CN209579616U - A kind of anthropomorphic robot foot structure - Google Patents

Abstract

The utility model discloses a kind of anthropomorphic robot foot structures, including bottom case, the upper end of the bottom case offers docking groove, the middle position of bottom shell bottom surface one end offers supplementary card race, the middle position of the bottom shell bottom surface other end is reserved with fixed placement slot, middle position outside the drive shaft offers driving docking screw thread, the upper end of the spherical shape link block is movably installed with connection fixture block, the upper end of the connection fixture block is fixedly installed with external connection part, it is described connection fixture block bottom middle position offer should and slot, the bottom outer ring of the shell is fixedly installed with docking fixture block, the end-position in the upper shell face offers link slot.The anthropomorphic robot foot structure, simplifies whole move mode, accelerates movement speed, improve work functionality, and by the way that spherical link block is arranged, makes the anthropomorphic robot foot structure that can meet the direction transformation of multi-angle, expand the whole scope of application.

Description

A kind of anthropomorphic robot foot structure

Technical field

The utility model relates to anthropomorphic robot technical field, specially a kind of anthropomorphic robot foot structure.

Background technique

Humanoid robot is also known as bionical people, is a kind of to be intended to imitate human appearance and the robot of behavior especially refers in particular to have The type of human body similar with the mankind.Up to date, the concept of humanoid robot also predominantly stays in science fiction field, is common in Film, TV, caricature, novel etc., the progress in terms of robotics can be designed that the quasi- humanoid machine really changed of functionalization People, bionical people, which intends genuine degree, to be had very much, some can be identified from the appearance, also the not no thought and emotion of true man.

Due to the particularity of anthropomorphic robot, common and some dangerous industries improve the peace of people's daily work life Quan Xing, anthropomorphic robot are made of Each part, wherein main support structure of the foot structure as anthropomorphic robot, it appears It is particularly important, however there is imitate mankind's step, movement to the foot structure of existing anthropomorphic robot mostly on existing market Mode is complicated, and movement speed is slower, it is difficult to meet a variety of demands in work, and the shortcomings that motion direction is restricted.

Utility model content

The purpose of this utility model is to provide a kind of anthropomorphic robot foot structures, to solve to mention in above-mentioned background technique Depanning apery class step, move mode is complicated, and movement speed is slower, it is difficult to meet a variety of demands in work, and motion direction The problem of being restricted.

To achieve the above object, the utility model provides the following technical solutions: a kind of anthropomorphic robot foot structure, including Bottom case, the upper end of the bottom case offer docking groove, and the middle position of bottom shell bottom surface one end offers auxiliary card wheel Slot, the middle position of the bottom shell bottom surface other end are reserved with fixed placement slot, and the middle position at the bottom case back is opened Equipped with motor installing hole, the front position of the bottom shell is fixedly installed with balance weight gain block, the upper end activity of the bottom case Shell is installed, the avris of the fixed placement slot offers driving card race, and the inside of the fixed placement slot is fixedly mounted There is support gear-box, the middle position of the support gear-box upper surface is fixedly installed with rotating mechanism, the support gear-box Internal activity drive shaft is installed, the middle position at the support gear-box back is fixedly installed with micro-driving motor, institute The middle position for stating balance weight gain block bottom is movably installed with auxiliary wheel, and the upper end of the rotating mechanism is movably installed with spherical connect Block is connect, the avris of the drive shaft is fixedly installed with driving wheel, and the middle position outside the drive shaft offers driving docking Screw thread, the upper end of the spherical shape link block are movably installed with connection fixture block, and the upper end of the connection fixture block is fixedly installed with externally Connector, the middle position of the connection fixture block bottom offer should and slot, the bottom outer ring of the shell be fixedly installed with pair Fixture block is connect, the end-position in the upper shell face offers link slot.

Preferably, the shape of the bottom case and the shape of shell are identical, and the slot of docking groove that bottom case upper surface is opened up Interior specification matches with the external specification of the docking fixture block of outer casing bottom.

Preferably, the supplementary card race to open up position and auxiliary wheel opposite in the balance weight gain installation site of block bottom It answers, and the width that opens up of supplementary card race matches with the width of auxiliary wheel.

Preferably, specification matches with the bottom specification of support gear-box in the slot of the fixed placement slot, and driving card Race is supporting the position of gear-box avris corresponding in the position that opens up of fixed placement trough rim side with driving wheel.

Preferably, it is four identical in the avris of fixed placement slot symmetrically to offer specification for the driving card race, and drives Specification matches with the external specification of driving wheel in the slot of dynamic card wheel slot.

Preferably, it is two identical to be symmetrically installed with specification in support gear-box for the drive shaft, and each drive shaft Both ends be symmetrically installed there are two the identical driving wheel of specification.

Preferably, the outer diameter of the spherical link block with connect that fixture block bottom opened up should be with the internal diameter of slot It matches.

Preferably, specification kissing in the slot for the link slot that the external specification of the external connection part and upper shell face open up It closes.

