CN208376909U - A kind of tri-state machinery leg structure - Google Patents
A kind of tri-state machinery leg structure Download PDFInfo
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- CN208376909U CN208376909U CN201820640399.3U CN201820640399U CN208376909U CN 208376909 U CN208376909 U CN 208376909U CN 201820640399 U CN201820640399 U CN 201820640399U CN 208376909 U CN208376909 U CN 208376909U
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- Prior art keywords
- articulated section
- tri
- slide bar
- leg
- support portion
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model discloses a kind of tri-state machinery leg structure, including main body, the main body includes slide bar and leg bar interconnected, is provided with the first support portion on the leg bar；Sliding block on the slide bar is set, and the slide bar sliding block corresponding with leg bar junction is provided with lower position block, and the slide bar corresponds to the lower position block and is provided with upper limit structure；Partly to articulation piece, including plate ontology, the upper surface of the plate ontology is provided with the first articulated section, the lower end surface of the plate ontology is provided with the second articulated section and third articulated section, the hinged sliding block in first articulated section, hingedly the lower position block, the third articulated section pass through hinged first support portion of hinged second support portion for second articulated section.The utility model can enable the existing structure form with the machinery leg structure to advance in hard ground, soft ground and water, avoid the limitation by place.
Description
Technical field
The utility model belongs to robot architecture's studying technological domain, and in particular to it is a kind of can be in hard ground, soft
The tri-state machinery leg structure walked in face and water.
Background technique
With the development of science and technology, people are growing to machine Man's Demands, and machine man-based development is also gradually in
Reveal diversification；But robot present on the prior art, it is most of to be designed both for specific condition, thus can only
It works under single environment.The most commonly seen underwater robot having for underwater operation, traveling, which relies primarily on, to be pushed away
Into device；And the land robot of operation is carried out for hard ground, it advances and relies primarily on replacement traveling or the wheel of foot structure
Formula promotes；For can operation and can be then very rare in the walk amphibious robot that use of land in water, and rarely have
The robot case that can be walked in soft area.
Therefore, a kind of robot is researched and developed, so that its mechanical leg structure for having, is able to achieve on strong ground, soft terrain
And walk in water, it has a very important significance.
Utility model content
To solve the above-mentioned problems, the utility model is intended to provide a kind of tri-state machinery leg structure, so that having the machinery
The existing structure form of leg structure can advance in hard ground, soft ground and water, avoid the limitation by place.
To achieve the above object, the utility model is achieved by following technical scheme:
A kind of tri-state machinery leg structure, comprising:
The main body of mechanical foot, the main body include slide bar and leg bar interconnected, described in one end connection of the leg bar
The other end of slide bar, the leg bar is provided with the first support portion；
Sliding block on the slide bar is set, and the slide bar sliding block corresponding with leg bar junction is provided with lower limit
Position block, the slide bar correspond to the lower position block and are provided with upper limit structure, the sliding block the upper limit structure with it is described
Slide bar section sliding between lower position block；
Half to articulation piece, including plate ontology, and the upper surface of the plate ontology is provided with the first articulated section, the plate
The lower end surface of ontology is provided with the second articulated section and third articulated section, the hinged sliding block in first articulated section, and described second
Hingedly the lower position block, the third articulated section pass through hinged first support portion of hinged second support portion for articulated section.
Preferably, described half further includes being arranged respectively to plate ontology upper surface and lower end surface protrusion to articulation piece
Support grillage, the support grillage is symmetricly set on the plate ontology.
Preferably, first articulated section, the second articulated section and the third articulated section be oppositely arranged on it is described
Support the through-hole on grillage.
Preferably, second articulated section and third articulated section are separately positioned on the two sides of first articulated section.
Preferably, first support portion includes the foot cover that leg bar end is arranged in.
Preferably, second support portion includes a disk for being provided with arc convex, the hinged foot of the disk
Set.
Preferably, the minimum point of disc level arc convex when placing abuts ground.
Preferably, the slide bar and the leg bar are to be arranged with bar, the upper limit structure, sliding block, lower position block and
First support portion is set gradually on the body.
