CN212794949U - Under-actuated mechanical lower limb structure - Google Patents

Abstract

The utility model discloses an under-actuated machinery lower limb structure, which comprises a bottom plate, wherein the two sides of the bottom end of the bottom plate are respectively and fixedly connected with the top ends of two mounting plates through bolts, the two sides of the bottom ends of the two mounting plates are respectively and fixedly connected with the top ends of four first buffer mechanisms, the bottom ends of the four first buffer mechanisms are respectively and fixedly connected with the two sides of the top ends of two horizontal plates, and two limiting columns are fixedly arranged on the two sides of the bottom ends of the two mounting plates; the utility model has the advantages that: the utility model relates to an underactuated machinery low limbs structure through setting up four first buffer spring, can provide the buffering to four first guide pillars, can provide the buffering to the bottom plate then, and the bottom plate is difficult for rocking when the ground of unevenness removes, and stability is better, sets up stop collar and spacing post respectively through the top at two horizontal plates and the bottom of two mounting panels, has improved stability and the resistance to deformation between two horizontal plates and two mounting panels.

Description

Under-actuated mechanical lower limb structure

Technical Field

The utility model relates to a low limbs structure, in particular to underactuated machinery low limbs structure belongs to underactuated machinery technical field.

Background

The underactuated system is a typical system with less input than the amount to be controlled, when a driver fails, the complete actuated system can be changed into the underactuated system, an underactuated control algorithm can play a role in fault-tolerant control, the underactuated system is commonly used for a power-assisted walking-assisted rehabilitation robot, the conventional common underactuated mechanical lower limb structure has poor buffer performance, and is easy to shake and have poor stability when moving on uneven ground, and the underactuated mechanical lower limb structure is horizontally collided, so that the damage of the underactuated mechanical lower limb structure is easily caused.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an underactuated machinery low limbs structure to solve the relatively poor problem of the buffer performance of the present common underactuated machinery low limbs structure that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: an under-actuated mechanical lower limb structure comprises a bottom plate, wherein two sides of the bottom end of the bottom plate are respectively fixedly connected with the top ends of two mounting plates through bolts, two sides of the bottom end of the two mounting plates are respectively fixedly connected with the top ends of four first buffer mechanisms, the bottom ends of the four first buffer mechanisms are respectively fixedly connected with two sides of the top ends of two horizontal plates, two sides of the bottom end of the two mounting plates are respectively fixedly provided with two limiting columns, the bottom ends of eight limiting columns are respectively fixedly provided with a compression spring, two sides of the top ends of the two horizontal plates are respectively fixedly provided with two limiting sleeves, the eight limiting sleeves are respectively in sliding connection with the eight limiting columns, two sides of the bottom end of the two horizontal plates are respectively fixedly provided with an axle seat, four sides of the bottom plate are respectively provided with two sliding grooves, the eight sliding grooves are respectively in sliding connection with eight second buffer mechanisms, one ends of the four second buffer mechanisms are respectively fixedly connected with one sides, and the other four second buffer mechanisms are fixedly connected with one side of each of the two second anti-collision plates, rubber strips are fixedly arranged on the other sides of the first anti-collision plates and the other sides of the two second anti-collision plates, and connecting mechanisms are fixedly arranged on the two sides of the top end of the bottom plate.

As a preferred technical scheme of the utility model, four first buffer gear all includes first guide pillar, guide pin bushing and first buffer spring, four the top of first guide pillar respectively with the bottom fixed connection of four mounting panels, four the surface of first guide pillar is all overlapped and is equipped with first buffer spring, four first guide pillar respectively with four first guide pin bushing sliding connection, four the bottom of first guide pin bushing respectively with the both sides fixed connection on two horizontal plate tops.

As an optimal technical scheme of the utility model, eight second buffer gear all includes second guide pillar and second buffer spring, eight the second guide pillar respectively with eight spout sliding connection, eight the surface of second guide pillar all overlaps and is equipped with second buffer spring, four of them the one end of second guide pillar respectively with one side fixed connection of two first anticollision boards, four in addition the one end of second guide pillar respectively with one side fixed connection of two second anticollision boards.

As a preferred technical scheme of the utility model, two coupling mechanism all includes fixed plate, riser, connecting plate, a plurality of connecting hole and two stands, two the bottom of fixed plate respectively with the both sides fixed connection on bottom plate top, two one side on fixed plate top all through the riser respectively with one side fixed connection of two connecting plate bottoms, two a plurality of connecting hole, two have all been seted up on the surface of connecting plate the opposite side of connecting plate bottom all through two stands respectively with the both sides fixed connection on bottom plate top.

As a preferred technical scheme of the utility model, two coupling mechanism still includes two first reinforcing plates and two second reinforcing plates, two one side of riser all through two first reinforcing plates respectively with the top fixed connection of two fixed plates, two the opposite side of riser all through two second reinforcing plates respectively with the bottom fixed connection of two connecting plates.