Compared with prior art, the utility model has the beneficial effects that the anthropomorphic robot foot structure, with original people The foot structure of anthropomorphic robot compares, and using driving wheel and auxiliary wheel as main moving structure, simplifies whole mobile side Formula accelerates movement speed, improves work functionality, and by the way that spherical link block is arranged, ties the anthropomorphic robot foot Structure can meet the direction transformation of multi-angle, expand the whole scope of application.

Detailed description of the invention

Fig. 1 is the utility model overall structure diagram；

Fig. 2 is the utility model fractionation structural representation；

Fig. 3 is the utility model drive shaft structural schematic diagram；

Fig. 4 is that the utility model connects fixture block bottom substance schematic diagram.

In figure: 1, bottom case；2, docking groove；3, supplementary card race；4, fixed placement slot；5, motor installing hole；6, driving card Race；7, gear-box is supported；8, balance weight gain block；9, rotating mechanism；10, drive shaft；11, driving wheel；12, micro drives electricity Machine；13, spherical link block；14, auxiliary wheel；15, fixture block is connected；16, external connection part；17, shell；18, fixture block is docked；19, Link slot；20, driving docking screw thread；21, should and slot.

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 making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

Fig. 1-4 is please referred to, the utility model provides a kind of technical solution: a kind of anthropomorphic robot foot structure, including bottom Shell 1, docking groove 2, supplementary card race 3, fixed placement slot 4, motor installing hole 5, driving card race 6, support gear-box 7, balance Increase weight block 8, rotating mechanism 9, drive shaft 10, driving wheel 11, micro-driving motor 12, spherical link block 13, auxiliary wheel 14, connection Fixture block 15, external connection part 16, shell 17, docking fixture block 18, link slot 19, driving docking screw thread 20 and should be with slot 21, bottom case 1 Upper end offer docking groove 2, the middle position of 1 inner bottom surface one end of bottom case offers supplementary card race 3,1 inner bottom of bottom case The middle position of the face other end is reserved with fixed placement slot 4, and the middle position at 1 back of bottom case offers motor installing hole 5, bottom case Front position inside 1 is fixedly installed with balance weight gain block 8, and the upper end of bottom case 1 is movably installed with shell 17, fixed placement slot 4 Avris offer driving card race 6, the inside of fixed placement slot 4 is fixedly installed with support gear-box 7, supports on gear-box 7 The middle position of end face is fixedly installed with rotating mechanism 9, and the internal activity of support gear-box 7 is equipped with drive shaft 10, supports tooth The middle position at 7 back of roller box is fixedly installed with micro-driving motor 12, the middle position activity installation of balance weight gain 8 bottom of block There is auxiliary wheel 14, the upper end of rotating mechanism 9 is movably installed with spherical link block 13, and the avris of drive shaft 10 is fixedly installed with driving 11 are taken turns, the middle position outside drive shaft 10 offers driving docking screw thread 20, and the upper end of spherical link block 13 is movably installed with Fixture block 15 is connected, the upper end of connection fixture block 15 is fixedly installed with external connection part 16, and the middle position of connection 15 bottom of fixture block is opened Equipped with that should be fixedly installed with docking fixture block 18 with slot 21, the bottom outer ring of shell 17, the end-position of 17 upper surface of shell is opened up There is link slot 19；

Further, the shape of bottom case 1 is identical as the shape of shell 17, and the docking groove 2 that is opened up of 1 upper surface of bottom case Specification matches with the external specification of the docking fixture block 18 of 17 bottom of shell in slot, guarantees to stablize between bottom case 1 and shell 17 Connection, it is ensured that integrally-built reasonable stability；

Further, supplementary card race 3 opens up position and auxiliary wheel 14 in the installation site phase of balance weight gain 8 bottom of block It is corresponding, and the width that opens up of supplementary card race 3 matches with the width of auxiliary wheel 14, keeps auxiliary wheel 14 and supplementary card race 3 steady Dingan County does not influence the activity of auxiliary wheel 14 itself while dress；

Further, specification matches with the bottom specification of support gear-box 7 in the slot of fixed placement slot 4, and driving card Race 6 is supporting the position of 7 avris of gear-box corresponding in the position that opens up of 4 avris of fixed placement slot with driving wheel 11, makes to drive Overall structure of the driving wheel 11 in support gear-box 7 has reasonable stability；

Further, it is four identical in the avris of fixed placement slot 4 symmetrically to offer specification for driving card race 6, and drives Specification matches with the external specification of driving wheel 11 in the slot of dynamic card wheel slot 6, makes the active driving device in the device can basis Concrete condition moves freely；

Further, it is two identical to be symmetrically installed with specification in support gear-box 7 for drive shaft 10, and each drive shaft 10 both ends are symmetrically installed there are two the identical driving wheel 11 of specification, and enhancing supports the integrally-built mobility of gear-box 7；

Further, the outer diameter of spherical link block 13 with connect that 15 bottom of fixture block opened up should be with the internal diameter of slot 21 Size matches, make spherical link block 13 with connect fixture block 15 connect after can be move freely according to actual needs；

Further, specification in the slot for the link slot 19 that the external specification of external connection part 16 and 17 upper surface of shell open up It matches, it is convenient to be installed with external structure, expand the scope of application of structure entirety.

Working principle: firstly, using be corresponding identical relationship between docking groove 2 and docking fixture block 18 by bottom case 1 with outside Shell 17 stablizes installation, guarantees the reasonable stability of internal each structure, and support gear-box 7 is corresponding with fixed placement slot 4 to be fixed, driving Wheel 11 is stablized card and is placed in driving card race 6, has good activity, and the balance weight gain correspondence of block 8 is fixed on inside bottom case 1, It is corresponding between supplementary card race 3 and auxiliary wheel 14 to coincide, assist the foot structure to carry out displacement activity, rotating mechanism 9 can ensure that Spherical link block 13 and the connection activity for connecting 15 joint of fixture block, can meet the steering of various ranges, external connection part 16 Installation is combined with external other parts, guarantees the integrally-built integrality of robot, when needing the step structure carry out activity, by The micro-driving motor 12 that external control device control starting card is placed in motor installing hole 5, so that drive shaft 10 be made to pass through branch Support gear-box 7 carries out rotation and drives 11 rotation work of driving wheel, and auxiliary wheel 14 rotates with it activity, and to moving integrally, progress is auxiliary Help, when needing to turn to by external control device control starting rotating mechanism 9 using spherical link block 13 with connect fixture block 15 it Between connection relationship to the foot structure carry out steering operation.

Finally it should be noted that the above content is only to illustrate the technical solution of the utility model, rather than it is practical to this The limitation of novel protected range, those skilled in the art to the technical solution of the utility model carry out it is simple modification or Person's equivalent replacement, all without departing from the spirit and scope of technical solutions of the utility model.

Claims (8)

1. a kind of anthropomorphic robot foot structure, including bottom case (1), it is characterised in that: the upper end of the bottom case (1) offers pair The middle position of access slot (2), described bottom case (1) inner bottom surface one end offers supplementary card race (3), and the bottom case (1) is internal The middle position of the bottom surface other end is reserved with fixed placement slot (4), and the middle position at bottom case (1) back offers motor peace It fills hole (5), the internal front position of the bottom case (1) is fixedly installed with balance weight gain block (8), and the upper end of the bottom case (1) is living Dynamic to be equipped with shell (17), the avris of the fixed placement slot (4) offers driving card race (6), the fixed placement slot (4) Inside be fixedly installed with support gear-box (7), it is described support gear-box (7) upper surface middle position be fixedly installed with rotation The internal activity of mechanism (9), support gear-box (7) is equipped with drive shaft (10), in support gear-box (7) back Between position be fixedly installed with micro-driving motor (12), it is described balance weight gain block (8) bottom middle position be movably installed with it is auxiliary It helps wheel (14), the upper end of the rotating mechanism (9) is movably installed with spherical link block (13), and the avris of the drive shaft (10) is solid Dingan County is equipped with driving wheel (11), and the external middle position of the drive shaft (10) offers driving docking screw thread (20), the ball The upper end of shape link block (13) is movably installed with connection fixture block (15), and the upper end of connection fixture block (15) is fixedly installed with externally Connector (16), the middle position of described connection fixture block (15) bottom offers should be with slot (21), the bottom of the shell (17) Outer ring is fixedly installed with docking fixture block (18), and the end-position of shell (17) upper surface offers link slot (19).

2. a kind of anthropomorphic robot foot structure according to claim 1, it is characterised in that: the shape of the bottom case (1) It is identical as the shape of shell (17), and specification and shell (17) bottom in the slot of docking groove (2) that is opened up of bottom case (1) upper surface The external specification of docking fixture block (18) match.

3. a kind of anthropomorphic robot foot structure according to claim 1, it is characterised in that: the supplementary card race (3) Open up that position and auxiliary wheel (14) are corresponding in the balance weight gain installation site of block (8) bottom, and supplementary card race (3) are opened If width matches with the width of auxiliary wheel (14).

4. a kind of anthropomorphic robot foot structure according to claim 1, it is characterised in that: the fixed placement slot (4) Slot in specification match with the bottom specification of support gear-box (7), and driving card race (6) is in fixed placement slot (4) avris To open up position and driving wheel (11) corresponding in the support position of gear-box (7) avris.

5. a kind of anthropomorphic robot foot structure according to claim 1, it is characterised in that: the driving card race (6) Symmetrically offer that specification is four identical in the avris of fixed placement slot (4), and specification and driving in the slot of driving card race (6) The external specification of wheel (11) matches.

6. a kind of anthropomorphic robot foot structure according to claim 1, it is characterised in that: the drive shaft (10) is being propped up It is symmetrically installed with that specification is two identical in support gear-box (7), and there are two the both ends of each drive shaft (10) are symmetrically installed The identical driving wheel of specification (11).

7. a kind of anthropomorphic robot foot structure according to claim 1, it is characterised in that: the spherical shape link block (13) Outer diameter should match with the internal diameter of slot (21) with connect that fixture block (15) bottom opened up.

8. a kind of anthropomorphic robot foot structure according to claim 1, it is characterised in that: the external connection part (16) The slot of link slot (19) that opens up of external specification and shell (17) upper surface in specification match.