CN210083395U - Walking robot and joint structure thereof and joint transmission shaft simulating protection device - Google Patents
Walking robot and joint structure thereof and joint transmission shaft simulating protection device Download PDFInfo
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- CN210083395U CN210083395U CN201920920739.2U CN201920920739U CN210083395U CN 210083395 U CN210083395 U CN 210083395U CN 201920920739 U CN201920920739 U CN 201920920739U CN 210083395 U CN210083395 U CN 210083395U
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- transmission shaft
- shaft
- annular groove
- joint
- protection device
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 72
- 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 3
- 230000001012 protector Effects 0.000 claims 1
- 230000003139 buffering effect Effects 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 230000013011 mating Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003754 machining Methods 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 joint-imitating transmission shaft protection device, wherein the joint-imitating transmission shaft protection device comprises a shaft fitting piece, a shaft end fitting piece, a buffer component and a connecting rod, wherein the shaft fitting piece is provided with an annular groove and a shaft mounting hole, and the annular groove surrounds the shaft mounting hole; the shaft end fitting piece is arranged at the end part of the transmission shaft; the buffering component comprises a main body, a mounting piece and an elastic piece, the main body is arranged in the annular groove in a sliding mode, two ends of the main body are respectively matched with the inner side wall and the outer side wall of the annular groove, and at least one end of the main body is connected with the mounting piece through the elastic piece; the mounting piece is connected with the connecting rod, a sliding groove is formed in the connecting rod along the length direction, the shaft end matching piece is in sliding fit with the sliding groove, and the connecting rod is limited relative to the shaft end matching piece in the circumferential direction; the connecting rod of the transmission shaft protection device is in non-rigid connection with the transmission shaft, and lateral impact force on the connecting rod can be absorbed by the buffer component, so that the transmission shaft is prevented from being applied by the lateral impact force, 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, imitative joint transmission shaft 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 utility model discloses a first aim at provides an imitative joint transmission shaft protection device to alleviate the side direction impact that the transmission shaft received, reach the purpose of protection 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 joint-like transmission shaft protection device.
In order to achieve the above object, the utility model provides a following technical scheme:
a joint-like drive shaft protection device comprising:
the shaft fitting piece is provided with an annular groove and a shaft mounting hole, and the annular groove surrounds the shaft mounting hole;
the shaft end fitting piece is arranged at the end part of the transmission shaft;
the buffer component comprises a main body, a mounting part and an elastic part, wherein the main body is arranged in the annular groove in a sliding mode, two ends of the main body are respectively matched with the inner side wall and the outer side wall of the annular groove, and at least one end of 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 groove;
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, the main part includes outer cooperation board and interior cooperation board, outer cooperation board with the lateral wall contact cooperation of annular groove, interior cooperation board with the inside wall contact cooperation of annular groove, the installed part set up in outer cooperation board with between the interior cooperation board just the both sides of installed part are passed through respectively the elastic component with outer cooperation board and interior cooperation board is connected.
Preferably, the elastic member includes a plurality of compression springs arranged in a matrix.
Preferably, at least one of the inner side wall and the outer side wall of the annular groove is circumferentially provided with a plurality of balls for contacting and matching with the buffer member.
Preferably, at least one of the two ends of the buffer member is provided with a plurality of balls for contacting and matching with the inner side wall or the outer side wall of the annular groove.
Preferably, a plurality of balls for matching with the transmission shaft are arranged on the wall of the shaft mounting hole along the circumferential direction.
Preferably, the shaft fitting piece still includes limit baffle, limit baffle cover detain in the open end of annular groove, just be provided with on the limit baffle and be used for dodging the connecting rod with the groove of dodging of the junction of installed part.
A joint structure of a walking robot comprises a steering engine and a joint-imitating transmission shaft protection device, wherein a shaft fitting piece of the joint-imitating transmission shaft protection device is connected with a transmission shaft of the steering engine in a fitting mode through a shaft mounting hole.
A walking robot comprising a walking robot joint structure as described above.