As a preferred technical scheme of the utility model, the draw-in groove has all been seted up, two to the both sides of bottom plate bottom the top of mounting panel is all fixed and is equipped with fixture block, two the fixture block is connected with two draw-in groove blocks respectively.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model relates to an under-actuated machinery low limbs structure, through setting up four first buffer springs, can provide the buffering to four first guide pillars, then can provide the buffering to the bottom plate, when the bottom plate moves on uneven ground, be difficult for rocking, stability is better, through setting up spacing sleeve and spacing post respectively at the top of two horizontal plates and the bottom of two mounting panels, and make spacing sleeve and spacing post sliding connection, improved stability and anti deformability between two horizontal plates and two mounting panels; the two first anti-collision plates and the two second anti-collision plates are arranged, so that the situation that the bottom plate is directly contacted with an object and scratches the surface of the bottom plate can be avoided, the eight second buffer springs are arranged, the two first anti-collision plates and the two second anti-collision plates can be buffered, and if the bottom plate is horizontally collided, the bottom plate, the two first anti-collision plates and the two second anti-collision plates are not easily damaged; through seting up the connecting hole on the surface at two connecting plates, be convenient for connect the upper limbs structure, through setting up the stand, can support the connecting plate, through setting up first reinforcing plate and second reinforcing plate, can support riser and connecting plate, the wholeness is better, riser and connecting plate non-deformable.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic sectional structure of the present invention;

fig. 3 is a schematic structural diagram of the second buffer mechanism of the present invention.

In the figure: 1. a base plate; 2. mounting a plate; 3. a first buffer mechanism; 31. a first guide post; 32. a guide sleeve; 33. a first buffer spring; 4. a horizontal plate; 5. a shaft seat; 6. a limiting sleeve; 7. a limiting column; 8. a clamping block; 9. a chute; 10. a second buffer mechanism; 101. a second guide post; 102. a second buffer spring; 11. a first fender panel; 12. a second fender panel; 13. a rubber strip; 14. a connecting mechanism; 141. a fixing plate; 142. a vertical plate; 143. a connecting plate; 144. connecting holes; 145. a column; 146. a first reinforcing plate; 147. a second reinforcing plate.

Detailed Description

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. 1-3, the utility model provides an under-actuated mechanical lower limb structure, which comprises a bottom plate 1, wherein both sides of the bottom end of the bottom plate 1 are respectively fixedly connected with the top ends of two mounting plates 2 through bolts, both sides of the bottom ends of the two mounting plates 2 are respectively fixedly connected with the top ends of four first buffer mechanisms 3, the bottom ends of the four first buffer mechanisms 3 are respectively fixedly connected with both sides of the top ends of two horizontal plates 4, both sides of the bottom ends of the two mounting plates 2 are respectively fixedly provided with two limiting posts 7, the bottom ends of the eight limiting posts 7 are respectively fixedly provided with a compression spring, both sides of the top ends of the two horizontal plates 4 are respectively fixedly provided with two limiting sleeves 6, the eight limiting sleeves 6 are respectively connected with the eight limiting posts 7 in a sliding manner, both sides of the bottom ends of the two horizontal plates 4 are respectively fixedly provided with a shaft seat 5, both sides of four side edges of the bottom plate 1, one end of each of the four second buffer mechanisms 10 is fixedly connected with one side of each of the two first anti-collision plates 11, one end of each of the other four second buffer mechanisms 10 is fixedly connected with one side of each of the two second anti-collision plates 12, the other sides of the two first anti-collision plates 11 and the other sides of the two second anti-collision plates 12 are both fixedly provided with rubber strips 13, and the two sides of the top end of the bottom plate 1 are both fixedly provided with connecting mechanisms 14.

