CN208181243U - A kind of leg structure of multi-foot robot - Google Patents
A kind of leg structure of multi-foot robot Download PDFInfo
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- CN208181243U CN208181243U CN201820716723.5U CN201820716723U CN208181243U CN 208181243 U CN208181243 U CN 208181243U CN 201820716723 U CN201820716723 U CN 201820716723U CN 208181243 U CN208181243 U CN 208181243U
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- electric putter
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Abstract
The utility model discloses a kind of leg structures of multi-foot robot, including T-type bindiny mechanism, mechanical big leg mechanism and mechanical small leg mechanism；Mechanical big leg mechanism includes the electric putter mechanism of two radial types installation, and the telescopic end of one of electric putter mechanism and the side of T-type bindiny mechanism are hinged, and the telescopic end of another electric putter mechanism and the upper end of mechanical small leg mechanism are hinged；The other side of T-type bindiny mechanism is used to be hinged with robot fuselage；The swing pivot of mechanical small leg mechanism is hingedly mounted on mechanical big leg mechanism.The leg structure of the multi-foot robot realizes that the walking motion of pedipulator drives using modular electric putter mechanism, the electric pushrod of Liang Ge electric putter mechanism need to only be controlled respectively when carrying out travelling control, driver is close, the program development period can be obviously shortened, and electric pushrod has self-locking function compared to steering engine etc., so that travelling control is more stable.
Description
Technical field
The utility model relates to a kind of robot components, especially a kind of leg structure of multi-foot robot.
Background technique
With the development of science and technology, much there is the mankind activity of repeatability or security risk to be substituted by robot, wherein
Multi-foot robot has advantage because adapting to various complicated landforms in specific applications.But now with many more
The leg of biped robot is all using motor and servo driving, and it is not compact enough that not only structure is complicated, but also stability of strutting system is poor,
Lead to many outdoor extreme lower advantages that can not play multi-foot robot adaptation to the ground of alleviation.
Summary of the invention
Purpose of utility model: a kind of leg structure of the preferable multi-foot robot of compact-sized and stability is provided.
Technical solution: the leg structure of multi-foot robot described in the utility model, including T-type bindiny mechanism, machinery are greatly
Leg mechanism and mechanical small leg mechanism；
Mechanical big leg mechanism includes the electric putter mechanism of two radial types installation, and one of electric putter mechanism is flexible
It holds and is hinged with the side of T-type bindiny mechanism, the upper end phase of the telescopic end of another electric putter mechanism and mechanical small leg mechanism
Hingedly；
The other side of T-type bindiny mechanism is used to be hinged with robot fuselage；The swing pivot of mechanical small leg mechanism is hinged
It is mounted on mechanical big leg mechanism.
Further, electric putter mechanism includes electric pushrod, U-shaped plug and is hingedly mounted on U-shaped plug two sides yoke
On push rod articulated shaft；Two short axles for hingedly installing are symmetrically arranged on the outer wall of electric pushrod；U-shaped plug is fixed
It is mounted on the telescopic end of electric pushrod.
Further, T-type bindiny mechanism includes integrally formed lateral swing rod and vertical swing rod；One end of lateral swing rod is solid
Dingan County is mounted in the middle part of vertical swing rod；Hinged mounting hole is equipped in the other end of lateral swing rod；It is vertical at the middle part of lateral swing rod
Hinged shaft is rotatably installed；An end hinge hole, and the center of end hinge hole are equipped at the both ends of vertical swing rod
Line and the axial line of hinged shaft are perpendicular；Hinged shaft is for being hingedly mounted on robot fuselage on lateral swing rod；Hingedly
Mounting hole pushes lateral swing rod horizontal hunting for being hinged with the horizontal drive mechanism on robot fuselage.
