CN208325458U - Everybody leg of a kind of shell having functions of waterproof and dustproof and bionic machine - Google Patents
Everybody leg of a kind of shell having functions of waterproof and dustproof and bionic machine Download PDFInfo
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- CN208325458U CN208325458U CN201820909674.7U CN201820909674U CN208325458U CN 208325458 U CN208325458 U CN 208325458U CN 201820909674 U CN201820909674 U CN 201820909674U CN 208325458 U CN208325458 U CN 208325458U
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Abstract
The utility model discloses everybody legs of a kind of shell for having functions of waterproof and dustproof and bionic machine, the shell is for installing everybody leg power drive mechanism of bionic machine, everybody leg power drive mechanism of the bionic machine includes hip joint power mechanism and knee joint power mechanism, and the shell includes hip joint unit and knee joint unit；Hip joint power mechanism is arranged in hip joint unit, knee joint power mechanism is arranged in knee joint unit, hip joint unit and knee joint unit are all made of sealing structure, since the electronic equipment of hip joint power mechanism and knee joint power mechanism is in the protection of shell and sealing ring, the intrusion of liquid and flying dust is effectively completely cut off, therefore electronic equipment is reduced because of the probability of foreign matter intrusion damage, extends the service life of electronic equipment.Such structure ensure that two degrees of freedom bio-robot leg can work normally in severe natural environment, enhances the scope of activities of robot, improves the practicability of robot.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of shells for having functions of waterproof and dustproof and bionical
Everybody leg of machine.
Background technique
As economic growth and the disappearance of demographic dividend, social security cost increase year by year.It is substituted using robot
People can be effectively reduced the injures and deaths of personnel tasks such as security protection patrol, the disaster area rescues of being engaged in some danger zones.Leg foot formula machine
Device people possesses the advantage that wheeled robot does not have in terms of leaping over obstacles.It will be faced in view of robot executes task outside
Bad weather complicated and changeable, therefore the quadruped robot with waterproof performance is developed with comparable meaning.
Patent CN 103407514B discloses a kind of Four-foot bio-robot leg mechanism, and the robot leg mechanism is by body
Bracket, thigh support frame, shank connecting rod, shank connecting plate, articular disc limited block, leg support seat and shank sleeve etc. are rigidly tied
The flexible structures such as structure and the hard and soft modulating mechanism of the hydraulic cylinder shaft of articular disc and articular disc, sole composition.Using hydraulic-driven.Energy
Enough realize the flexible motion and the movement such as top bar and jump of shank.But the robot noise of hydraulic-driven is big, control
The activity point of view of low precision, joint is small, and control difficulty is high.
Patent CN 107128394A discloses a kind of anti-raw robot leg mechanism of four-footed, which is closed by hip
Save transmission module, knee joint transmission module, calf module and sufficient end module composition.Hip joint transmission module is subtracted by motor connection
Fast device directly drives hip joint movement, and program transmission efficiency is high.Knee joint transmission module drives ball-screw machine by motor
Structure movement, and drive parallel motion to drive motion of knee joint in turn, compact-sized, gearing friction is small.But the leg
Mechanism does not have the function of water proof and dust proof, limits use scope.
Utility model content
The purpose of this utility model is the deficiency for prior art, propose a kind of shell for having functions of waterproof and dustproof and
Everybody leg of bionic machine.
