CN208215397U - A kind of mechanical donkey leg structure based on push-rod electric machine - Google Patents
A kind of mechanical donkey leg structure based on push-rod electric machine Download PDFInfo
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- CN208215397U CN208215397U CN201820360426.1U CN201820360426U CN208215397U CN 208215397 U CN208215397 U CN 208215397U CN 201820360426 U CN201820360426 U CN 201820360426U CN 208215397 U CN208215397 U CN 208215397U
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- thigh
- push
- electric machine
- rod electric
- shank
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Abstract
The utility model discloses a kind of mechanical donkey leg structure based on push-rod electric machine, including body, thigh structure, shank structure, foot structure, body are connect with thigh structure, thigh structure, the connection of shank structure, shank structure, foot structure connection.The utility model utilizes the flexible of push-rod electric machine, the bionic movement for realizing mechanical donkey leg, then by being mounted on the pressure sensor of foot, to judge the exposure level with ground, it can be moved under relative complex ground environment, mechanical donkey leg posture situation is judged by attitude transducer.Then pressure data and attitude data control panel is sent to as current to refer to by mechanical donkey leg motion state, and then control measure control thigh and shank cooperation is taken to realize the function of mechanical donkey leg, its good reliability, it may be implemented to walk safely under complex road condition, effectively compensate for the deficiencies in the prior art.
Description
Technical field
The utility model relates to bio-robot technical field more particularly to a kind of mechanical donkey legs based on push-rod electric machine
Structure.
Background technique
With the continuous development of robot technology, miscellaneous robot obtains to have in various fields, wherein with
It is most commonly seen in the transportation robot of transport.Transportation robot is divided into wheeled robot, caterpillar type robot, legged type robot
Deng people being replaced to execute the transport task of long-distance danger generally using pure electric drive, hydraulic-driven and electro-hydraulic combination drive.But
The transportation robot of the prior art can only undertake transport task in the relatively good place of road conditions, cannot be in relative complex ground face ring
Motor task is completed under border very well.
Utility model content
In view of the above drawbacks of the prior art, it is based on pushing away the technical problem to be solved by the utility model is to provide one kind
The mechanical donkey leg structure of bar motor realizes the bionic movement of mechanical donkey leg, then passes through installation using the flexible of push-rod electric machine
In the pressure sensor of foot, to judge the exposure level with ground, can be moved under relative complex ground environment.
To achieve the above object, the utility model provides a kind of mechanical donkey leg structure based on push-rod electric machine, including
Body, thigh structure, shank structure, foot structure, the thigh structure include push-rod electric machine on the left of thigh, push rod on the right side of thigh
Three flange bases are arranged on the body for motor, and the flange base of the left and right sides passes through respectively in three flange bases
Universal joint connects push-rod electric machine on the left of thigh, push-rod electric machine one end on the right side of thigh, the flange bottom among three flange bases
Seat connects thigh reinforcing bar top by universal joint, and thigh force bearing plate, the thigh load is arranged in thigh reinforcing bar back
Two flange bases are installed, and two flange bases on thigh force bearing plate are connected on the left of thigh by universal joint respectively on plate
The push-rod electric machine other end on the right side of push-rod electric machine, thigh；The shank structure includes the first rotation being connected in the middle part of thigh reinforcing bar
Axis, first rotation axis connection shank push-rod electric machine one end, the shank push-rod electric machine other end connection are arranged in shank steel
In the second rotation axis on bone, bearing bracket stand support is also set up on the shank reinforcing bar, the bearing bracket stand support is arranged in thigh steel
In the knee sliding slot of bone lower part；The foot structure includes the foot that pressure sensor and bottom below shank reinforcing bar is arranged in,
Posture mounting groove is set above the pressure sensor, attitude transducer is set in the posture mounting groove.
A kind of above-mentioned mechanical donkey leg structure based on push-rod electric machine, the setting of thigh reinforcing bar back side middle and upper part are used for
The control panel mounting groove of control panel is installed.
A kind of above-mentioned mechanical donkey leg structure based on push-rod electric machine, the pressure sensor, attitude transducer and control
Making sheet connection.
The beneficial effects of the utility model are:
The utility model realizes the bionic movement of mechanical donkey leg, then by being mounted on foot using the flexible of push-rod electric machine
The pressure sensor in portion can move under relative complex ground environment to judge the exposure level with ground, pass through appearance
State sensor judges mechanical donkey leg posture situation.Then pressure data is sent to control panel with attitude data as currently passing through
Mechanical donkey leg motion state reference, and then control measure control thigh and shank cooperation is taken to realize the function of mechanical donkey leg,
Good reliability may be implemented to walk safely under complex road condition, effectively compensate for the deficiencies in the prior art.
Make furtherly below with reference to technical effect of the attached drawing to the design of the utility model, specific structure and generation
It is bright, to be fully understood from the purpose of this utility model, feature and effect.
Detailed description of the invention
Fig. 1 is the mechanical donkey leg structure main view of the utility model.
Fig. 2 is the mechanical donkey leg structure left view of the utility model.
1- body, 2- thigh left side push-rod electric machine, 3- thigh right side push-rod electric machine, 4- flange base, 5- universal joint, 6- are big
Leg reinforcing bar, 7- thigh force bearing plate, 8- knee sliding slot, 9- shank push-rod electric machine, 10- shank reinforcing bar, 11- bearing bracket stand support, 12-
Rotation axis, 13- pressure sensor, 14- foot, 15- control panel mounting groove, 16- posture mounting groove.
Specific embodiment
As shown in Figure 1, 2, a kind of mechanical donkey leg structure based on push-rod electric machine, including body 1, thigh structure, shank
Structure, foot structure, the thigh structure include push-rod electric machine 2 on the left of thigh, push-rod electric machine 3 on the right side of thigh, on the body 1
Three flange bases 4 are set, and the flange base 4 of the left and right sides is connected greatly by universal joint 5 respectively in three flange bases 4
Push-rod electric machine 2, thigh right side 3 one end of push-rod electric machine on the left of leg, the flange base 4 of three flange bases, 4 centre pass through ten thousand
6 top of thigh reinforcing bar is connected to section 5, and 6 back of thigh reinforcing bar is arranged thigh force bearing plate 7, on the thigh force bearing plate 7
Two flange bases 4 are installed, and two flange bases 4 on thigh force bearing plate 7 are connected on the left of thigh by universal joint 5 respectively
3 other end of push-rod electric machine on the right side of push-rod electric machine 2, thigh；The shank structure includes first turn for being connected to 6 middle part of thigh reinforcing bar
Moving axis 121, first rotation axis 121 connect 9 one end of shank push-rod electric machine, and 9 other end of the shank push-rod electric machine connection is set
It sets in the second rotation axis 122 on shank reinforcing bar 10, bearing bracket stand support 11, the bearing is also set up on the shank reinforcing bar 10
Frame support 11 is arranged in the knee sliding slot 8 of 6 lower part of thigh reinforcing bar；The foot structure includes being arranged below shank reinforcing bar 10
Pressure sensor 13 and bottom foot 14, posture mounting groove 16, the posture installation are set above the pressure sensor 13
Attitude transducer is set in slot 16.
In the present embodiment, the control panel mounting groove 15 for installing control panel is arranged in 6 back side middle and upper part of thigh reinforcing bar.
In the present embodiment, the pressure sensor 13, attitude transducer and control panel are connected.
The thigh motion state of the utility model are as follows: thigh reinforcing bar 6 is connect by universal joint 5 and flange seat 4 with body 1,
Push-rod electric machine 2 and thigh right side 3 expansion fit of push-rod electric machine on the left of thigh, by universal joint 5 and flange seat 4 to thigh load
Plate 7 acts on, and realizes the swing all around of thigh reinforcing bar 6.