Further, mechanical big leg mechanism further includes that two parallelogram frames and two are fixedly mounted on two in parallel
Steady brace between quadrangle frame；Liang Ge electric putter mechanism by short axle be hingedly mounted on two parallelogram frames it
Between, and the telescopic direction of Liang Ge electric putter mechanism is opposite；One end hinge hole of vertical swing rod is hingedly mounted on mechanical thigh
On the push rod articulated shaft of one electric putter mechanism of mechanism；Another end hinge hole of vertical swing rod is hinged by fixed pin shaft
It is mounted on two parallelogram frames.
Further, mechanical small leg mechanism includes upper strut, pressure sensor and hemispherical footing；The upper end of upper strut
Portion is equipped with upper hinge hole；Lower hinge hole is equipped at the swing pivot of upper strut；Upper hinge hole is hingedly mounted on by fixed pin shaft
On two parallelogram frames, the push rod that lower hinge hole is hingedly mounted on another electric putter mechanism of mechanical big leg mechanism is hinged
On axis；Pressure sensor is fixedly mounted on the lower end of strut；Hemispherical footing is fixedly mounted under pressure sensor
On end.
Further, hinged installation is realized by hinged seat in the both ends of fixed pin shaft, and realizes fixed pin by locking anchor ear
It locks at the both ends of axis；Hinged peace is realized by hinged seat in the both ends of two short axles and push rod articulated shaft on electric pushrod
Dress；Hinged seat includes mounting seat, bearing and circlip；It is equipped with bearing mounting hole in mounting seat and two are used to install
The fixed installation circular hole of hinged seat；Bearing limits bearing in bearing mounting hole, and by circlip.
Further, limit threaded hole is equipped in the middle part of fixed pin shaft and push rod articulated shaft；Hinge hole, hinge in end
Connect that mounting hole, equal threaded engagement is equipped with a caging bolt, and the end of caging bolt at upper hinge hole and lower hinge hole
The limit threaded hole in each hole with corresponding position is respectively protruding into mutually to screw.
The utility model compared with prior art, the beneficial effect is that: by T-type, bindiny mechanism is hingedly mounted on robot
On fuselage, to realize the horizontal hunting driving of pedipulator；It is real respectively by the Liang Ge electric putter mechanism on mechanical big leg mechanism
The swing of existing mechanical big leg mechanism and the swing of mechanical small leg mechanism；Driving mechanism used in mechanical big leg mechanism uses
Structure identical Liang Ge electric putter mechanism, using modular electric putter mechanism realize pedipulator walking motion drive, into
The electric pushrod of Liang Ge electric putter mechanism need to only be controlled respectively when row travelling control, driver is close, can
It is obviously shortened the program development period, and electric pushrod has self-locking function compared to steering engine etc., the travelling control for being is more stable；
The pressure detecting that each sufficient end is realized using pressure sensor, is facilitated and realizes Detection of Stability control.
Detailed description of the invention
Fig. 1 is the leg overall structure diagram of the utility model；
Fig. 2 is the T-type bindiny mechanism structural schematic diagram of the utility model；
Fig. 3 is the mechanical thigh mechanism structure schematic diagram of the utility model；
Fig. 4 is the electric putter mechanism structure schematic diagram of the utility model；
Fig. 5 is the mechanical shank mechanism structure schematic diagram of the utility model；
Fig. 6 is the hinge base structure schematic diagram of the utility model；
Fig. 7 is a kind of integrally-built application example in leg of the utility model.
Specific embodiment
Technical solutions of the utility model are described in detail with reference to the accompanying drawing, but the protection scope of the utility model
It is not limited to the embodiment.
Embodiment 1:
As shown in figs. 1-7, the leg structure of multi-foot robot provided by the utility model includes: T-type bindiny mechanism 1, machine
The big leg mechanism 2 of tool and mechanical small leg mechanism 3；
Mechanical big leg mechanism 2 includes the electric putter mechanism of two radial types installation, and one of electric putter mechanism is stretched
Contracting end and the side of T type bindiny mechanism 1 are hinged, the upper end of the telescopic end of another electric putter mechanism and mechanical small leg mechanism 3
Portion is hinged；
The other side of T-type bindiny mechanism 1 is used to be hinged with robot fuselage 30；The swing pivot of mechanical small leg mechanism 3
It is hingedly mounted on mechanical big leg mechanism 2.
Further, electric putter mechanism includes electric pushrod 14, U-shaped plug 15 and is hingedly mounted on 15 liang of U-shaped plug
Push rod articulated shaft 17 on the yoke of side；Two short axles for hingedly installing are symmetrically arranged on the outer wall of electric pushrod 14
16；U-shaped plug 15 is fixedly mounted on the telescopic end of electric pushrod 14.The hinged peace of electric pushrod 14 is realized using short axle 16
Dress；It can be realized the hinged installation of 14 retractable ends of electric pushrod using U-shaped plug 15 and push rod articulated shaft 17.
Further, T-type bindiny mechanism 1 includes integrally formed lateral swing rod 5 and vertical swing rod 4；The one of lateral swing rod 5
End is fixedly mounted on the middle part of vertical swing rod 4；Hinged mounting hole 8 is equipped in the other end of lateral swing rod 5；In lateral swing rod 5
Middle part is vertically rotatably equipped with hinged shaft 6；It is equipped with an end hinge hole 7 at the both ends of vertical swing rod 4, and end is cut with scissors
The center line for connecing hole 7 and the axial line of hinged shaft 6 are perpendicular；Hinged shaft 6 is for being hingedly mounted on machine on lateral swing rod 5
On man-machine body 30；Hinged mounting hole 8 is used to be hinged with the horizontal drive mechanism on robot fuselage 30, pushes lateral swing rod 5
Horizontal hunting.Robot fuselage 30 and mechanical big leg mechanism 2 are connected by T-type bindiny mechanism 1, realizes that swing when walking is driven
It is dynamic, while the hinged installation of mechanical big leg mechanism 2 and robot fuselage 30 is also well realized, meet each mechanical thigh
The support demand of mechanism 2.
Further, mechanical big leg mechanism 2 further includes that two parallelogram frames 10 and two are fixedly mounted on two
Steady brace 11 between parallelogram frame 10；Liang Ge electric putter mechanism is hingedly mounted on two parallel four by short axle 16
Between side shape frame 10, and the telescopic direction of Liang Ge electric putter mechanism is opposite；One end hinge hole 7 of vertical swing rod 4 is hingedly pacified
On the push rod articulated shaft 17 of an electric putter mechanism of mechanical big leg mechanism 2；Another end hinge hole of vertical swing rod 4
7 are hingedly mounted on two parallelogram frames 10 by fixed pin shaft 29.The Liang Ge electric putter mechanism of mechanical big leg mechanism 2 is
Parallel installation up and down can be very good the size for reducing mechanical big leg mechanism 2, and power transmitting is good using parallel installation.
Further, mechanical small leg mechanism 3 includes upper strut 19, pressure sensor 22 and hemispherical footing 23；Upper support
The upper end of bar 19 is equipped with upper hinge hole 20；Lower hinge hole 21 is equipped at the swing pivot of upper strut 19；Upper hinge hole 20 passes through
Fixed pin shaft 29 is hingedly mounted on two parallelogram frames 10, and lower hinge hole 21 is hingedly mounted on mechanical big leg mechanism 2
On the push rod articulated shaft 17 of another electric putter mechanism；Pressure sensor 22 is fixedly mounted on the lower end of strut 19；Half
Spherical footing 23 is fixedly mounted on the lower end of pressure sensor 22.All angles can satisfy using hemispherical footing 23
Support demand, versatility is stronger, can better adaptation to the ground.
