；The sole upper cover is aluminium alloy, and sole lower cover is kirsite；
The joint connector is U-shaped structure, includes left grip block and right grip block, on left grip block setting be set with for rotating
The steering engine circular shaft assembly hole of the circular shaft of steering engine, steering engine output shaft of the setting for the output shaft of fixed suit steering engine on right grip block
Assembly hole；
The output shaft and steering engine output shaft assembly hole are in the spline structure coordinated；Specifically, the excircle of output shaft is uniformly distributed convex
The sawtooth risen, the serrated slot of the inner wall even distribution recess of steering engine output shaft assembly hole.
2. being used for the leg assembly of Robet for boxing as described in claim 1, it is characterised in that：The sole edge upwarps.
3. being used for the leg assembly of Robet for boxing as described in claim 1, it is characterised in that：The quantity of the screw is three
It is a, each support leg is corresponded to respectively；The outside for being located at the first steering engine above the sole is equipped with protecting crust.
4. being used for the leg assembly of Robet for boxing as described in claim 1, it is characterised in that：A left side for the joint connector
Grip block and right grip block are in the L-type structure being oppositely arranged, and the bottom of left grip block and right grip block is assembled in grip block pedestal
On, the pedestal mounting hole for fixed clamp plate pedestal is offered on grip block pedestal；The bottom of left grip block and right grip block
Offer screw hole；Left set cartridge screw and right group of cartridge screw fix left grip block and right grip block after being each passed through screw hole
On grip block pedestal.
5. being used for the leg assembly of Robet for boxing as described in claim 1, it is characterised in that：The left grip block and right folder
Docking recess is arranged in the bottom for holding plate on one side in opposite directions, corresponding, and grip block pedestal both sides are arranged for being embedded in docking recess
Interior docking boss.
6. being used for the leg assembly of Robet for boxing as described in claim 1, it is characterised in that：The output of the third steering engine
The other end for the joint connector installed on axis and circular shaft is fixed with top steering engine, pushes up installation top assembling on the output shaft of steering engine
Frame；The other end for the joint connector installed on the output shaft and circular shaft of first steering engine is fixed with bottom steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820306926.7U CN208021579U (en) | 2018-03-06 | 2018-03-06 | Leg assembly for Robet for boxing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820306926.7U CN208021579U (en) | 2018-03-06 | 2018-03-06 | Leg assembly for Robet for boxing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208021579U true CN208021579U (en) | 2018-10-30 |
Family
ID=63905279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820306926.7U Active CN208021579U (en) | 2018-03-06 | 2018-03-06 | Leg assembly for Robet for boxing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208021579U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112393057A (en) * | 2020-12-11 | 2021-02-23 | 河海大学 | Bionic leg structure of tubular pile wall-climbing robot |
-
2018
- 2018-03-06 CN CN201820306926.7U patent/CN208021579U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112393057A (en) * | 2020-12-11 | 2021-02-23 | 河海大学 | Bionic leg structure of tubular pile wall-climbing robot |
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