The shank motion state of the utility model: 6 back of thigh reinforcing bar passes through the shank push rod that the first rotation axis 121 connects
Stretching for motor 9, acts on the bearing bracket stand support 11 being arranged on shank reinforcing bar 10 and the second rotation axis 122, makes shank reinforcing bar
10 swings in knee sliding slot 8.
When foot 14 when being contacted with ground, foot pressure sensor 13 acquire data, be sent in control panel mounting groove 15
Control panel, while the attitude transducer for being mounted on posture mounting groove 16 also transfers data to control panel, passes through thigh and shank
The function of mechanical donkey leg is realized in cooperation.
The preferred embodiments of the present invention have been described in detail above.It should be appreciated that the ordinary skill people of this field
Member according to the present utility model can conceive without creative work makes many modifications and variations.Therefore, all this technology necks
Technical staff passes through logic analysis, reasoning or limited reality according to the design of the utility model on the basis of existing technology in domain
Available technical solution is tested, it all should be within the scope of protection determined by the claims.
Claims (3)
1. a kind of mechanical donkey leg structure based on push-rod electric machine, it is characterised in that: including body (1), thigh structure, shank knot
Structure, foot structure, the thigh structure include push-rod electric machine (2) on the left of thigh, push-rod electric machine (3) on the right side of thigh, the body
(1) three flange bases (4) are set on, and the flange base (4) of the left and right sides passes through ten thousand respectively in three flange bases (4)
Push-rod electric machine (2), push-rod electric machine (3) one end on the right side of thigh on the left of to section (5) connection thigh, in three flange bases (4)
Between flange base (4) connect thigh reinforcing bar (6) top by universal joint (5), thigh is arranged in thigh reinforcing bar (6) back
Force bearing plate (7) installs two flange bases (4), and two on thigh force bearing plate (7) on the thigh force bearing plate (7)
It is another that flange base (4) connects push-rod electric machine (2) on the left of thigh, thigh right side push-rod electric machine (3) by universal joint (5) respectively
End；The shank structure includes the first rotation axis (121) being connected in the middle part of thigh reinforcing bar (6), first rotation axis (121)
Connect shank push-rod electric machine (9) one end, shank push-rod electric machine (9) other end connection be arranged on shank reinforcing bar (10) the
It in two rotation axis (122), is also set up bearing bracket stand support (11) on the shank reinforcing bar (10), bearing bracket stand support (11) setting
In the knee sliding slot (8) of thigh reinforcing bar (6) lower part；The foot structure includes the pressure being arranged below shank reinforcing bar (10)
Posture mounting groove (16) are arranged in the foot (14) of sensor (13) and bottom, pressure sensor (13) top, the posture peace
Attitude transducer is set in tankage (16).
2. a kind of mechanical donkey leg structure based on push-rod electric machine as described in claim 1, it is characterised in that: the thigh steel
The control panel mounting groove (15) for installing control panel is arranged in bone (6) back side middle and upper part.
3. a kind of mechanical donkey leg structure based on push-rod electric machine as described in claim 1, it is characterised in that: the pressure passes
Sensor (13), attitude transducer and control panel connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820360426.1U CN208215397U (en) | 2018-03-16 | 2018-03-16 | A kind of mechanical donkey leg structure based on push-rod electric machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820360426.1U CN208215397U (en) | 2018-03-16 | 2018-03-16 | A kind of mechanical donkey leg structure based on push-rod electric machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208215397U true CN208215397U (en) | 2018-12-11 |
Family
ID=64531710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820360426.1U Expired - Fee Related CN208215397U (en) | 2018-03-16 | 2018-03-16 | A kind of mechanical donkey leg structure based on push-rod electric machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208215397U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022732A (en) * | 2019-12-25 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Leg structure of robot |
-
2018
- 2018-03-16 CN CN201820360426.1U patent/CN208215397U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022732A (en) * | 2019-12-25 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Leg structure of robot |
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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: 20181211 Termination date: 20200316 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |