CN211519699U - Leg speed reduction connecting rod mechanism of walking robot - Google Patents
Leg speed reduction connecting rod mechanism of walking robot Download PDFInfo
- Publication number
- CN211519699U CN211519699U CN201922388815.2U CN201922388815U CN211519699U CN 211519699 U CN211519699 U CN 211519699U CN 201922388815 U CN201922388815 U CN 201922388815U CN 211519699 U CN211519699 U CN 211519699U
- Authority
- CN
- China
- Prior art keywords
- piece
- walking robot
- connecting piece
- rotating
- speed reduction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a walking robot shank speed reduction link mechanism relates to body-building apparatus technical field, and its technical scheme's main points are: the connecting structure comprises a connecting structure, one side of the connecting structure is provided with a connecting piece, the middle part of the connecting structure is provided with a triangular fixing frame, one end of the connecting piece is provided with a rotating piece, and the middle part of the connecting piece and the triangular fixing frame is provided with a driving device. Through the leg speed reduction connecting rod mechanism of the walking robot, the leg is driven to move better by the linkage between the driving device and the rotating part through assembly.
Description
Technical Field
The utility model relates to a body-building apparatus technical field, in particular to walking robot shank speed reduction link mechanism.
Background
The walking robot sends the ground state back to the computer through the gravity sensor of the body and the touch sensor of the sole of the foot, and the computer makes judgment according to the road condition so as to balance the body and walk stably in all directions. It can not only walk on a flat road, but also on a step or an inclined road. The standing is stable, the foot can not be pushed down, and the standing posture of the body can be kept even if the sole is uneven.
However, the leg deceleration connecting rod mechanism of the existing walking robot cannot well move the leg back and forth.
Disclosure of Invention
To the deficiency that prior art exists, the utility model aims to: the problem that the leg part of the existing walking robot cannot well move back and forth by the leg part speed reducing connecting rod mechanism is solved.
Above-mentioned technical purpose is realized through following technical scheme, a walking robot shank speed reduction link mechanism, including connection structure, one side of connection structure is provided with the connecting piece, connection structure's middle part is provided with the triangle mount, the one end of connecting piece with the triangle mount is provided with rotates the piece, the connecting piece with the middle part of triangle mount is provided with drive arrangement.
Furthermore, the driving device comprises two bearings which are parallel to each other, and a connecting shaft is arranged between the bearings and the rotating piece.
Furthermore, one side of the connecting piece, which is close to the driving device, is fixedly connected with a corner, and the corner of the connecting piece is connected with a right angle of the triangular fixing frame through a rotating shaft.
Further, the both ends of rotating the piece are installed little pivot, rotate the piece through little pivot with triangle mount and connecting shaft are connected.
To sum up the utility model discloses following technological effect has:
through the leg speed reduction connecting rod mechanism of the walking robot, the leg is driven to move better by the linkage between the driving device and the rotating part through assembly.
Drawings
FIG. 1 is a schematic view of the overall structure of a leg deceleration linkage mechanism of a walking robot according to an embodiment;
FIG. 2 is an enlarged view of A in FIG. 1;
reference numerals: 1. a connecting structure; 2. a connecting member; 3. a triangular fixing frame; 4. a rotating member; 41. a small rotating shaft; 5. a drive device; 51. a bearing; 52. and (7) connecting the shafts.
Detailed Description
In the embodiment of the method, the first step,
as shown in fig. 1-2, a leg deceleration link mechanism of a walking robot comprises a connecting structure 1, a connecting piece 2 is arranged on one side of the connecting structure 1, a triangular fixing frame 3 is arranged in the middle of the connecting structure 1, a rotating piece 4 is arranged on one end of the connecting piece 2 and the triangular fixing frame 3, and a driving device 5 is arranged in the middle of the connecting piece 2 and the triangular fixing frame 3.
In this embodiment, the end of the connecting structure 1 away from the connecting element 2 is connected to the walking machine, the driving device 5 is installed in the walking machine, when the walking machine moves, the walking machine is further pushed into the driving device 5 to move inward, at this time, the bearing 51 drives the connecting shaft 52 to move inward, at this time, the rotating element 4 moves toward the connecting shaft 52 through the small rotating shaft 41, and then the rotating element 4 pulls the triangle fixing frame 3 and the connecting element 2 through the small rotating shaft 41 in the moving direction of the rotating element 4.
The driving device 5 comprises two bearings 51 parallel to each other, and a connecting shaft 52 is installed between the bearings 51 and the rotating member 4.
One side of the connecting piece 2 close to the driving device 5 is fixedly connected with a corner, and the corner of the connecting piece 2 is connected with the right angle of the triangular fixing frame 3 through a rotating shaft.
And the two ends of the rotating piece 4 are provided with small rotating shafts 41, and the rotating piece 4 is connected with the triangular fixing frame 3 and the connecting shaft 52 through the small rotating shafts 41.
The working principle is as follows: when the leg movement is performed, the driving device 5 is installed in the walking machine, and when the walking machine is moving, the walking machine is further pushed into the driving device 5 to move inwards, at this time, the bearing 51 drives the connecting shaft 52 to move inwards, at this time, the rotating piece 4 is moved towards the opposite direction of the connecting shaft 52 through the small rotating shaft 41, and then the rotating piece 4 pulls the triangular fixing frame 3 and the connecting piece 2 through the small rotating shaft 41 like the moving direction of the rotating piece 4, and further the leg movement mechanism is driven to move repeatedly.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.
Claims (4)
1. A leg deceleration linkage mechanism of a walking robot is characterized in that: including connection structure (1), one side of connection structure (1) is provided with connecting piece (2), the middle part of connection structure (1) is provided with triangle mount (3), the one end of connecting piece (2) with triangle mount (3) are provided with and rotate piece (4), connecting piece (2) with the middle part of triangle mount (3) is provided with drive arrangement (5).
2. The walking robot leg deceleration linkage according to claim 1, wherein: the driving device (5) comprises two bearings (51) which are parallel to each other, and a connecting shaft (52) is arranged between the bearings (51) and the rotating piece (4).
3. The walking robot leg deceleration linkage according to claim 1, wherein: one side fixedly connected with corner that connecting piece (2) are close to drive arrangement (5), the corner of connecting piece (2) is connected through the pivot with the right angle department of triangle mount (3).
4. The walking robot leg deceleration linkage according to claim 1, wherein: the two ends of the rotating piece (4) are provided with small rotating shafts (41), and the rotating piece (4) is connected with the triangular fixing frame (3) and the connecting shaft (52) through the small rotating shafts (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922388815.2U CN211519699U (en) | 2019-12-25 | 2019-12-25 | Leg speed reduction connecting rod mechanism of walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922388815.2U CN211519699U (en) | 2019-12-25 | 2019-12-25 | Leg speed reduction connecting rod mechanism of walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211519699U true CN211519699U (en) | 2020-09-18 |
Family
ID=72466971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922388815.2U Active CN211519699U (en) | 2019-12-25 | 2019-12-25 | Leg speed reduction connecting rod mechanism of walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211519699U (en) |
-
2019
- 2019-12-25 CN CN201922388815.2U patent/CN211519699U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103963866B (en) | Full landform Retractive leg formula six foot rotates advance robot | |
| CN205060774U (en) | External power and free conveyor of tray tilting mechanism | |
| EP3539514B1 (en) | Knee joint | |
| CN105128977B (en) | Rotate the three-dimensional walking robot leg configuration of driving | |
| CN108578986A (en) | A kind of damping device and the floated treadmill including the damping device | |
| CN105538300A (en) | Full-automatic plate installation manipulator device | |
| CN211519699U (en) | Leg speed reduction connecting rod mechanism of walking robot | |
| CN207328642U (en) | A kind of motor-driven bio-robot of list | |
| CN113086051A (en) | Suspension device, chassis with same and robot | |
| CN109606499A (en) | Miniature odex | |
| CN208007137U (en) | A kind of wheel leg type barrier-exceeding vehicle | |
| CN106671139A (en) | Balanced teaching mechanical arm | |
| CN108945136A (en) | A kind of spherical roll of joint type climbs converting machine people | |
| CN210192715U (en) | Material conveying device | |
| CN204231929U (en) | The shovel head jockey of harvester for peanut | |
| CN210761039U (en) | Multi-degree-of-freedom foot device with single driving force and capable of adapting to terrain | |
| CN202429274U (en) | Hip joint of walker | |
| CN204095950U (en) | A kind of both legs running gear of pulling robot | |
| CN205131426U (en) | Can climb dolly of step | |
| CN201040658Y (en) | Automatic error correcting device for conveyer belt | |
| CN203677849U (en) | Elliptical trainer | |
| CN209080041U (en) | Miniature odex | |
| CN206555380U (en) | A kind of rotating mechanism | |
| CN206273540U (en) | A kind of balanced type teaching mechanical arm | |
| CN2734618Y (en) | Bionic insect flight device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |