CN210081779U - Walking robot and joint structure and bionic joint shaft protection device thereof - Google Patents
Walking robot and joint structure and bionic joint shaft protection device thereof Download PDFInfo
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- CN210081779U CN210081779U CN201920932072.8U CN201920932072U CN210081779U CN 210081779 U CN210081779 U CN 210081779U CN 201920932072 U CN201920932072 U CN 201920932072U CN 210081779 U CN210081779 U CN 210081779U
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- shaft
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- transmission shaft
- connecting rod
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 52
- 230000013011 mating Effects 0.000 claims description 13
- 230000003592 biomimetic effect Effects 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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Abstract
The utility model discloses a walking robot, a joint structure thereof and a bionic joint shaft protection device, wherein the bionic joint shaft protection device comprises a shaft fitting piece, a shaft end fitting piece, a buffer component and a connecting rod, the shaft fitting piece is arranged around a transmission shaft, and an annular surface arranged towards the transmission shaft is arranged on the shaft fitting piece; the shaft end fitting piece is arranged at the end part of the transmission shaft; the buffering component comprises a main body, a mounting part and an elastic part, wherein the main body is in sliding fit with the annular surface, and the main body is connected with the mounting part through the elastic part so that the mounting part can move relative to the main body along the radial direction of the annular surface; the connecting rod is connected with the mounting piece, a sliding groove is formed in the connecting rod along the length direction, and the shaft end fitting piece is in sliding fit with the sliding groove and is limited relative to the circumferential direction of the connecting rod; the bionic joint shaft protection device enables the transmission shaft not to be rigidly connected with the connecting rod, and the connecting rod is fixed on the buffer component to absorb part of lateral impact force, so that the lateral impact force is prevented from being directly applied to the transmission shaft, the transmission shaft is protected, and the service life of the transmission shaft is prolonged.
Description
Technical Field
The utility model relates to an automation equipment spare part field, in particular to walking robot and joint structure, bionical joint axle protection device thereof.
Background
In the motion of the walking robot, the step feet frequently and alternately perform regular periodic up-and-down motion, and a transmission shaft for driving the step feet to move in the existing design in the process is subjected to lateral impact force, so that the transmission shaft bears the force for a long time and has the risk of bending or breaking.
SUMMERY OF THE UTILITY MODEL
In view of this, the first objective of the present invention is to provide a bionic joint shaft protection device to alleviate the side impact received by the transmission shaft, so as to protect the transmission shaft.
A second object of the present invention is to provide a walking robot joint structure and a walking robot based on the above-mentioned bionic joint axis protection device.
In order to achieve the above object, the utility model provides a following technical scheme:
a biomimetic joint axis protection device comprising:
the shaft fitting piece is arranged around the transmission shaft, and an annular surface facing the transmission shaft is arranged on the shaft fitting piece;
the shaft end fitting piece is arranged at the end part of the transmission shaft;
a buffer member including a main body slidably fitted with the annular surface of the shaft fitting member, a mount, and an elastic member by which the main body is connected with the mount so that the mount can move relative to the main body in a radial direction of the annular surface;
connect in the connecting rod of installed part, the spout has been seted up along length direction on the connecting rod, the axle head fitting piece with spout sliding fit just the connecting rod is for the axle head fitting piece circumference is spacing.
Preferably, the buffer member is provided with 2 and two buffer member circumference equipartition, the connecting rod respectively with two buffer member's installed part is connected.
Preferably, one side surface of the main body is an arc surface closely attached to the annular surface of the shaft fitting member, and the other side surface of the main body is a flat surface so as to be connected with the mounting member through the elastic member.
Preferably, the elastic member includes a plurality of compression springs arranged in a matrix.
Preferably, one of the mating surfaces of the shaft mating member and the main body is provided with a plurality of balls for contact-mating with the other of the mating surfaces of the shaft mating member and the main body.