In order to realize the first purpose, the utility model provides a joint-imitating transmission 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 provided with an annular groove and a shaft mounting hole, the annular groove surrounds the shaft mounting hole, and the shaft mounting hole is used for being matched with a transmission shaft of a driving part such as a steering engine; 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 buffering component comprises a main body, a mounting piece and an elastic piece, the main body is arranged in the annular groove in a sliding mode, two ends of the main body are respectively matched with the inner side wall and the outer side wall of the annular groove, and at least one end of the main body is connected with the mounting piece through the elastic piece so that the mounting piece can move relative to the main body along the radial direction of the annular groove; 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; the bearing structure and the transmission structure are separated by the joint-imitating transmission shaft protection device, the transmission shaft provides rotating torque for the connecting rod which is in contact with the transmission shaft only through the shaft end fitting piece, the connecting rod is not directly and rigidly connected with the connecting rod, the connecting rod is fixed on the buffer member, when a person falls to the ground by foot, the connecting rod is subjected to impact force which is vertical to the axial direction of the transmission shaft, the buffer member absorbs partial stress, lateral impact force is prevented from being directly applied to the transmission shaft, the protection of the transmission shaft in reciprocating motion during walking is realized, and the service life.
In order to achieve the second object, the present invention further provides a joint structure of a walking robot having the joint-simulated transmission shaft protection device and a walking robot including the joint structure of the walking robot, wherein the joint-simulated transmission shaft protection device has the above technical effects, and therefore the joint structure of the walking robot and the walking robot having the joint-simulated transmission shaft protection device should also have corresponding 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 the joint-like transmission shaft protection device provided by the embodiment of the utility model.
In the figure:
1 is a shaft fitting piece; 101 is an annular groove; 2 is a shaft end fitting piece; 3 is a buffer component; 301 is an outer mating plate; 302 is an elastic member; 303 is a mounting member; 304 is an inner mating plate; 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 an imitative joint transmission shaft protection device, the side impact that the transmission shaft received can be alleviated to this imitative joint transmission shaft protection device's structural design, reaches the purpose of protection transmission shaft.
A first object of the present invention is to provide a walking robot joint structure and a walking robot having the above-mentioned joint-like transmission shaft 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 joint-like transmission shaft protection device according to an embodiment of the present invention.
The embodiment of the utility model provides a pair of imitative joint transmission shaft 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 provided with an annular groove 101 and a shaft mounting hole, the annular groove 101 surrounds the shaft mounting hole, and the shaft mounting hole is used for being matched with a transmission shaft 5 of a driving part such as a steering engine; 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 buffer member 3 comprises a main body, a mounting part 303 and an elastic part 302, wherein the main body is arranged in the annular groove 101 in a sliding manner, two ends of the main body are respectively matched with the inner side wall and the outer side wall of the annular groove 101, at least one end of the main body is connected with the mounting part 303 through the elastic part 302 so that the mounting part 303 can move relative to the main body along the radial direction of the annular groove 101; connecting rod 4 is connected in installed part 303, has seted up spout 401 along length direction on the connecting rod 4, and axle head fitting piece 2 is spacing for axle head fitting piece 2 circumference with spout 401 sliding fit and connecting rod 4.
Compared with the prior art, the utility model provides an imitative joint transmission shaft 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, but be fixed in buffer member 3 with connecting rod 4, when the step falls to the ground, connecting rod 4 receives 5 axial vertically impact forces with the transmission shaft, buffer member 3 absorbs partial atress, avoid the side direction impact force directly to apply on 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.
Preferably, as shown in fig. 1, the main body is of a split structure and includes an outer fitting plate 301 and an inner fitting plate 304, the outer fitting plate 301 is in contact fit with an outer side wall of the annular groove 101, the inner fitting plate 304 is in contact fit with an inner side wall of the annular groove 101, the mounting member 303 is disposed between the outer fitting plate 301 and the inner fitting plate 304, two sides of the mounting member 303 are respectively connected with the outer fitting plate 301 and the inner fitting plate 304 through elastic members 302, and the elastic members 302 respectively push the outer fitting plate 301 and the inner fitting plate 304 against the outer side wall and the inner side wall of the annular groove 101.
Of course, in other embodiments, the main body may also adopt an integral structure, that is, the outer mating plate 301 and the inner mating plate 304 are fixedly connected, but since the outer mating plate 301 and the inner mating plate 304 are required to be respectively mated with the outer sidewall and the inner sidewall of the annular groove 101, the requirement on the machining precision is high.
Further, the outer side of the outer fitting plate 301 is an arc surface capable of being tightly attached to the outer side wall of the annular groove 101, the inner side of the outer fitting plate 301 is a plane parallel to the surface of the mounting part 303, the inner side of the inner fitting plate 304 is an arc surface capable of being tightly attached to the inner side wall of the annular groove 101, and the outer side of the inner fitting plate 304 is a plane parallel to the surface of the mounting part 303, so that the elastic part 302 is mounted and the buffering mechanism and the shaft fitting part 1 are mounted in a matched mode.
Further optimizing the above technical solution, as shown in fig. 1, 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, at least one of the inner sidewall and the outer sidewall of the annular groove 101 is circumferentially provided with a plurality of balls for contacting and fitting with the buffer member 3, or at least one of the two ends of the buffer member 3 is provided with a plurality of balls for contacting and fitting with the inner sidewall or the outer sidewall of the annular groove 101, and the balls are arranged on the sidewall of the annular groove 101 or at the end of the buffer member 3 to form a bearing structure, so as to facilitate the relative movement between the buffer member 3 and the shaft fitting member 1, thereby reducing the friction and the resistance.
Further, a plurality of balls for matching with the transmission shaft 5 are arranged on the hole wall of the shaft mounting hole along the circumferential direction.
For avoiding cushioning member 3 to break away from annular groove 101 in the embodiment of the utility model provides an, axle fitting piece 1 still includes limit baffle, and limit baffle covers the open end of detaining in annular groove 101, and is provided with the groove of dodging that is used for dodging the junction of connecting rod 4 and installed part 303 on the limit baffle.
Specifically, this limit baffle includes two annular plates, and an annular plate is connected with the outer loop of axle fitting piece 1, and another annular plate is connected with the inner loop of axle fitting piece 1, forms the above-mentioned groove of dodging between two annular plates.
Based on the imitative joint transmission 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 imitative joint transmission shaft protection device's axle fitting piece 1 is connected through the 5 cooperations of axle mounting hole and the transmission shaft of steering wheel, because this walking robot joint structure has adopted the imitative joint transmission 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 joint-like transmission shaft protection device is characterized by comprising:
the shaft fitting piece is provided with an annular groove and a shaft mounting hole, and the annular groove surrounds the shaft mounting hole;
the shaft end fitting piece is arranged at the end part of the transmission shaft;
the buffer component comprises a main body, a mounting part and an elastic part, wherein the main body is arranged in the annular groove in a sliding mode, two ends of the main body are respectively matched with the inner side wall and the outer side wall of the annular groove, and at least one end of 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 groove;
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 joint-imitated transmission shaft protection device of claim 1, wherein the number of the buffer members is 2, 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 joint-imitated transmission shaft protection device of claim 1, wherein the main body comprises an outer matching plate and an inner matching plate, the outer matching plate is in contact fit with the outer side wall of the annular groove, the inner matching plate is in contact fit with the inner side wall of the annular groove, the installation part is arranged between the outer matching plate and the inner matching plate, and two sides of the installation part are respectively connected with the outer matching plate and the inner matching plate through the elastic parts.
4. The joint drive shaft simulating protection device of claim 3, wherein the elastic member comprises a plurality of compression springs arranged in a matrix.
5. The artificial joint drive shaft protecting device according to any one of claims 1-4, wherein at least one of the inner side wall and the outer side wall of the annular groove is circumferentially provided with a plurality of balls for contacting and cooperating with the cushioning member.
6. The simulated joint drive shaft protector of any one of claims 1-4, wherein at least one of the ends of the cushioning member is provided with a plurality of balls for contacting and engaging the inner or outer sidewall of the annular groove.
7. The joint-like transmission shaft protection device of any one of claims 1-4, wherein the wall of the shaft mounting hole is circumferentially provided with a plurality of balls for cooperating with the transmission shaft.
8. The joint-like transmission shaft protection device of any one of claims 1-4, wherein the shaft fitting piece further comprises a limit baffle, the limit baffle is covered and buckled at the opening end of the annular groove, and an avoiding groove for avoiding the connection position of the connecting rod and the mounting piece is arranged on the limit baffle.
9. A walking robot joint structure comprises a steering engine and is characterized by further comprising the joint-imitating transmission shaft protection device as claimed in any one of claims 1 to 8, wherein a shaft fitting piece of the joint-imitating transmission shaft protection device is connected with a transmission shaft of the steering engine in a fitting mode through a shaft mounting hole.
10. A walking robot comprising the walking robot joint structure according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920920739.2U CN210083395U (en) | 2019-06-19 | 2019-06-19 | Walking robot and joint structure thereof and joint transmission shaft simulating protection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920920739.2U CN210083395U (en) | 2019-06-19 | 2019-06-19 | Walking robot and joint structure thereof and joint transmission shaft simulating protection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210083395U true CN210083395U (en) | 2020-02-18 |
Family
ID=69483272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920920739.2U Expired - Fee Related CN210083395U (en) | 2019-06-19 | 2019-06-19 | Walking robot and joint structure thereof and joint transmission shaft simulating protection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210083395U (en) |
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2019
- 2019-06-19 CN CN201920920739.2U patent/CN210083395U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200218 |