Further, hinged installation is realized by hinged seat 12 in the both ends of fixed pin shaft 29, and is realized by locking anchor ear 13
It locks at the both ends of fixed pin shaft 29；The both ends of two short axles 16 and push rod articulated shaft 17 on electric pushrod 14 pass through hinge
Joint chair 12 realizes hinged installation；Hinged seat 12 includes mounting seat 24, bearing 27 and circlip 28；It is equipped in mounting seat 24
Bearing mounting hole 25 and two are for installing the fixed installation circular hole 26 of hinged seat 12；Bearing 27 is embedded in bearing mounting hole 25
It is interior, and bearing 27 is limited by circlip 28.The hinged installation of each spindle nose, Neng Goufang are realized using modular hinged seat 12
Just it installs and safeguards, versatility is stronger；The both ends of fixed pin shaft 29 are fixed using locking anchor ear 13, it is ensured that fixed pin shaft
Stability after 29 installations.
Further, limit threaded hole 18 is equipped at the middle part of fixed pin shaft 29 and push rod articulated shaft 17；It is cut with scissors in end
Connect that hole 7, hinged mounting hole 8, equal threaded engagement is equipped with a caging bolt 9 at upper hinge hole 20 and lower hinge hole 21, and
18 phase of limit threaded hole that the end of caging bolt 9 is respectively protruding into each hole with corresponding position screws.Using limit screw thread
The cooperation of hole 18 and caging bolt 9 can be realized the fixation of hole position on fixed pin shaft 29 and push rod articulated shaft 17, prevent hole
Along axis play, it is ensured that the stability at joint of robot swing.
The leg structure of multi-foot robot provided by the utility model is hingedly installed when in use, by T-type bindiny mechanism 1
On robot fuselage 30, to realize the horizontal hunting driving of pedipulator；Pass through two electric putters on mechanical big leg mechanism 2
Mechanism realizes the swing of mechanical big leg mechanism 2 and the swing of mechanical small leg mechanism 3 respectively；Used in mechanical big leg mechanism 2
Driving mechanism use structure identical Liang Ge electric putter mechanism, utilize modular electric putter mechanism realize pedipulator walking
Action drives only need to control respectively the electric pushrod 14 of Liang Ge electric putter mechanism when carrying out travelling control, drive
Dynamic program is close, can be obviously shortened the program development period, and electric pushrod 14 has self-locking function compared to steering engine etc., so that
Travelling control is more stable；The pressure detecting that each sufficient end is realized using pressure sensor 22, is facilitated and realizes Detection of Stability control
System.
As described above, although the utility model has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the utility model itself.In the spirit and scope for not departing from the utility model that appended claims define
Under the premise of, it can various changes can be made in the form and details to it.
Claims (7)
1. a kind of leg structure of multi-foot robot, it is characterised in that: including T-type bindiny mechanism (1), mechanical big leg mechanism (2)
And mechanical small leg mechanism (3)；
Mechanical big leg mechanism (2) includes the electric putter mechanism of two radial types installation, and one of electric putter mechanism is flexible
It holds and is hinged with the side of T-type bindiny mechanism (1), the telescopic end of another electric putter mechanism is upper with mechanical small leg mechanism (3)
End is hinged；
The other side of T-type bindiny mechanism (1) with robot fuselage (30) for being hinged；The swing branch of mechanical small leg mechanism (3)
It is point articulated to be mounted on mechanical big leg mechanism (2).
2. the leg structure of multi-foot robot according to claim 1, it is characterised in that: electric putter mechanism includes electronic pushes away
Bar (14), U-shaped plug (15) and the push rod articulated shaft (17) being hingedly mounted on the yoke of U-shaped plug (15) two sides；Electronic
Two short axles (16) for hingedly installing are symmetrically arranged on the outer wall of push rod (14)；U-shaped plug (15) is fixedly mounted on electricity
On the telescopic end of dynamic push rod (14).
3. the leg structure of multi-foot robot according to claim 2, it is characterised in that: T-type bindiny mechanism (1) includes one
Body formed lateral swing rod (5) and vertical swing rod (4)；One end of lateral swing rod (5) is fixedly mounted in vertical swing rod (4)
Portion；Hinged mounting hole (8) are equipped in the other end of lateral swing rod (5)；It is vertically rotatably equipped at the middle part of lateral swing rod (5)
Hinged shaft (6)；An end hinge hole (7), and the center of end hinge hole (7) are equipped at the both ends of vertical swing rod (4)
Line and the axial line of hinged shaft (6) are perpendicular；Hinged shaft (6) is man-machine for being hingedly mounted on machine on lateral swing rod (5)
On body (30)；Hinged mounting hole (8) pushes lateral swing rod for being hinged with the horizontal drive mechanism on robot fuselage (30)
(5) horizontal hunting.
4. the leg structure of multi-foot robot according to claim 3, it is characterised in that: mechanical big leg mechanism (2) also wraps
Include two parallelogram frames (10) and two steady braces being fixedly mounted between two parallelogram frames (10)
(11)；Liang Ge electric putter mechanism is hingedly mounted between two parallelogram frames (10) by short axle (16), and two electricity push away
The telescopic direction of linkage is opposite；One end hinge hole (7) of vertical swing rod (4) is hingedly mounted on mechanical big leg mechanism (2)
An electric putter mechanism push rod articulated shaft (17) on；Another end hinge hole (7) of vertical swing rod (4) passes through fixed pin
Axis (29) is hingedly mounted on two parallelogram frames (10).
5. the leg structure of multi-foot robot according to claim 4, it is characterised in that: mechanical small leg mechanism (3) includes
Upper strut (19), pressure sensor (22) and hemispherical footing (23)；The upper end of upper strut (19) is equipped with upper hinge hole
(20)；Lower hinge hole (21) are equipped at the swing pivot of upper strut (19)；Upper hinge hole (20) is hinged by fixed pin shaft (29)
It is mounted on two parallelogram frames (10), lower hinge hole (21) is hingedly mounted on another electricity of mechanical big leg mechanism (2)
On the push rod articulated shaft (17) of transfer bar mechanism；Pressure sensor (22) is fixedly mounted on the lower end of strut (19)；Hemisphere
Shape footing (23) is fixedly mounted on the lower end of pressure sensor (22).
6. the leg structure of multi-foot robot according to claim 5, it is characterised in that: the both ends of fixed pin shaft (29) are logical
It crosses hinged seat (12) and realizes hinged installation, and realize that the both ends of fixed pin shaft (29) are locked by locking anchor ear (13)；Electric pushrod
(14) both ends of two short axles (16) and push rod articulated shaft (17) on pass through hinged seat (12) and realize hinged installation；Hingedly
Seat (12) includes mounting seat (24), bearing (27) and circlip (28)；Bearing mounting hole is equipped on mounting seat (24)
(25) and two for installing the fixed installation circular hole (26) of hinged seat (12)；Bearing (27) is embedded in bearing mounting hole (25)
It is interior, and bearing (27) are limited by circlip (28).
7. the leg structure of multi-foot robot according to claim 6, it is characterised in that: in fixed pin shaft (29) and push rod
Limit threaded hole (18) is equipped in the middle part of articulated shaft (17)；Hinge hole (7), hinged mounting hole (8), upper hinge hole in end
(20) and at lower hinge hole (21) equal threaded engagement is equipped with a caging bolt (9), and the end difference of caging bolt (9)
The limit threaded hole (18) in each hole with corresponding position is protruded into mutually to screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820716723.5U CN208181243U (en) | 2018-05-14 | 2018-05-14 | A kind of leg structure of multi-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820716723.5U CN208181243U (en) | 2018-05-14 | 2018-05-14 | A kind of leg structure of multi-foot robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208181243U true CN208181243U (en) | 2018-12-04 |
Family
ID=64430079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820716723.5U Active CN208181243U (en) | 2018-05-14 | 2018-05-14 | A kind of leg structure of multi-foot robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208181243U (en) |
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2018
- 2018-05-14 CN CN201820716723.5U patent/CN208181243U/en active Active
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