Preferably, the shaft fitting piece is provided with a shaft mounting hole coaxial with the annular surface, and the shaft fitting piece is rotationally fitted with the transmission shaft through the shaft mounting hole.
Preferably, the shaft fitting piece is provided with a limiting structure for limiting the main body, and the limiting structure is matched with the main body so that the main body can only circumferentially slide around the shaft fitting piece.
Preferably, the limiting structure comprises a limiting groove arranged on the annular surface, and the main body is in sliding fit with the limiting groove.
A joint structure of a walking robot comprises a steering engine and a bionic joint shaft protection device, wherein a shaft fitting piece of the bionic joint shaft protection device surrounds a transmission shaft of the steering engine.
A walking robot comprising a walking robot joint structure as described above.
In order to achieve the first object, the utility model provides a bionic joint shaft protection device, which comprises a shaft fitting piece, a shaft end fitting piece, a buffer component and a connecting rod, wherein the shaft fitting piece is arranged around a transmission shaft, the shaft fitting piece can be matched with the transmission shaft in a rotating way or not, and the shaft fitting piece is provided with an annular surface arranged towards the transmission shaft; the shaft end fitting piece is arranged at the end part of the transmission shaft, can be detachably connected with the transmission shaft and can also adopt an integral structure with the transmission shaft; the buffer member comprises a main body, a mounting part and an elastic part, wherein the main body is in sliding fit with the annular surface of the shaft fitting part, and the main body is connected with the mounting part through the elastic part so that the mounting part can move relative to the main body along the radial direction of the annular surface; the connecting rod can be used as a robot step or used for connecting the robot step, the connecting rod is connected to the mounting piece, a sliding groove is formed in the connecting rod along the length direction, the shaft end fitting piece is in sliding fit with the sliding groove, and the connecting rod is limited relative to the circumferential direction of the shaft end fitting piece; above-mentioned bionical joint axle protection device separates load-bearing structure and transmission structure, and the transmission shaft only provides the rotation torque for the connecting rod that contacts through the axle head fitting piece, not direct and connecting rod rigid connection, and the connecting rod is fixed in the buffer member, and when the step falls to the ground, the connecting rod receives the side impact perpendicular with the transmission shaft axial, and buffer member absorbs partial side impact, avoids the side impact directly to exert on the transmission shaft, realizes the protection to the transmission shaft in the reciprocating motion of walking, extension transmission shaft life-span.
In order to achieve the second object, the present invention further provides a joint structure of a walking robot having the above-mentioned bionic joint axis protection device and a walking robot including the joint structure of the walking robot, wherein the joint structure of the walking robot and the walking robot having the bionic joint axis protection device should have the above-mentioned technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an axonometric view of a bionic joint axis protection device provided by the embodiment of the present invention.
In the figure:
1 is a shaft fitting piece; 101 is an annular surface; 2 is a shaft end fitting piece; 3 is a buffer component; 301 is a main body; 302 is an elastic member; 303 is a mounting member; 4 is a connecting rod; 401 is a chute; and 5, a transmission shaft.
Detailed Description
A first object of the utility model is to provide a bionical joint axle protection device, the side impact that the transmission shaft received can be alleviated to this bionical joint axle protection device's structural design, reaches the purpose of protection transmission shaft.
A first object of the present invention is to provide a joint structure of a walking robot and a walking robot having the above-mentioned bionic joint axis protection device.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is an isometric view of a bionic joint axis protection device according to an embodiment of the present invention.
The embodiment of the utility model provides a pair of bionical joint axle protection device, including axle mating piece 1, axle head mating piece 2, buffer member 3 and connecting rod 4.
The shaft fitting piece 1 is arranged around the transmission shaft 5, the shaft fitting piece 1 can be in rotating fit with the transmission shaft 5 or not in fit with the transmission shaft 5, and an annular surface 101 arranged towards the transmission shaft 5 is arranged on the shaft fitting piece 1; the shaft end fitting part 2 is arranged at the end part of the transmission shaft 5, and the shaft end fitting part 2 can be detachably connected with the transmission shaft 5 or can be integrated with the transmission shaft 5; the cushioning member 3 includes a main body 301, a mounting part 303, and an elastic piece 302, the main body 301 is slidably fitted to the annular surface 101 of the shaft fitting member 1, the main body 301 is connected to the mounting part 303 through the elastic piece 302 so that the mounting part 303 can move relative to the main body 301 in the radial direction of the annular surface 101; connecting rod 4 can be as the robot step foot, perhaps is used for connecting the robot step foot, and connecting rod 4 is connected in installed part 303, has seted up spout 401 along length direction on connecting rod 4, and axle end fitting piece 2 is spacing for axle end fitting piece 2 circumference with spout 401 sliding fit and connecting rod 4.
Compared with the prior art, the utility model provides a bionical joint axle protection device separates load structure and transmission structure, transmission shaft 5 only provides the rotation torque for the connecting rod 4 that contacts through axle head fitting piece 2, not direct and connecting rod 4 rigid connection, connecting rod 4 is fixed in buffer member 3, when the step falls to the ground, connecting rod 4 receives 5 axial vertically side impact with the transmission shaft, buffer member 3 absorption part side impact, avoid on side impact directly applys transmission shaft 5, realize the protection to transmission shaft 5 in reciprocating motion on foot, extension transmission shaft 5 life-span.
The embodiment of the utility model provides an in, buffer member 3 can set up 1 or a plurality of, when buffer member 3 only sets up 1, for guaranteeing connecting rod 4's stability, can keep away from between this buffer member 3's one end and the axle fitting piece 1 at connecting rod 4 and set up limit structure, make connecting rod 4 only can be around the axial oscillation of axle fitting piece 1.
Preferably, in order to make the connecting rod 4 more stable, as shown in fig. 1, the number of the buffer members 3 is 2, and two buffer members 3 are circumferentially and uniformly distributed, and the connecting rod 4 is connected with the mounting pieces 303 of the two buffer members 3 respectively.
As shown in fig. 1, the shaft fitting member 1 is circular, in order to make the buffer member 3 fit with the shaft fitting member 1 better, one side surface of the main body 301 of the buffer member 3 is an arc surface closely attached to the annular surface 101 of the shaft fitting member 1, the arc surface is pressed against the annular surface 101 of the shaft fitting member 1 under the action of the elastic member 302, and the other side surface is a plane surface so as to be connected with the mounting member 303 through the elastic member 302.
Further optimizing the above technical solution, the elastic member 302 includes a plurality of compression springs arranged in a matrix.
Preferably, in order to reduce the resistance between the buffer member 3 and the shaft fitting member 1, in the embodiment of the present invention, one of the mating surfaces of the shaft fitting member 1 and the main body 301 of the buffer member 3 is provided with a plurality of balls for contact-fitting with the other of the mating surfaces of the shaft fitting member 1 and the main body 301.
Specifically, in a preferred embodiment, a plurality of balls are uniformly distributed on the annular surface 101 of the shaft fitting member 1 in the circumferential direction to form a ball bearing structure, so as to reduce the movement resistance of the cushioning member 3.
Further, for the installation of the axle fitting piece 1, in the embodiment of the present invention, the axle fitting piece 1 is provided with an axle mounting hole coaxial with the annular surface 101, and the axle fitting piece 1 is rotatably fitted with the transmission shaft 5 through the axle mounting hole. Preferably, the wall of the shaft mounting hole is provided with a plurality of balls along the circumferential direction for cooperating with the transmission shaft 5.
Further optimize above-mentioned technical scheme, in order to avoid cushioning member 3 to break away from axle fitting 1, can set up at axle fitting 1 and be used for carrying out spacing limit structure to main part 301, limit structure and main part 301 cooperation so that main part 301 can only around axle fitting 1 circumference slip.
Preferably, the limiting structure may be a limiting groove disposed on the annular surface 101 of the shaft fitting member 1, the main body 301 of the buffering member 3 is slidably disposed in the limiting groove, and the elastic member 302 passes through an opening of the limiting groove to be connected with the main body 301.
Specifically, the cross section of the limiting groove is T-shaped.
Based on the bionic joint shaft protection device that provides in the above-mentioned embodiment, the utility model also provides a walking robot joint structure and including the walking robot of this joint structure, this walking robot joint structure includes the steering wheel, and bionic joint shaft protection device's axle counterpart 1 sets up around the transmission shaft 5 of steering wheel, because this walking robot joint structure has adopted the bionic joint shaft protection device in the above-mentioned embodiment, so walking robot joint structure and walking robot's beneficial effect please refer to above-mentioned embodiment.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A bionic joint shaft protection device is characterized by comprising:
the shaft fitting piece is arranged around the transmission shaft, and an annular surface facing the transmission shaft is arranged on the shaft fitting piece;
the shaft end fitting piece is arranged at the end part of the transmission shaft;
a buffer member including a main body slidably fitted with the annular surface of the shaft fitting member, a mount, and an elastic member by which the main body is connected with the mount so that the mount can move relative to the main body in a radial direction of the annular surface;
connect in the connecting rod of installed part, the spout has been seted up along length direction on the connecting rod, the axle head fitting piece with spout sliding fit just the connecting rod is for the axle head fitting piece circumference is spacing.
2. The bionic joint shaft protection device as claimed in claim 1, wherein the number of the buffer members is 2, and the two buffer members are circumferentially and uniformly distributed, and the connecting rods are respectively connected with the installation parts of the two buffer members.
3. The bionic joint shaft protection device as claimed in claim 1, wherein one side surface of the main body is a cambered surface closely fitting with the annular surface of the shaft fitting member, and the other side surface is a flat surface so as to be connected with the mounting member through the elastic member.
4. The biomimetic joint axis protection device of claim 3, wherein the elastic member comprises a plurality of compression springs arranged in a matrix.
5. The biomimetic joint shaft protection device according to any one of claims 1-4, wherein one of the mating surfaces of the shaft mating member and the main body is provided with a plurality of balls for contacting and mating with the other of the mating surfaces of the shaft mating member and the main body.
6. The bionic joint shaft protection device as claimed in any one of claims 1-4, wherein the shaft fitting member is provided with a shaft mounting hole coaxial with the annular surface, and the shaft fitting member is rotatably fitted with the transmission shaft through the shaft mounting hole.
7. The biomimetic joint shaft protection device according to any one of claims 1-4, wherein the shaft fitting member is provided with a limiting structure for limiting the main body, and the limiting structure is engaged with the main body such that the main body can only circumferentially slide around the shaft fitting member.
8. The biomimetic joint shaft protection device according to claim 7, wherein the limiting structure comprises a limiting groove disposed on the annular surface, and the body is in sliding fit with the limiting groove.
9. A walking robot joint structure comprises a steering engine and is characterized by further comprising a bionic joint shaft protection device as claimed in any one of claims 1-8, wherein a shaft fitting piece of the bionic joint shaft protection device is arranged around a transmission shaft of the steering engine.
10. A walking robot comprising the walking robot joint structure according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920932072.8U CN210081779U (en) | 2019-06-19 | 2019-06-19 | Walking robot and joint structure and bionic joint shaft protection device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920932072.8U CN210081779U (en) | 2019-06-19 | 2019-06-19 | Walking robot and joint structure and bionic joint shaft protection device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210081779U true CN210081779U (en) | 2020-02-18 |
Family
ID=69483537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920932072.8U Expired - Fee Related CN210081779U (en) | 2019-06-19 | 2019-06-19 | Walking robot and joint structure and bionic joint shaft protection device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210081779U (en) |
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2019
- 2019-06-19 CN CN201920932072.8U patent/CN210081779U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200218 |