It is as follows that the utility model solves technical solution used by its technical problem: a kind of shell having functions of waterproof and dustproof
Body, the shell is for installing everybody leg power drive mechanism of bionic machine, everybody leg power drive mechanism packet of the bionic machine
Hip joint power mechanism and knee joint power mechanism are included, the shell includes hip joint unit and knee joint unit；
The hip joint unit includes hip joint shell, hip joint lid, hip joint lid water proof ring, hip knee water seal, the knee
Joint unit includes knee joint shell, knee joint lid, knee joint lid water proof ring, knee connecting rod, knee spacer, knee spacer waterproof
The outer openings end installation hip of circle, the water seal of knee spacer, the water seal of knee fixed ring, knee link transmission axis, the hip joint shell closes
Section lid, is sealed by hip joint lid water proof ring；Hip joint power mechanism is mounted in hip joint shell, hip joint power mechanism
Fixing end is fixedly connected with hip joint shell, and the power output end of hip joint power mechanism is fixedly connected with knee joint shell, hip
It is sealed between articular shell and knee joint shell by hip knee water seal；The outer openings end of the knee joint shell is installed by knee
Joint lid is sealed by knee joint lid water proof ring；Knee spacer is mounted in knee joint shell, and knee joint interior of shell is divided into
Left chamber and right chamber, knee spacer are sealed with knee joint outer casing inner wall by knee spacer water proof ring, knee joint power
The fixing end of mechanism is fixed in left chamber, and the power output end of knee joint power mechanism passes through knee spacer and is supported on right chamber
Indoor knee link transmission axis is connected, and knee link transmission axis and the power output end of knee joint power mechanism are coaxial, and knee connecting rod passes
It is sealed between moving axis side and knee spacer by knee spacer water seal, the knee link transmission axis other side and right chamber chamber interior walls
It is sealed by knee fixed ring water seal, one end of knee connecting rod penetrates right chamber and is connected with knee link transmission axis.
Further, it is also fixedly installed with knee fixed ring between the knee link transmission axis other side and right chamber chamber interior walls,
It is sealed between the knee link transmission axis other side and knee fixed ring by knee fixed ring water seal.
Further, the knee fixed ring is sealed with right chamber chamber interior walls by knee fixed ring water proof ring.
Further, hip top cover is installed in the middle part of the hip joint outer side of lid, leads between hip joint outer side of lid and hip top cover
The sealing of hip top cover water proof ring is crossed, hip outlet watertight port is installed in the middle part of hip top cover.
Further, knee top cover is installed in the middle part of the knee joint outer side of lid, leads between knee joint outer side of lid and knee top cover
The sealing of knee top cover water proof ring is crossed, knee outlet watertight port is installed in the middle part of knee top cover.
Further, the hip joint shell exterior is equipped with installation pedestal.
The another object of the utility model is to provide a kind of everybody leg of bionic machine, dynamic including above-mentioned shell, hip joint
Force mechanisms, knee joint power mechanism, thigh, shank and vola, one end of thigh are fixed on knee joint shell, thigh it is another
One end is hinged with shank, and vola is mounted on the lower end of shank, and the other end of the knee connecting rod and shank upper end are hinged.
Further, the sensor that contacts to earth is installed in the vola.
The beneficial effect effect of the utility model is as follows: since hip joint power mechanism and the electronics of knee joint power mechanism are set
In the standby protection in shell and sealing ring, the intrusion of liquid and flying dust is effectively completely cut off, therefore reduce electronic equipment because different
The probability of object intrusion damage, extends the service life of electronic equipment.Such structure ensure that two degrees of freedom bio-robot
Leg can work normally in severe natural environment, enhance the scope of activities of robot, improve the practicability of robot.
Detailed description of the invention
Fig. 1 is the cross-sectional view for the shell that the utility model embodiment has functions of waterproof and dustproof；
Fig. 2 is a kind of perspective view of everybody leg of bionic machine of the utility model embodiment；
Fig. 3 is a kind of side view of everybody leg of bionic machine of the utility model embodiment；
In figure: hip joint shell 1-0, hip joint lid 1-1, hip top cover 1-2, hip joint lid water proof ring 1-3, hip top cover waterproof
Enclose 1-4, hip outlet watertight port 1-5, hip knee water seal 1-6, installation pedestal 1-7, hip joint power mechanism 1-8, knee joint shell
2-0, knee joint lid 2-1, knee top cover 2-2, knee fixed ring 2-3, knee joint lid water proof ring 2-4, knee top cover water proof ring 2-5, knee go out
Line watertight port 2-6, knee connecting rod 2-7, knee fixed ring water proof ring 2-8, knee spacer 2-9, knee spacer water proof ring 2-10, knee every
From piece water seal 2-11, knee fixed ring water seal 2-12, knee link transmission axis 2-13, knee joint power mechanism 2-14, thigh 3-0, small
Leg 3-1, lower rotary shaft 3-2, knee joint shaft 3-3, vola 3-4.
Specific embodiment
The following is further explained with reference to the attached drawings the utility model.
As shown in Figure 1, the utility model embodiment provides a kind of shell for having functions of waterproof and dustproof, the shell is for pacifying
Everybody leg power drive mechanism of bionic machine is filled, everybody leg power drive mechanism of the bionic machine includes hip joint power mechanism
1-8 and knee joint power mechanism 2-14, the shell include hip joint unit and knee joint unit；
The hip joint unit includes hip joint shell 1-0, hip joint lid 1-1, hip joint lid water proof ring 1-3, hip knee water
1-6 is sealed, the knee joint unit includes knee joint shell 2-0, knee joint lid 2-1, knee joint lid water proof ring 2-4, knee connecting rod 2-
7, knee spacer 2-9, knee spacer water proof ring 2-10, knee spacer water seal 2-11, knee fixed ring water seal 2-12, knee link transmission
Axis 2-13,
Hip joint power mechanism 1-8, the knee joint power mechanism 2-14 of everybody leg mechanism of machine belong to the guarantor of water proof and dust proof
Object is protected, in order to reach protection leg seal, the effect for preventing liquid and dust from invading completes static position using water proof ring
Sealing, use water seal complete dynamic position sealing.Hip joint lid 1- is installed at the outer openings end of the hip joint shell 1-0
1, it is sealed by hip joint lid water proof ring 1-3；Hip joint power mechanism 1-8 is mounted in hip joint shell 1-0, hip joint power
The fixing end of mechanism 1-8 is fixedly connected with hip joint shell 1-0, the power output end and knee joint of hip joint power mechanism 1-8
Shell 2-0 is fixedly connected, and is sealed between hip joint shell 1-0 and knee joint shell 2-0 by hip knee water seal 1-6；It is described
Knee joint lid 2-1 is installed at the outer openings end of knee joint shell 2-0, is sealed by knee joint lid water proof ring 2-4；Knee spacer 2-
9 are mounted in knee joint shell 2-0, will be divided into left chamber and right chamber, knee spacer 2-9 and knee inside knee joint shell 2-0
Articular shell 2-0 inner wall is sealed by knee spacer water proof ring 2-10, and the fixing end of knee joint power mechanism 2-14 is fixed
In left chamber, the power output end of knee joint power mechanism 2-14 passes through knee spacer 2-9 and is supported on the indoor knee of right chamber
Link transmission axis 2-13 is connected, and knee link transmission axis 2-13 and the power output end of knee joint power mechanism 2-14 are coaxial, and knee connects
It is sealed between the bar side transmission shaft 2-13 and knee spacer 2-9 by knee spacer water seal 2-11, knee link transmission axis 2-
13 other sides are sealed with right chamber chamber interior walls by knee fixed ring water seal 2-12, one end of knee connecting rod 2-7 penetrate right chamber with
Knee link transmission axis 2-13 is connected.
Knee fixed ring 2-3, knee are also fixedly installed between the knee link transmission other side axis 2-13 and right chamber chamber interior walls
It is sealed between the link transmission other side axis 2-13 and knee fixed ring 2-3 by knee fixed ring water seal 2-12；The knee is fixed
Ring 2-3 is sealed with right chamber chamber interior walls by knee fixed ring water proof ring 2-8.
The outer middle side part of the hip joint lid 1-1 is equipped with hip top cover 1-2, between the outside hip joint lid 1-1 and hip top cover 1-2
It is sealed by hip top cover water proof ring 1-4, hip outlet watertight port 1-5, the hip joint engine is installed in the middle part of hip top cover 1-2
The route of structure 1-8 passes through hip outlet watertight port 1-5.
The outer middle side part of the knee joint lid 2-1 is equipped with knee top cover 2-2, between the outside knee joint lid 2-1 and knee top cover 2-2
It is sealed by knee top cover water proof ring 2-5, knee outlet watertight port 2-6, knee joint power mechanism 2- is installed in the middle part of knee top cover 2-2
14 route passes through knee outlet watertight port 2-6.
Installation pedestal 1-7 is housed, for entire shell to be fixed on the bionic machine person outside the hip joint shell 1-0
On body.
As Figure 2-3, the utility model also provides a kind of bionic machine everybody leg, including above-mentioned shell, hip joint
Power mechanism 1-8, knee joint power mechanism 2-14, thigh 3-0, shank 3-1 and vola 3-4, one end of thigh 3-0 are fixed on
On knee joint shell 2-0, the other end of thigh 3-0 is hinged by knee joint shaft 3-3 and shank 3-1, and vola 3-4 is mounted on small
The other end of the lower end of leg 3-1, the knee connecting rod 2-7 is hinged by the upper end lower rotary shaft 3-2 and shank 3-1.Knee joint connecting rod 2-7
When movement, shank 3-1 is pulled to rotate around knee joint shaft 3-3 by lower rotary shaft 3-2.Touching is installed in the 3-4 of robot foot bottom
Ground sensor can feed back electric signal to control system when landing.
Controller and driver are installed, route moves hip joint power mechanism 1-8, knee joint on bionic machine human body
Force mechanisms 2-14 is connect with the driver on machine human body, and controller is changed in real time by the information of contacting to earth of reception vola 3-4
Instruction is sent to driver by control strategy in the form of light current, and driver passes through heavy-current control hip joint power mechanism 1-8 and knee
Joint power mechanism 2-14, and then drive the movement of heavy-current control hip joint power mechanism 1-8 and knee joint power mechanism 2-14
End is rotated according to instruction, and hip joint shell 1-0 and knee joint shell 2-0 is realized in the tache motorice movement of hip joint power mechanism 1-8
It relatively rotates；The tache motorice of knee joint power mechanism 2-14 acts, and knee connecting rod 2-7 extensional motion is realized, to drive shank 3-1
It is swung around thigh 3-0.The controller, which can be used, grinds magnificent MIO-5251 industrial personal computer, and Copley can be used in the driver
The ACJ-055-18 type driver of company, certainly this be only used by the present embodiment, it is without being limited thereto.
By each casing mechanism of the utility model and the setting of sealing, enable two degrees of freedom bio-robot leg
It works normally in rain and snow, extends the service life of electronic equipment, enhance the locomitivity of robot, reduce machine
The probability of people's damage has wider use occasion.
Claims (8)
1. a kind of shell for having functions of waterproof and dustproof, the shell for installing everybody leg power drive mechanism of bionic machine,
It is characterized in that, everybody leg power drive mechanism of the bionic machine includes hip joint power mechanism and knee joint power mechanism, institute
Stating shell includes hip joint unit and knee joint unit；
The hip joint unit includes hip joint shell, hip joint lid, hip joint lid water proof ring, hip knee water seal,
The knee joint unit include knee joint shell, knee joint lid, knee joint lid water proof ring, knee connecting rod, knee spacer, knee every
From piece water proof ring, the water seal of knee spacer, the water seal of knee fixed ring, knee link transmission axis,
Hip joint lid is installed at the outer openings end of the hip joint shell, is sealed by hip joint lid water proof ring；Hip joint power
Mechanism is mounted in hip joint shell, and the fixing end of hip joint power mechanism is fixedly connected with hip joint shell, hip joint power
The power output end of mechanism is fixedly connected with knee joint shell, between hip joint shell and knee joint shell by the water seal of hip knee into
Row sealing；
Knee joint lid is installed at the outer openings end of the knee joint shell, is sealed by knee joint lid water proof ring；Knee spacer peace
In knee joint shell, knee joint interior of shell is divided into left chamber and right chamber, knee spacer and knee joint outer casing inner wall
It is sealed by knee spacer water proof ring, the fixing end of knee joint power mechanism is fixed in left chamber, knee joint engine
The power output end of structure passes through knee spacer and is connected with the indoor knee link transmission axis of right chamber is supported on, knee link transmission axis and knee
The power output end of joint power mechanism is coaxial, between knee link transmission axis side and knee spacer by the water seal of knee spacer into
Row sealing, the knee link transmission axis other side are sealed with right chamber chamber interior walls by knee fixed ring water seal, and one end of knee connecting rod is worn
Enter right chamber to be connected with knee link transmission axis.
2. shell according to claim 1, which is characterized in that the knee link transmission axis other side and right chamber chamber interior walls it
Between be also fixedly installed with knee fixed ring, between the knee link transmission axis other side and knee fixed ring by the water seal of knee fixed ring carry out it is close
Envelope.
3. shell according to claim 2, which is characterized in that the knee fixed ring and right chamber chamber interior walls pass through knee fixed ring
Water proof ring is sealed.
4. shell according to claim 3, which is characterized in that be equipped with hip top cover, hip in the middle part of the hip joint outer side of lid
It is sealed between joint outer side of lid and hip top cover by hip top cover water proof ring, hip outlet watertight port is installed in the middle part of hip top cover.
5. shell according to claim 4, which is characterized in that be equipped with knee top cover, knee in the middle part of the knee joint outer side of lid
It is sealed between joint outer side of lid and knee top cover by knee top cover water proof ring, knee outlet watertight port is installed in the middle part of knee top cover.
6. shell according to claim 5, which is characterized in that the hip joint shell exterior is equipped with installation pedestal.
7. a kind of everybody leg of bionic machine, which is characterized in that dynamic including shell described in any one of claims 1-6, hip joint
Force mechanisms, knee joint power mechanism, thigh, shank and vola, one end of thigh are fixed on knee joint shell, thigh it is another
One end is hinged with shank, and vola is mounted on the lower end of shank, and the other end of the knee connecting rod and shank upper end are hinged.
8. a kind of everybody leg of bionic machine according to claim 7, which is characterized in that be equipped with biography of contacting to earth in the vola
Sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820909674.7U CN208325458U (en) | 2018-06-12 | 2018-06-12 | Everybody leg of a kind of shell having functions of waterproof and dustproof and bionic machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820909674.7U CN208325458U (en) | 2018-06-12 | 2018-06-12 | Everybody leg of a kind of shell having functions of waterproof and dustproof and bionic machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208325458U true CN208325458U (en) | 2019-01-04 |
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ID=64770268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820909674.7U Active CN208325458U (en) | 2018-06-12 | 2018-06-12 | Everybody leg of a kind of shell having functions of waterproof and dustproof and bionic machine |
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| Country | Link |
|---|---|
| CN (1) | CN208325458U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928401A (en) * | 2018-06-12 | 2018-12-04 | 杭州云深处科技有限公司 | The shell and bionic machine everybody leg for having functions of waterproof and dustproof |
-
2018
- 2018-06-12 CN CN201820909674.7U patent/CN208325458U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928401A (en) * | 2018-06-12 | 2018-12-04 | 杭州云深处科技有限公司 | The shell and bionic machine everybody leg for having functions of waterproof and dustproof |
| CN108928401B (en) * | 2018-06-12 | 2024-03-15 | 杭州云深处科技有限公司 | Shell with waterproof and dustproof functions and bionic robot leg |
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