Preferably, between first articulated section and the sliding block, second articulated section and the lower position block it
Between, be articulated and connected by connecting rod between the third articulated section and second support portion.
Preferably, the upper limit structure is the annular sleeve that the slide bar end is arranged in.
Compared with prior art, the utility model has the beneficial effects that
A kind of tri-state machinery leg structure provided by the utility model is provided with half to articulation piece, and setting is partly to articulation piece
On the second articulated section and third articulated section due to for ipsilateral setting, the largest motion of second articulated section and third articulated section
Amplitude be it is parallel with plate ontology, minimum movement amplitude be it is vertical with plate ontology, therefore, the mechanical foot in the utility model people
There are two kinds of limit of sports record states:
When the first limit of sports record state, that is, sliding block moves to the limit along upper limit structure, mechanical foot and ground are connect at this time
Contacting surface product is minimum, suitable for walking on hard ground；
When second of limit of sports record state, that is, sliding block moves to the limit along lower position block, at this time hinged lower position block with half to
Articulation piece, hinged second support portion are on same straight line with half to the connecting rod of articulation piece, and arc convex is minimum on disk
Point is coplanar with the minimum point of the first support portion, and abuts ground, and the contact area on mechanical foot and ground becomes larger at this time, is applicable in
In advancing in soft ground；
Also, it is in mechanical foot when second of limit of sports record state, can also be installed in Ship Structure, make as quant
With；The structure for having buoyancy is advanced in water, realize have the robot of the utility model machinery leg structure can be
It is used in hard ground, soft ground and water.
Detailed description of the invention
In order to illustrate more clearly of the utility model embodiment technical solution, will make below to required in embodiment description
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the utility model, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is structural schematic diagram when the utility model machinery foot is in the first limit of sports record state.
Fig. 2 is structural schematic diagram when the utility model machinery foot is in second of limit of sports record state.
Fig. 3 is positive structure diagram of the utility model half to articulation piece.
Fig. 4 is structure diagram of the utility model half to articulation piece.
Fig. 5 is side structure schematic view of the utility model half to articulation piece.
Fig. 6 is that the utility model machinery foot is installed in the structural schematic diagram in Ship Structure.
Wherein:
100- machinery leg structure, 1- main body, 11- slide bar, 111- lower position block, 112- upper limit structure, 12- leg bar,
The first support portion of 121-, 2- sliding block, 3- half is to articulation piece, the first articulated section 31-, the second articulated section 32-, 33- third articulated section,
34- plate ontology, 35- support grillage, the second support portion of 4-, 5- connecting rod, 6- Ship Structure.
Specific embodiment
In order to be more clearly understood that the above objects, features, and advantages of the utility model, with reference to the accompanying drawing and have
The utility model is described in detail in body embodiment.It should be noted that in the absence of conflict, the implementation of the application
Feature in mode and embodiment can be combined with each other.Many details are explained in the following description in order to abundant
Understand the utility model, described embodiment is only a part of embodiment of the utility model, rather than whole realities
Apply mode.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.
Embodiment 1
As shown in Figure 1, providing a kind of mechanical leg structure 100 for robot in the present embodiment, mechanical foot is specifically included that
Main body 1, sliding block 2 and half is to articulation piece 3.
The main body 1 is a metal rod, is divided into two sections to be connected, including slide bar 11 and leg bar on the metal rod
12, the smooth setting in the surface of the slide bar 11, one end of the leg bar 12 is the slide bar 11, and the other end of the leg bar 12 is arranged
There is the first support portion 121；First support portion 121 includes the foot cover that 12 end of leg bar is arranged in.
The sliding block 2 is arranged on the slide bar 11 and the slide bar 11 that is slidably connected, the slide bar 11 and the leg bar
12 junction corresponds to the sliding block 2 and is provided with lower position block 111, and the lower position block 111 is corresponded on the slide bar 11 and is arranged
There is a upper limit structure 112, on 11 sections of slide bar of the sliding block 2 between the upper limit structure 112 and the lower position block 111
Sliding；As a preferred embodiment, the upper limit structure 112 is the annular sleeve that 11 end of slide bar is arranged in, the machine
Tool leg structure 100 is combined by the annular sleeve with other components of robot, to form the foot structure of robot.Due to
The slide bar 11 is to be arranged with bar with the leg bar 12, the upper limit structure 112, sliding block 2, lower position block 111 and described the
One support portion 121 is then successively set in the main body 1.
Described half includes plate ontology 34 to articulation piece 3 and protrudes respectively to 34 upper surface of plate ontology and lower end surface
The support grillage 35 of setting, the support grillage 35 are symmetricly set on the plate ontology 34；The plate ontology 34 it is upper
End face is provided with the first articulated section 31, and the lower end surface of the plate ontology 34 is provided with the second articulated section 32 and third articulated section
33, first articulated section 31, the second articulated section 32 and the third articulated section 33 are to be oppositely arranged on the support grillage
Through-hole on 35, second articulated section 32 and third articulated section 33 are separately positioned on the two sides of first articulated section 31；Such as
Shown in Fig. 3-5.
The hinged sliding block 2 in first articulated section 121, the hinged lower position block 111 in second articulated section 32, institute
Third articulated section 33 is stated by hinged first support portion 121 of hinged second support portion 4, first articulated section 31 with it is described
Between sliding block 2, between second articulated section 32 and the lower position block 111, the third articulated section 33 with described second
It is articulated and connected by connecting rod 5 between support part 4.Second support portion 4 includes a disk for being provided with arc convex,
The disk is hinged in the foot cover, and the minimum point of disc level arc convex when placing abuts ground.
As a preferred embodiment, in the present embodiment, the sliding block 2 moves to limit position along the upper limit structure 112
It sets, the disk of the second support portion 4 is raised at this time, i.e., only by the first support portion 121 and ground face contact and plays support robot
Effect, suitable for the walking on hard ground.In practical control, the limit of sports record position of sliding block 2 and the second support portion 4 it
Between the tension limit need through calculating test be determined.
The other structures of machinery foot described in the present embodiment and robot can be found in the prior art.
Embodiment 2
It is not repeated with the something in common in embodiment 1, in the present embodiment, as shown in Fig. 2, by the sliding block 2 along described
Lower position block 111 moves to extreme position, connect at this time described half to articulation piece 3 and lower position block 111, connect it is described partly to hinge
The connecting rod 5 of fitting 3 and the second support portion 4 is on same straight line, since sliding block 2 and described half are connected between articulation piece 3
Bar 5 holds out against effect, and the disk is in horizontality, and the minimum point of arc convex and the first support portion 121 on disk
On the minimum point of foot cover be in same plane and abut ground, mechanical foot and the contact surface on ground can become larger at this time, fit
For the walking in soft ground.Second support portion 4 also may be configured as ellipse or spherical, to improve in soft ground
Walking adaptability.
Embodiment 3
Unlike embodiment 2, the mechanical leg structure 100 in the present embodiment is not mounted in robot,
It is to be installed in the structure with certain natural buoyancy, Ship Structure 6 as shown in FIG. 6.
It, can be upper for the ease of 1 rod piece of main body of the mechanical foot to be set in Ship Structure 6 in the present embodiment
The other end for the annular sleeve that position limiting structure 112 is arranged corresponds to 1 rod piece of main body and an extension (not shown) is arranged, in order to make
The hand-held control of user；The machinery leg structure 100 is set to by annular sleeve the swingable form of similar quant, thus just
Cooperate the advancing movement of Ship Structure 6 in water in mechanical foot.Further, which mechanical can also be arranged
Form shaft is driven by motor to drive swing or the height of the machinery foot being socketed the annular sleeve by shaft
Speed rotation, to improve the travel speed of Ship Structure 6 in water.
As a kind of preferred form, also actuator can be set to the sliding block 2, so that carrying out swing running in the machinery foot
While can change relative position of the sliding block 2 on slide bar 11, the specific setting those skilled in the art of the actuator can be easily
It realizes, a cylinder is such as set, the sliding block is connected by air cylinder guide rod, is not repeated herein.
The other structures of machinery foot described in the present embodiment and hull can be found in the prior art.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation, therefore it is all without departing from the content of the technical scheme of the utility model, implement according to the technical essence of the utility model to above
Any modification, equivalent variations and modification, are still within the scope of the technical solutions of the present invention made by example.
Claims (10)
1. a kind of tri-state machinery leg structure characterized by comprising
The main body of mechanical foot, the main body include slide bar and leg bar interconnected, and one end of the leg bar connects the slide bar,
The other end of the leg bar is provided with the first support portion；
Sliding block on the slide bar is set, and the slide bar sliding block corresponding with leg bar junction is provided with lower limit
Block, the slide bar correspond to the lower position block and are provided with upper limit structure, the sliding block the upper limit structure and it is described under
Slide bar section sliding between limited block；
Half to articulation piece, including plate ontology, and the upper surface of the plate ontology is provided with the first articulated section, the plate ontology
Lower end surface be provided with the second articulated section and third articulated section, the hinged sliding block in first articulated section, described second is hinged
Hingedly the lower position block, the third articulated section pass through hinged first support portion of hinged second support portion in portion.
2. tri-state machinery leg structure according to claim 1, which is characterized in that described half to articulation piece further include respectively to
The support grillage of plate ontology upper surface and lower end surface protrusion setting, the support grillage are symmetricly set on the plate sheet
On body.
3. tri-state machinery leg structure according to claim 2, which is characterized in that first articulated section, the second articulated section
And the third articulated section is the through-hole being oppositely arranged on the support grillage.
4. tri-state machinery leg structure according to claim 3, which is characterized in that second articulated section and third articulated section
It is separately positioned on the two sides of first articulated section.
5. tri-state machinery leg structure according to claim 1, which is characterized in that first support portion includes being arranged in institute
State the foot cover of leg bar end.
6. tri-state machinery leg structure according to claim 5, which is characterized in that second support portion is provided with including one
The disk of arc convex, the hinged foot cover of the disk.
7. tri-state machinery leg structure according to claim 6, which is characterized in that disc level arc when placing
The minimum point on convex surface abuts ground.
8. tri-state machinery leg structure according to claim 1, which is characterized in that the slide bar is to set with bar with the leg bar
It sets, the upper limit structure, sliding block, lower position block and first support portion are set gradually on the body.
9. according to claim 1,4,7 described in any item tri-state machinery leg structures, which is characterized in that first articulated section with
Between the sliding block, between second articulated section and the lower position block, the third articulated section and second support portion
Between be articulated and connected by connecting rod.
10. tri-state machinery leg structure according to claim 1, which is characterized in that the upper limit structure is setting in institute
State the annular sleeve of slide bar end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820640399.3U CN208376909U (en) | 2018-05-02 | 2018-05-02 | A kind of tri-state machinery leg structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820640399.3U CN208376909U (en) | 2018-05-02 | 2018-05-02 | A kind of tri-state machinery leg structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208376909U true CN208376909U (en) | 2019-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820640399.3U Expired - Fee Related CN208376909U (en) | 2018-05-02 | 2018-05-02 | A kind of tri-state machinery leg structure |
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| Country | Link |
|---|---|
| CN (1) | CN208376909U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482513A (en) * | 2018-05-02 | 2018-09-04 | 佛山科学技术学院 | A kind of tri-state machinery leg structure |
-
2018
- 2018-05-02 CN CN201820640399.3U patent/CN208376909U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482513A (en) * | 2018-05-02 | 2018-09-04 | 佛山科学技术学院 | A kind of tri-state machinery leg structure |
| CN108482513B (en) * | 2018-05-02 | 2023-08-01 | 佛山科学技术学院 | Tri-state mechanical leg structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Miao Yanjie Inventor after: Guo Hongqiang Inventor after: Wang Xingbo Inventor before: Chen Kaixuan Inventor before: Wang Qibo Inventor before: Zeng Wenfeng Inventor before: Wang Xingbo |
|
| CB03 | Change of inventor or designer information | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190115 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |