CN208915285U - A kind of leg mechanism of robot - Google Patents
A kind of leg mechanism of robot Download PDFInfo
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- CN208915285U CN208915285U CN201821691265.0U CN201821691265U CN208915285U CN 208915285 U CN208915285 U CN 208915285U CN 201821691265 U CN201821691265 U CN 201821691265U CN 208915285 U CN208915285 U CN 208915285U
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Abstract
The utility model discloses a kind of leg mechanism of robot.Including the first drive rod, the second drive rod, third drive rod, the 4th drive rod and power device, the group of drive rods is combined into a four-bar linkage, is driven by power device.A kind of leg mechanism of robot of the utility model is simple and reliable for structure, handsome in appearance, stands more stable, and it is more steady to walk.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of leg mechanism of robot.
Background technique
The motion mode of existing robot mainly includes wheeled, crawler type, sufficient formula etc., and wherein wheeled robot can be flat
Smooth landform high-speed mobile, but complicated landform is encountered, energy consumption will be greatly increased, or even completely lose ability to act, crawler frame
More suitable for soft landform action without falling into, but it is weak there is also obstacle crossing ability the problems such as, sufficient formula device people is then with above-mentioned two
Kind robot is different, shows very strong adaptability by its discontinuous contact characteristic in the process of walking with ground, only
Some discrete points are needed to fall foot for it, so that it may successfully pass rugged, soft or muddy ground.Especially uneven multiple
There is broader development prospect in miscellaneous landform, work-yard, be therefore widely used in rescue and relief work, explosive, address of removing mines
Exploration, amusement and the fields such as civilian.The leg of robot is the important component of robot, is moved to legged type robot
Very important effect.Therefore legged type robot is enable preferably to work, the design of leg is particularly important.
Legged type robot is mostly hydraulic cylinder linear drives at present, usually individually uses flexible four-bar mechanism or will stretch
Four-bar mechanism is coupled with parallelogram mechanism.But it is enough often to there is driving force in the leg (driven member) of existing legged type robot
And the problem of movement velocity deficiency, movement velocity are limited by hydraulic stem movement velocity, and existing legged type robot leg
The space in portion depends entirely on the stroke of hydraulic cylinder, because the stroke of hydraulic cylinder (electric cylinders) in existing design is limited, this
Result in the leg exercise insufficient space of legged type robot, especially do it is some such as squat down the movement stood up when it is slowly stiff.
Therefore, how in the case where keeping hydraulic (electric cylinders) system constant and meeting load requirement, a kind of leg is designed
The legged type robot that the movement velocity in portion is larger and space is big is to solve the problems, such as at present.
Summary of the invention
The purpose of the utility model is to provide a kind of leg mechanism of robot, to solve the above technical problems, make robot
It can quickly squat down and stand up, and flexible movements, it is more steady to walk.
In order to solve the above technical problems, the utility model takes following technical solution:
A kind of leg mechanism of robot, including the first drive rod, the second drive rod, third drive rod, the 4th drive rod and
The first hinge hole is arranged in power device, first drive rod one end, and third hinge hole, the second hinge of middle section setting is arranged in the other end
Connect hole；The 4th hinge hole, the 5th hinge hole is respectively set in second drive rod both ends；Third drive rod one end setting the
The 8th hinge hole is arranged in six hinge holes, the other end, and the 7th hinge hole is arranged in middle section；The 4th drive rod both ends are respectively set
Nine hinge holes, the tenth hinge hole；The first force-bearing hole is arranged between the 6th hinge hole and the 7th hinge hole in the third drive rod,
The second force-bearing hole is arranged in the 4th drive rod middle section；First hinge hole with foot, robot for connecting；The third
Hinge hole and the 4th hinge hole are hinged；5th hinge hole and the 6th hinge hole are hinged；7th hinge hole and robot
Trunk is hinged, and the 8th hinge hole and the 9th hinge hole are hinged；Tenth hinge hole and the second hinge hole are hinged；It is described dynamic
Power electric cylinders one end and the first force-bearing hole assemble, and the other end and the second force-bearing hole assemble.
Preferably, the center of circle of the 6th hinge hole is set to d, the center of circle of the 7th hinge hole is set to e, the center of circle of the 8th hinge hole
When being set to f, the angle that d, e, f are formed is 90 °.
Preferably, the power device is hydraulic cylinder.
Preferably, the power device is electric cylinders.
The utility model achieves a kind of following technical effect: robot leg of the utility model compared with the existing technology
Mechanism structure is simple and reliable, handsome in appearance, stands more stable, and what walking more steadily and surely can be fast and smooth makes, and squats down
Movement, can be used as the foot of biped or polypody machine, and be just able to achieve robot after simply coupling other power devices
Advance, retreat, the function of turning.
Detailed description of the invention
Fig. 1 is the utility model assembling schematic diagram
Fig. 2 is the utility model accessory schematic diagram
Fig. 3 is the utility model structure diagram
Fig. 4 is the utility model connecting portion schematic diagram
Wherein the first drive rod of 1-, the second drive rod of 2-, 3- third drive rod, the 4th drive rod of 4-, the first hinge hole of 5-,
The second hinge hole of 6-, 7- third hinge hole, the 4th hinge hole of 8-, the 5th hinge hole of 9-, the 6th hinge hole of 10-, 11- the 7th are hinged
Hole, the 8th hinge hole of 12-, the tenth the first force-bearing hole of hinge hole 20- power device 21- 22 second of the 9th hinge hole 14- of 13-
Force-bearing hole.
Specific embodiment
The technical solution of the utility model is described further below by way of drawings and examples.
Embodiment 1
In conjunction with Fig. 1 the present embodiment provides a kind of leg mechanism of robot, including the first drive rod 1, the second drive rod 2,
Three drive rods 3, the 4th drive rod 4, the drive rod material are aluminium alloy, and 1 one end of the first drive rod setting first is hinged
Third hinge hole 7 is arranged in hole 5, the other end, and the second hinge hole 6 is arranged in middle section；Second drive rod, 2 both ends are respectively set the 4th
Hinge hole 8, the 5th hinge hole 9；The 6th hinge hole 10 is arranged in described 3 one end of third drive rod, and the 8th hinge hole is arranged in the other end
12, the 7th hinge hole 11 is arranged in middle section；The 9th hinge hole 13, the tenth hinge hole 14 is respectively set in the 4th drive rod both ends；
The first force-bearing hole 21, the 4th driving is arranged in the third drive rod 3 between the 6th hinge hole 10 and the 7th hinge hole 11
The second force-bearing hole 22 is arranged in 4 middle section of bar；First hinge hole 1 with foot, robot for connecting；The third hinge hole 7 with
4th hinge hole 8 is hinged；5th hinge hole 9 and the 6th hinge hole 10 are hinged；7th hinge hole 11 and robot body
Dry hinged, the 8th hinge hole 12 and the 9th hinge hole 13 are hinged；Tenth hinge hole 14 and the second hinge hole 6 are hinged；
Form four bar stretching structure of a plane.
The hinge method is that described hinge hole one end is set as plug construction, and the other end engaged therewith is set as slot knot
Structure, as shown in Figure 4.
In the present embodiment, the length of 6 center of circle b of the first hinge hole 5 center of circle a to the second hinge hole is 492.5mm, the second hinge
The length for meeting 6 center of circle b of hole to 7 center of circle c of third hinge hole is 92.5mm, 8 center of circle d of third hinge hole 7 center of circle c to the 5th hinge hole
Length be 375mm, the length of 11 center of circle e of the 5th hinge hole 8 center of circle d to the 7th hinge hole is 249.5mm, the 7th hinge hole 11
The length of center of circle e to 13 center of circle f of the 8th hinge hole is 152.5mm, length of the 8th hinge hole center of circle f to the second hinge hole center of circle b
Degree is 447.7mm, and the length of the 8th hinge hole center of circle f to second center of circle force-bearing hole o is 144.4mm, 11 center of circle e of the 7th hinge hole
Length to the first force-bearing hole p is 77.45mm.
The power electric cylinders are that the ancient cooking vessel that Yuan Yu Industrial Technology Co., Ltd in Shenzhen produces wins board high-precision servo electric cylinder,
Described electric cylinders one end distance rod and the first force-bearing hole 21 assemble, and other end distance rod and the second force-bearing hole 22 assemble.
Operation logic: when the first hinge hole 1 is connect with foot, robot；7th hinge hole 11 and robot trunk are hinged
When, the height that robot stands is the vertical range of point a to point e, and after the power is turned on, electric cylinders 20 start, and electric cylinders support rod is stretched
Out, distance becomes larger between o, p, and length becomes smaller between c, e, and angle bcd is caused to become larger, and ae length becomes larger therewith, is presented as robot
It stands, and so on, when reverse operating, then it is presented as that robot squats down, since robot trunk is connected to e point, so when station
When rising, squatting down, trunk moves forward and backward very little, coordination, and the curve movement of very close mankind or animal works as the utility model
A kind of leg mechanism of robot when being coupled with other equipment, such as the tilt angle equipment of adjustable first drive rod 1, so that it may
Easily reach walking, turning, the movement such as retrogressing.
It is noted that in the present embodiment, bearing, bolt, nut, abutment sleeve, circlip, gasket and spacer pin this
A little standard fittings are not pointed out, but during the overall construction design of practical leg, are had and be added to corresponding position.
The above is only the utility model preferred embodiment, not appoints to the technical scope of the utility model
What is limited, therefore any trickle amendment made by the above technical examples according to the technical essence of the present invention, equivalent variations
With modification, it is still within the scope of the technical solutions of the present invention.
Claims (4)
1. a kind of leg mechanism of robot, including the first drive rod, the second drive rod, third drive rod, the 4th drive rod and dynamic
The first hinge hole is arranged in power device, first drive rod one end, and third hinge hole is arranged in the other end, and middle section setting second is hinged
Hole；The 4th hinge hole, the 5th hinge hole is respectively set in second drive rod both ends；Third drive rod one end setting the 6th
The 8th hinge hole is arranged in hinge hole, the other end, and the 7th hinge hole is arranged in middle section；The 4th drive rod both ends are respectively set the 9th
Hinge hole, the tenth hinge hole；The first force-bearing hole is arranged between the 6th hinge hole and the 7th hinge hole in the third drive rod, institute
It states the 4th drive rod middle section and the second force-bearing hole is set；It is characterized in that, first hinge hole with foot, robot for connecting；
The third hinge hole and the 4th hinge hole are hinged；5th hinge hole and the 6th hinge hole are hinged；7th hinge hole
Hinged with robot trunk, the 8th hinge hole and the 9th hinge hole are hinged；Tenth hinge hole and the second hinge hole are cut with scissors
It connects；Described power device one end and the first force-bearing hole assemble, and the other end and the second force-bearing hole assemble.
2. a kind of leg mechanism of robot as described in claim 1, it is characterised in that the center of circle of the 6th hinge hole is set to d,
The center of circle of 7th hinge hole is set to e, and when the center of circle of the 8th hinge hole is set to f, the angle that d, e, f are formed is 90 °.
3. a kind of leg mechanism of robot as claimed in claim 1 or 2, it is characterised in that the power device is hydraulic
Cylinder.
4. a kind of leg mechanism of robot as claimed in claim 1 or 2, it is characterised in that the power device is electric cylinders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821691265.0U CN208915285U (en) | 2018-10-18 | 2018-10-18 | A kind of leg mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821691265.0U CN208915285U (en) | 2018-10-18 | 2018-10-18 | A kind of leg mechanism of robot |
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| CN208915285U true CN208915285U (en) | 2019-05-31 |
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| CN201821691265.0U Active CN208915285U (en) | 2018-10-18 | 2018-10-18 | A kind of leg mechanism of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110219591A (en) * | 2019-07-25 | 2019-09-10 | 桂林航天工业学院 | A kind of engineering geo-drilling equipment running gear |
| CN111123953A (en) * | 2020-01-09 | 2020-05-08 | 哈尔滨工程大学 | Particle-based mobile robot group under artificial intelligence big data and control method thereof |
-
2018
- 2018-10-18 CN CN201821691265.0U patent/CN208915285U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110219591A (en) * | 2019-07-25 | 2019-09-10 | 桂林航天工业学院 | A kind of engineering geo-drilling equipment running gear |
| CN110219591B (en) * | 2019-07-25 | 2024-04-26 | 桂林航天工业学院 | Engineering drilling equipment running gear |
| CN111123953A (en) * | 2020-01-09 | 2020-05-08 | 哈尔滨工程大学 | Particle-based mobile robot group under artificial intelligence big data and control method thereof |
| CN111123953B (en) * | 2020-01-09 | 2022-11-01 | 重庆弘玑隆程科技有限公司 | Particle-based mobile robot group under artificial intelligence big data and control method thereof |
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