CN210000444U

CN210000444U - Mechanical leg of crawling robot

Info

Publication number: CN210000444U
Application number: CN201920839705.0U
Authority: CN
Inventors: 王沁; 张富迪; 唐博; 张立新; 阚红梅; 孔垂宇
Original assignee: Xian Technological University
Current assignee: Xian Technological University
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2020-01-31
Anticipated expiration: 2029-06-05

Abstract

The utility model discloses a mechanical leg of robot of crawling, including the leg body, the lower extreme fixed mounting of the leg body has cylindrical foot rest, the elastic support foot is installed to the lower extreme of foot rest, and the elastic support foot of elasticity nature makes every elastic support foot can both steadily land when the robot walks on mountain steep surface, avoids the elastic support foot to the domatic rigid collision that forms of mountain, reduces the danger that causes the rolling stone landing, when the installation, make the spheroid be absorbed in spherical inslot under the exogenic action can, the change of the elastic support foot of also being convenient for like this.

Description

Mechanical leg of crawling robot

Technical Field

The utility model belongs to the robot field.

Background

When the crawling robot walks on a mountain steep slope, rigid collision can be caused when the supporting legs of the robot contact the slope every time, and further the danger of rolling stone sliding is easily caused;

disclosure of Invention

The invention aims to overcome the defects in the prior art, and the utility model provides a mechanical leg which can replace an artificial crawling robot.

In order to realize the aim, the mechanical leg of the crawling robot comprises a leg body, wherein a columnar foot seat is fixedly arranged at the lower end of the leg body, and an elastic supporting foot is arranged at the lower end of the foot seat;

the lower end of the foot seat is integrally connected with a spherical body, the elastic supporting leg is a horn-shaped elastic wall body flaring downwards, the elastic wall body is made of elastic rubber, the top end of the elastic wall body is sunken downwards to form a spherical groove, the spherical groove is elastically covered on the outer side of the spherical body, the inner side of the elastic wall body is also provided with a conical spring which is thin at the top and thick at the bottom, the conical spiral outer edge of the conical spring is tightly contacted with the conical inner wall of the elastic wall body, and the upper end of the conical spring is fixedly connected with the upper end of the inner wall of the elastic wall body.

, the outer wall of the sphere is adhered to the inner wall of the spherical groove by adhesive.

, the leg joint device further comprises a steering engine fixedly mounted on the mechanical leg support, a 1 th output shaft of the 0 th steering engine is vertically arranged, a th output shaft of the th steering engine is provided with a joint frame, a th steering engine drives the th joint frame to swing along an th output shaft through an th output shaft, the leg joint device further comprises a second joint frame, the root part of the second joint frame is fixedly connected with the tail end of the th joint frame, the leg joint device further comprises a second steering engine, a second output shaft of the second steering engine is transversely arranged, a second output shaft of the second steering engine is fixedly connected to the second joint frame, the second output shaft drives the second steering engine to swing along the second output shaft through the second output shaft, the tail end of the casing of the second steering engine is fixedly connected with a third joint frame, a third output shaft of the third steering engine is transversely arranged, and a third output shaft of the third steering engine is fixedly connected to the third joint frame, and the third steering engine drives the third output shaft to swing along the third steering engine;

the upper end of the leg body is fixedly arranged on the shell of the third steering engine.

Has the advantages that: the elastic supporting feet with elastic properties enable each elastic supporting foot to land stably when the robot walks on the steep slope of the mountain, rigid collision of the elastic supporting feet on the slope of the mountain is avoided, the danger of causing rolling stones to slide is reduced, and when the robot is installed, the spherical body is sunk into the spherical groove under the action of external force, so that the elastic supporting feet are convenient to replace; the conical spring plays a return role on the elastic wall body, and after the elastic wall body is compressed and deformed by external force, the conical spring plays a role in promoting the elastic wall body to recover to the original shape, so that the elastic wall body can recover to the trumpet-shaped shape in real time.

Drawings

FIG. 1 is a schematic view of the overall attitude of the robot;

fig. 2 is an overall front view of the robot;

FIG. 3 is an overall top view of the robot;

fig. 4 is a schematic diagram of the mechanical leg and the mechanical leg installation position.

