CN209270244U - A kind of stepping mechanism of assistant robot - Google Patents

Abstract

The utility model discloses a kind of stepping mechanisms of assistant robot, the stepping mechanism includes support leg group, the support leg group includes the first supporting leg, the second supporting leg, the first rotation axis, the second rotation axis, rotating wheel, guide frame and actuator, first supporting leg is set on the rotating wheel by the first rotation eccentric shaft, second supporting leg is set on the rotating wheel by the second rotation eccentric shaft, and first rotation axis and second rotation axis are symmetrically set in the two sides of the rotating wheel along the radial direction of the rotating wheel.The movement for having back-and-forth motion and oscilaltion of first supporting leg and second supporting leg can be driven using the rotating wheel, so that the supporting leg group realizes the movement for imitating the both legs alternating stepping of humanoid state, the ability for having preferable leaping over obstacles, it is limited by landform small, it is applied widely, reliable and stable, security performance is high.

Description

A kind of stepping mechanism of assistant robot

Technical field

The utility model relates to walking aids tool technical field more particularly to a kind of stepping mechanisms of assistant robot.

Background technique

Walk helper is mainly used for the instrument for assisting the people of inconvenient walking to walk, and traditional walker device is predominantly wheeled Walk helper, primary structure include frame and guide wheel group at, wheeled walker is larger by the influence of topography, not across ladder, Secondly it is very easy to slip when climb and fall, there are biggish security risk, occupied space is big.

Utility model content

In order to overcome the shortcomings of the prior art, the utility model provides a kind of sufficient formula of achievable simulation mankind walking The stepping mechanism of assistant robot.

In order to solve the above-mentioned technical problem, the utility model provides a kind of stepping mechanism of assistant robot, the step It is set on main frame body into mechanism, the stepping mechanism includes the support leg group being symmetrical set along direction of travel, the branch Support foot group includes the first supporting leg, the second supporting leg, the first rotation axis, the second rotation axis, rotating wheel, guide frame and driving Part, the actuator are connected with the rotating wheel,

First supporting leg is set on the rotating wheel by the first rotation eccentric shaft, the first supporting leg tool There is the freedom degree to rotate in a circumferential direction relative to first rotation axis,

Second supporting leg is set on the rotating wheel by the second rotation eccentric shaft, the second supporting leg tool There is the freedom degree to rotate in a circumferential direction relative to second rotation axis,

First rotation axis and second rotation axis are symmetrically set in described turn along the radial direction of the rotating wheel The two sides of driving wheel, first supporting leg and second supporting leg are equipped with guide frame.

Preferably, the guide frame is set on one end of first supporting leg and second supporting leg On one end, the other end of the other end of first supporting leg and second supporting leg is walking end, and the guide frame is set In the top of the rotating wheel.

Preferably, the guide frame include the first guide pad and the second guide pad, first guide pad and Second guide pad is rotatably arranged on the main frame body, and first guide pad is equipped with for being sheathed on described first First guide groove of supporting leg, first supporting leg have relative to first guide groove freedom degree in axial sliding, institute The second guide pad is stated equipped with the second guide groove for being arranged second supporting leg, second supporting leg has relative to institute State the second guide groove freedom degree in axial sliding.

Preferably, the pivot center of first guide pad and second guide pad is on same center line.

Preferably, first guide groove and/or second guide groove are equipped with cylindrical circular sleeve.

Preferably, between the actuator and the rotating wheel be equipped with drive rod, the both ends of the drive rod with The rotating wheel for the support leg group being symmetrical set is connected.

Preferably, drive mechanism is equipped between the actuator and the drive rod.

Preferably, drive mechanism is equipped between the drive rod and the rotating wheel.

Preferably, the drive mechanism is V belt translation.

Preferably, the V belt translation is semi arch toothed belt.

The stepping mechanism of assistant robot provided by the utility model, compared with prior art, the beneficial effect is that: this The rotating wheel of utility model can drive the first rotation axis of eccentric setting to move in a circle with the second rotation axis, so as to band It moves first supporting leg and second supporting leg executes the movement of back-and-forth motion and oscilaltion, the guide frame is used In guiding first supporting leg to be moved with second supporting leg along a guiding point, so that first supporting leg Realize that the both legs for imitating humanoid state replace the movement of stepping, have the ability of preferable leaping over obstacles with second supporting leg, Small, applied widely, reliable and stable, security performance height is limited by landform.

Detailed description of the invention

It, below will be to attached needed in embodiment in order to illustrate more clearly of the technical solution of the utility model Figure is briefly described, it should be apparent that, the accompanying drawings in the following description is only 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 the structural schematic diagram using the assistant robot of the stepping mechanism of the utility model embodiment.

Fig. 2 is side structure schematic view inside the support leg group of the stepping mechanism of the utility model embodiment.

Fig. 3 is schematic perspective view inside the support leg group of the stepping mechanism of the utility model embodiment.

Fig. 4 is the inside schematic perspective view of the stepping mechanism of the utility model embodiment.

In figure: 1. main frame bodies；2. the first supporting leg；3. the second supporting leg；4. the first rotation axis；5. the second rotation axis；6. Rotating wheel；7. the first guide pad；8. the second guide pad；9. first sleeve；10. second sleeve；11. actuator；12. drive rod； 13. driving wheel；14. the first transmission belt；15. the second transmission belt.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts Every other embodiment obtained, fall within the protection scope of the utility model.

In the description of the utility model embodiment, it is to be understood that the instruction such as term " on ", "lower", "left", "right" Orientation or positional relationship be to be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the utility model and letter Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and Operation, therefore should not be understood as limiting the present invention.

In addition, in the description of the present invention, it should be noted that term " first ", " second " etc. are only used for describing Purpose is not understood to indicate or imply relative importance.

As shown in Figures 1 to 4, the utility model preferred embodiment provides a kind of stepping mechanism of assistant robot, The stepping mechanism is set on main frame body 1, and the stepping mechanism includes the support leg group being symmetrical set along direction of travel, The support leg group includes the first supporting leg 2, the second supporting leg 3, the first rotation axis 4, the second rotation axis 5, rotating wheel 6, guiding Structure and actuator 11, the actuator 11 are connected with the rotating wheel 6, and first supporting leg 2 passes through described first Rotation axis 4 is eccentric to be set on the rotating wheel 6, and first supporting leg 2 has to rotate in a circumferential direction relative to first rotation axis 4 Freedom degree, second supporting leg 3 is set on the rotating wheel 6 by the way that second rotation axis 5 is eccentric, second support Leg 3 has the freedom degree to rotate in a circumferential direction relative to second rotation axis 5, first rotation axis 4 and second rotation axis 5 The two sides of the rotating wheel 6, first supporting leg 2 and described second are symmetrically set in along the radial direction of the rotating wheel 6 Supporting leg 3 is equipped with guide frame.

The stepping mechanism of assistant robot based on above-mentioned technical characteristic, the rotating wheel 6 can drive the of eccentric setting One rotation axis 4 moves in a circle with the second rotation axis 5, so as to drive first supporting leg 2 and second supporting leg 3 The movement of back-and-forth motion and oscilaltion is executed, the guide frame is for guiding first supporting leg 2 and described second Supporting leg 3 is moved along a guiding point, and first rotation axis 4 and second rotation axis 5 are along the rotating wheel 6 Radial direction be symmetrically set in the two sides of the rotating wheel 6, realize first supporting leg 2 and second supporting leg 3 toward phase Anti- direction movement, so that first supporting leg 2 realizes that the both legs for imitating humanoid state replace stepping with second supporting leg 3 Movement, have the ability of preferable leaping over obstacles, limited by landform small, applied widely, reliable and stable, security performance is high.

Further, the guide frame is set to one with second supporting leg 3 on one end of first supporting leg 2 On end, the other end of the other end of first supporting leg 2 and second supporting leg 3 is walking end, and the guide frame is set In the top of the rotating wheel 6, the guide frame uses end as guiding point so that first supporting leg 2 with it is described The movement of second supporting leg 3 is more smooth.

As shown in Figures 2 to 4, the guide frame includes the first guide pad 7 and the second guide pad 8, first guiding Block 7 and second guide pad 8 are rotatably arranged on the main frame body 1, and first guide pad 7 is equipped with for being sheathed on The first guide groove (attached drawing does not identify) of first supporting leg 2, first supporting leg 2 have relative to first guiding Freedom degree, second guide pad 8 are equipped with (attached for being arranged the second guide groove of second supporting leg 3 slot in axial sliding Figure does not identify), second supporting leg 3 has relative to second guide groove freedom degree in axial sliding, realizes described the One supporting leg 2 and second supporting leg 3 carry out guiding sliding respectively along first guide groove and second guide groove, Meanwhile because first guide pad 7 and second guide pad 8 can be rotated relative to the main frame body 1, so that the guiding Structure is able to cooperate first supporting leg 2 and is moved forward and backward with second supporting leg 3.

Further, described in order to guarantee that first supporting leg 2 and second supporting leg 3 advanced walk in step with each other The pivot center of first guide pad 7 and second guide pad 8 on same center line, that is, first guide pad 7 with Second guide pad 8 is rotated along same straight line.

Further, first guide groove and second guide groove are equipped with cylindrical circular sleeve, realize described the One guide groove, so that first supporting leg 2 and sliding in slot for second supporting leg 3 are more smooth, the sleeve can To be made of more smooth material, reduce between the sleeve and first supporting leg 2 or second supporting leg 3 Friction, specifically, in the present embodiment, first sleeve 9 being equipped in first guide groove, is set in second guide groove There is second sleeve 10.

Further, between the actuator 11 and the rotating wheel 6 be equipped with drive rod 12, the two of the drive rod 12 It holds and is connected with the rotating wheel 6 for the support leg group being symmetrical set, pass through the drive rod 12 control left and right sides The supporting leg group, reduce voltage input, while can guarantee two groups described in supporting leg group motion step it is more consistent.

Further, in order to guarantee the stationarity of transmission process, between the actuator 11 and the drive rod 12, institute It states and is equipped with drive mechanism between drive rod 12 and the rotating wheel 6, the drive mechanism is preferentially using transmission V belt translation, the drive It is equipped with the first transmission belt 14 between moving part 11 and the drive rod 12, the is equipped between the drive rod 12 and the rotating wheel 6 Two transmission belts 15, first transmission belt 14 have good elasticity with second transmission belt 15, can mitigate in transmission process Shock and vibration, stable drive is noiseless, and cost is relatively low, specifically, in the present embodiment, the drive rod 12 and described second It is equipped with driving wheel 13 between transmission belt 15, is convenient for the assembly of transmission and entirety, first transmission belt 14 and described the The semi arch toothed belt that two transmission belts 15 are all made of, reduces the probability of the belt slippage.

Between first guide pad 7 and the main frame body 1, between second guiding and the main frame body 1, described the Rotation is equipped between one rotation axis 4 and first supporting leg 2, between second rotation axis 5 and second supporting leg 3 Bearing realizes rotation connection.

In addition, as shown in Figure 1, assistant robot in the present embodiment, it is auxiliary for assist walking on the main frame body 1 Foot is helped, the actuator 11 is that motor can be to first supporting leg 2 and institute by adjusting the position of the guide frame The angle for stating the second supporting leg 3 is adjusted, to adapt to the walking paces of different users.

In conclusion the stepping mechanism of assistant robot described in the utility model embodiment has the advantage that (1) First supporting leg 2 and the second supporting leg 3 is driven to do the dynamic of back-and-forth motion and oscilaltion by the way that the rotating wheel 6 is eccentric Make, realizes the movement for imitating the both legs alternating stepping of humanoid state；(2) before replacing traditional wheel by the way of double-legged stepping Row, it is reliable and stable, it is not easy to slip；(3) it is limited small, can be walked on rough road surface by landform, had preferably across barrier The performance hindered；(4) there is the ability independently to move forward, be adapted with the paces of user, comfort level is more preferably.

Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations； Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc. With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution The spirit and scope of scheme.

Claims (10)

1. a kind of stepping mechanism of assistant robot, the stepping mechanism is set on main frame body, which is characterized in that the stepper Structure includes the support leg group being symmetrical set along direction of travel, and the support leg group includes the first supporting leg, the second support Leg, the first rotation axis, the second rotation axis, rotating wheel, guide frame and actuator, the actuator are connected with the rotating wheel It connects,

First supporting leg is set on the rotating wheel by the first rotation eccentric shaft, and first supporting leg has phase For the freedom degree that first rotation axis rotates in a circumferential direction,

Second supporting leg is set on the rotating wheel by the second rotation eccentric shaft, and second supporting leg has phase For the freedom degree that second rotation axis rotates in a circumferential direction,

First rotation axis and second rotation axis are symmetrically set in the rotating wheel along the radial direction of the rotating wheel Two sides, first supporting leg and second supporting leg are equipped with guide frame.

2. the stepping mechanism of assistant robot according to claim 1, which is characterized in that the guide frame is set to described On on one end of first supporting leg and one end of second supporting leg, the other end of first supporting leg and second described The other end of support leg is walking end, and the guide frame is set to the top of the rotating wheel.

3. the stepping mechanism of assistant robot according to claim 1, which is characterized in that the guide frame includes first Guide pad and the second guide pad, first guide pad and second guide pad are rotatably arranged on the main frame body, First guide pad is equipped with the first guide groove for being sheathed on first supporting leg, and first supporting leg has opposite In first guide groove freedom degree in axial sliding, second guide pad is equipped with for being arranged second supporting leg Two guide grooves, second supporting leg have relative to second guide groove freedom degree in axial sliding.

4. the stepping mechanism of assistant robot according to claim 3, which is characterized in that first guide pad with it is described The pivot center of second guide pad is on same center line.

5. the stepping mechanism of assistant robot according to claim 3, which is characterized in that first guide groove and/or Second guide groove is equipped with cylindrical circular sleeve.

6. the stepping mechanism of assistant robot according to claim 1, which is characterized in that the actuator and the rotation Drive rod is equipped between wheel, the both ends of the drive rod are connected with the rotating wheel for the support leg group being symmetrical set.

7. the stepping mechanism of assistant robot according to claim 6, which is characterized in that the actuator and the transmission Drive mechanism is equipped between bar.

8. the stepping mechanism of assistant robot according to claim 6, which is characterized in that the drive rod and the rotation Drive mechanism is equipped between wheel.

9. the stepping mechanism of assistant robot according to claim 7 or 8, which is characterized in that the drive mechanism is band Transmission.

10. the stepping mechanism of assistant robot according to claim 9, which is characterized in that the V belt translation is semi arch Toothed belt.