FIG. 5 is a schematic view of a robot leg;

FIG. 6 is a schematic view of the mechanical leg with the elastic wall hidden;

FIG. 7 is a schematic view of the leg base and the elastic support body in a fitted state;

FIG. 8 is a cut-away schematic view of FIG. 8;

FIG. 9 is a disassembled schematic view of FIG. 7;

fig. 10 is a schematic view of the robot with all the mechanical legs hidden;

FIG. 11 is a front view of the robot with all the robot legs hidden;

fig. 12 is a cut-away schematic view of the robot with all the mechanical legs hidden;

FIG. 13 is a schematic structural view of a hole punching mechanism;

fig. 14 is a partial schematic view at four guide posts.

Detailed Description

The present invention will be further described in with reference to the accompanying drawings, and the present embodiment is described in the robot as a whole for the sake of clarity.

The mechanical legs of the crawling robots shown in fig. 1 to 14 comprise a robot body shell 2, a punching mechanism is installed in the robot body shell 2, a mechanical leg support 80 is arranged at the lower end of the robot body shell 2, six mechanical leg installation positions 38 extending outwards are fixedly arranged on the periphery of the mechanical leg support in a circumferential array mode, six mechanical legs 28 are respectively installed on the six mechanical leg installation positions 38, the mechanical leg support comprises a installation disc 20 and a second installation disc 21 which are arranged up and down, the installation disc 20 is fixedly connected with the second installation disc 21 through a plurality of connecting pieces 60, and the installation disc 20 is connected with the lower end outline of the robot body shell 2 in a integration mode.

A front guide wheel assembly 26 and a rear guide wheel assembly 27 are respectively arranged at the front side and the rear side of the robot body shell 2; the front guide wheel assembly 26/rear guide wheel assembly 27 comprises a sheave bracket 23 and a guide V-shaped sheave 22; a bottom plate 45 at the lower end of the sheave bracket 23 is fixedly locked on the robot housing 2 through a locking bolt 45; the guide V-shaped grooved pulley 22 is rotatably arranged at the upper end of the grooved pulley bracket 23 through a rotating shaft 07; the device also comprises an upper guide rope 24 and a lower guide rope 25 which are distributed up and down; the upper sides of the grooves 09 of the two guide V-shaped groove wheels 22 are in rolling connection with the upper guide rope 24, and the lower sides of the grooves 09 of the two guide V-shaped groove wheels 22 are in rolling connection with the lower guide rope 25.

A cylindrical structure 19 with an open lower end is arranged in the robot shell 2 in an integrated manner at , the upper end of the cylindrical structure 19 is a top wall body 11 in an integrated manner at , and the punching mechanism is positioned in a cylinder inner cavity 3 of the cylindrical structure 19;

the punching mechanism comprises a vertical main motor 4, and guide grooves 39 are symmetrically arranged on two sides of a shell of the main motor 4; the motor is characterized by further comprising two vertical guide rails 1, the upper ends of the two guide rails 1 are fixedly connected with the top wall body 11 respectively, the two guide grooves 39 are in sliding fit with the two guide rails 1 respectively, and the main motor 4 can slide up and down along the extending direction of the guide rails 1; the output shaft 5 of the main motor 4 is synchronously provided with a drill clamp 6, the drill clamp 6 is synchronously clamped with a drill 7 on the drill clamp 6.

The screw rod motor comprises a main motor 4, a shell and a vertical screw rod 8, wherein a screw rod nut 9 is fixedly installed on the side of the shell of the main motor 4, the screw rod 8 is in transmission fit with a threaded hole in the screw rod nut 9, a vertical screw rod motor 10 is further arranged in the barrel inner cavity 3, the output end of the screw rod motor 10 is in driving connection with the screw rod 8, four guide pillars 12 are fixedly distributed at the top end of the shell of the screw rod motor 10 in a rectangular array, four guide holes 14 which are vertically communicated are formed in the top wall body 11, the upper ends of the four guide pillars 12 respectively slide upwards to penetrate through the four guide holes 14, a tray body 13 is fixedly arranged at the top end of each guide pillar 12, the diameter of each tray body 13 is larger than the inner diameter of each guide hole 14, a lower spring limiting column 17 is arranged in the middle of the top end of the shell of the screw rod motor 10, an upper spring limiting column 15 is fixedly arranged on the lower side of the top wall body 11, the lower spring limiting column 17 and the upper spring limiting column 15 are coaxially arranged, a distance is kept between the upper end of the lower spring limiting column 17 and an upper spring limiting column 16 of the screw rod spring limiting column 16 is sleeved on the upper end of the motor 10.

The mechanical leg 28 of the embodiment comprises a th steering engine 37, the th steering engine 37 is fixedly installed on the mechanical leg installation position 38, a 1 th output shaft 37.1 of the 0 th steering engine 37 is vertically arranged, a th joint frame 35 is installed on a th output shaft 37.1 of the th steering engine 37, the th steering engine 37 drives the th joint frame 35 to swing along a th output shaft 37.1 through a th output shaft 37.1, the mechanical leg further comprises a second joint frame 36, the root of the second joint frame 36 is fixedly connected with the tail end of the th joint frame 35, the mechanical leg further comprises a second steering engine 34, a second output shaft 34.1 of the second steering engine 34 is transversely arranged, a second output shaft 34.1 of the second steering engine 34 is fixedly connected to the second joint frame 36, the second joint frame 34 drives the mechanical leg to swing along the second output shaft 34.1 through the second output shaft 34.1, a casing of the second steering engine 34 is fixedly connected with a third joint frame 33, a third joint frame 32 is fixedly connected to the casing, a third leg seat is fixedly connected to the steering engine 32, the third leg seat is fixedly connected to the steering engine 34, the output shaft 32, the steering engine 32 is fixedly connected with the output shaft 31.1, and the lower end of the steering engine 32 is fixedly connected to the steering engine 32, and the third leg seat is fixedly connected to the steering engine 32.

The lower end of the foot seat 30 of the embodiment is integrally connected with a spherical body 42, the elastic supporting foot 29 is a horn-shaped elastic wall body 41 flaring downwards, the elastic wall body 41 is made of elastic rubber, the elastic supporting foot 29 with elastic property enables each elastic supporting foot 29 to land smoothly when the robot walks on a steep slope of a mountain, rigid collision of the elastic supporting foot 29 on the slope of the mountain is avoided, the risk of causing rolling stone to slide is reduced, the top end of the elastic wall body 41 of the embodiment is sunken downwards to form a spherical groove 44, the spherical groove 44 is elastically coated on the outer side of the spherical body 42, when the robot is installed, the spherical body 42 is sunk into the spherical groove 44 under the action of external force, the replacement of the elastic supporting foot 29 is facilitated, the conical spring 43 with a thin upper part and a thick lower part is further arranged on the inner side of the elastic wall body 41, the conical spiral outer edge of the conical spring 43 is in close contact with the conical inner wall body 41, the upper end of the conical spring 43 is fixedly connected with the upper end of the inner wall of the elastic wall body 41, the conical spring 43 plays a role in playing a role in promoting the elastic wall body 41 to be recovered to the spherical wall body 41 after the elastic deformation, the conical spring 43, the elastic wall body is used, the conical groove 44, the elastic wall body is loosened, the elastic wall body 44, the elastic wall body 41, the elastic wall body is used, the elastic supporting foot seat, the elastic wall body is used, the elastic supporting foot is used, the elastic wall body is returned.

The operation process, the method and the technical progress of the scheme are summarized as follows:

under the guiding and restraining of the upper guide rope 24 and the upper guide rope 24, the robot body shell 2 walks along the mountain slope surface under the cooperative matching of the six mechanical legs 28, the robot body shell 2 can continuously fluctuate up and down in the process of walking along the mountain slope surface due to the driving of the mechanical legs 28, so that the front guide wheel assembly 26 and the rear guide wheel assembly 27 are driven to continuously fluctuate up and down in the process of rolling along the upper guide rope 24/the lower guide rope 25, when the robot body shell 2 fluctuates upwards, the upper side of a groove 09 of each guide V-shaped groove wheel 22 presses the upper guide rope 24 upwards, the upper guide rope 24 is deformed in an mode upwards under the effect of upward pressing, the robot body shell 2 fluctuates upwards due to the guide V-shaped wheel 22, the lower side of the groove 09 of each guide V-shaped groove wheel 22 is separated from the lower side of the lower groove 25, each guide V-shaped groove 22 rolls along the upper guide rope 24, the acting force of the upper guide V-shaped rope 24 on the guide V-shaped groove 22 effectively prevents the upper guide rope from downwards pressing against the lower guide rope groove of the upper guide V-shaped groove pulley 22 and forming a downward pressure of the guide V-shaped groove pulley 22, and the upward groove 2 when the robot body shell 2 fluctuates, the robot body shell 2 and the robot body shell 2 rolls down along the guide rope, the downward pressure of the guide rope 2, the downward pressure of the guide V-shaped groove 2, the upward groove 2, the downward pressure groove 24, the downward pressure of the upper guide V-shaped groove pulley 22, the upper groove pulley 22, the guide V-shaped groove pulley 22 rolls down, the downward pressure groove pulley 22, the downward pressure of the guide rope-shaped groove pulley 22, the downward pressure of the downward pressure rock-shaped groove pulley;

when the robot body 2 stops walking after walking to a punching position, a punching program is started, in an initial state, under the action of gravity and relaxation force of a relaxation force spring 16, the lower side surfaces of the disc bodies 13 are in contact with a top wall body 11, a lead screw motor 10 is started, a lead screw 8 rotates, a lead screw nut 9 is driven to move downwards, a main motor 4 slides downwards along the extending direction of a guide rail 1 until the lower end of a drill 7 is in downward contact with and presses against a mountain wall surface to be punched, at the moment, the main motor 4 is started, the drill 7 starts to rotate at a high speed, the lead screw motor 10 is continuously driven to start at the moment, the lead screw 8 rotates, the drill 7 drills towards the mountain wall surface, at the moment, when the drill 7 is subjected to rigid resistance in the downward feeding process under the action of the lead screw 8, the relaxation force spring 16 is correspondingly and elastically compressed for a certain distance to play a buffering role, the phenomenon that the drill 8 and the lead screw nut are stuck to damage the drill is avoided due to the drill 7 due to the rigid feeding resistance, the fact that the spring 16 is compressed for a certain distance, the guide rail is compressed, the drill 7 is further compressed, the drill is driven to move upwards, the rock is further, the drill is driven to move upwards, the rock is lifted, the rock is further, the rock is lifted, the drill, the rock is lifted, the rock drilling process is started, and the rock is started, the rock drilling process is started, and.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

The mechanical leg of the crawling robot of varieties is characterized by comprising a leg body (31), wherein a columnar foot base (30) is fixedly installed at the lower end of the leg body (31), and an elastic supporting foot (29) is installed at the lower end of the foot base (30);

the lower end of the foot seat (30) is integrally connected with a spherical body (42), the elastic supporting leg (29) is a flared elastic wall body (41) flaring downwards, the elastic wall body (41) is made of elastic rubber, the top end of the elastic wall body (41) is sunken downwards to form a spherical groove (44), the spherical groove (44) is elastically covered on the outer side of the spherical body (42), a tapered spring (43) which is thin at the upper part and thick at the lower part is further arranged on the inner side of the elastic wall body (41), the outer edge of a tapered spiral of the tapered spring (43) is tightly contacted with the inner tapered wall of the elastic wall body (41), and the upper end of the tapered spring (43) is fixedly connected with the upper end of the inner wall of the elastic wall body (41).
2. The mechanical leg of kinds of crawling robots, according to claim 1, characterized in that the outer wall of the sphere (42) and the inner wall of the sphere groove (44) are bonded by adhesive.
3. The mechanical leg of the crawling robot as claimed in claim 2, wherein the mechanical leg further comprises a steering engine (37) fixedly mounted on a mechanical leg support (80), a 1 output shaft (37.1) of the 0 steering engine (37) is vertically arranged, a output shaft (37.1) of the steering engine (37) is provided with a joint frame (35), the steering engine (37) drives the joint frame (35) to swing along a output shaft (37.1) through the output shaft (37.1), the mechanical leg further comprises a second joint frame (36), the root of the second joint frame (36) is fixedly connected with the tail end of the joint frame (35), the mechanical leg further comprises a second steering engine (34), a second output shaft (34.1) of the second steering engine (34) is transversely arranged, the second output shaft (34.1) of the second steering engine (34) is fixedly connected to the second joint frame (36), the second output shaft (34.1) of the second steering engine (34) is transversely arranged through the third output shaft (34), the third output shaft (34) is driven by the third steering engine (34) and the third output shaft (34) is transversely arranged along the third joint frame (34.1) and the third output shaft (34.1) and the third joint frame (34) is fixedly connected to the second joint frame (34, the tail end of the steering engine (34 is connected to the second joint frame (34, the steering engine (34) is connected to the second joint frame (34, the third joint frame (32);

the upper end of the leg body (31) is fixedly arranged on the shell of the third steering engine (32).