Preferably, the four first buffer mechanisms 3 each include a first guide pillar 31, a guide sleeve 32 and a first buffer spring 33, the top ends of the four first guide pillars 31 are respectively fixedly connected with the bottom ends of the four mounting plates 2, the surfaces of the four first guide pillars 31 are respectively sleeved with the first buffer springs 33, the four first guide pillars 31 are respectively connected with the four first guide sleeves 32 in a sliding manner, the bottom ends of the four first guide sleeves 32 are respectively fixedly connected with two sides of the top ends of the two horizontal plates 4, the four first buffer springs 33 are arranged to buffer the four first guide pillars 31, and then the bottom plate 1 can be buffered, and when the bottom plate 1 moves on an uneven ground, the bottom plate is not easy to shake and has good stability; the eight second buffer mechanisms 10 respectively comprise second guide pillars 101 and second buffer springs 102, the eight second guide pillars 101 are respectively in sliding connection with the eight sliding chutes 9, the surfaces of the eight second guide pillars 101 are respectively sleeved with the second buffer springs 102, one ends of the four second guide pillars 101 are respectively fixedly connected with one sides of the two first anti-collision plates 11, one ends of the other four second guide pillars 101 are respectively fixedly connected with one sides of the two second anti-collision plates 12, the four second guide pillars 101 can be buffered by arranging the eight second buffer springs 102, and if the bottom plate 1 is subjected to horizontal collision, the two first anti-collision plates 11 and the two second anti-collision plates 12 can be buffered; the two connecting mechanisms 14 respectively comprise a fixed plate 141, a vertical plate 142, a connecting plate 143, a plurality of connecting holes 144 and two upright posts 145, the bottom ends of the two fixed plates 141 are respectively and fixedly connected with the two sides of the top end of the bottom plate 1, one side of the top ends of the two fixed plates 141 are respectively and fixedly connected with one side of the bottom ends of the two connecting plates 143 through the vertical plate 142, the surface of each of the two connecting plates 143 is provided with the plurality of connecting holes 144, the other side of the bottom ends of the two connecting plates 143 is respectively and fixedly connected with the two sides of the top end of the bottom plate 1 through the two upright posts 145, the upper limb structures are conveniently connected by arranging the connecting holes 144 on the surfaces; the two connecting mechanisms 14 further comprise two first reinforcing plates 146 and two second reinforcing plates 147, one sides of the two vertical plates 142 are respectively and fixedly connected with the top ends of the two fixing plates 141 through the two first reinforcing plates 146, the other sides of the two vertical plates 142 are respectively and fixedly connected with the bottom ends of the two connecting plates 143 through the two second reinforcing plates 147, and the vertical plates 142 and the connecting plates 143 can be supported by the arrangement of the first reinforcing plates 146 and the second reinforcing plates 147, so that the integrity is good, and the vertical plates 142 and the connecting plates 143 are not easy to deform; the draw-in groove has all been seted up to the both sides of bottom plate 1 bottom, and the top of two mounting panels 2 is all fixed and is equipped with fixture block 8, and two fixture blocks 8 are connected with two draw-in groove blocks respectively, have improved the stability between two mounting panels 2 and the bottom plate 1.

When in specific use, the utility model relates to an under-actuated machinery lower limb structure, through setting up the connecting hole 144 on the surface of two connecting plates 143, can install the upper limbs structure on the bottom plate 1, through setting up the stand 145, can support the connecting plate 143, through setting up first reinforcing plate 146 and second reinforcing plate 147, can support the riser 142 and connecting plate 143, the wholeness is better, the riser 142 and connecting plate 143 are difficult to deform, when the bottom plate 1 moves on uneven ground, four first buffer springs 33 can provide the buffering to four first guide posts 31, then can provide the buffering to the bottom plate 1, the bottom plate 1 is difficult to rock, the stability is better, if the bottom plate 1 is subjected to horizontal collision, two first anticollision boards 11 and two second anticollision boards 12 can avoid the bottom plate 1 to directly contact with the object, cause the bruise to the surface of the bottom plate 1, eight second buffer springs 102 can provide the buffering to two first anticollision boards 11 and two second anticollision boards 12, the damage of the bottom plate 1, the two first crash prevention plates 11 and the two second crash prevention plates 12 is not easily caused.

In the description of the present invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. An under-actuated mechanical lower limb structure comprises a bottom plate (1) and is characterized in that two sides of the bottom end of the bottom plate (1) are respectively fixedly connected with the top ends of two mounting plates (2) through bolts, two sides of the bottom end of the two mounting plates (2) are respectively fixedly connected with the top ends of four first buffer mechanisms (3), the bottom ends of the four first buffer mechanisms (3) are respectively fixedly connected with two sides of the top ends of two horizontal plates (4), two sides of the bottom end of the two mounting plates (2) are respectively fixedly provided with two limiting columns (7), the bottom ends of the eight limiting columns (7) are respectively fixedly provided with a compression spring, two sides of the top ends of the two horizontal plates (4) are respectively fixedly provided with two limiting sleeves (6), the eight limiting sleeves (6) are respectively slidably connected with the eight limiting columns (7), two sides of the bottom end of the two horizontal plates (4) are respectively fixedly provided with an axle seat (5), two spouts (9), eight have all been seted up to four avris of bottom plate (1) spout (9) respectively with eight second buffer gear (10) sliding connection, wherein four the one end of second buffer gear (10) respectively with one side fixed connection of two first anticollision boards (11), four in addition the one end of second buffer gear (10) respectively with one side fixed connection of two second anticollision boards (12), two the opposite side of first anticollision board (11) and the opposite side of two second anticollision boards (12) are all fixed and are equipped with rubber strip (13), the both sides on bottom plate (1) top are all fixed and are equipped with coupling mechanism (14).

2. An under-actuated mechanical lower limb structure according to claim 1, wherein: the four first buffer mechanisms (3) comprise first guide pillars (31), first guide sleeves (32) and first buffer springs (33), the top ends of the first guide pillars (31) are fixedly connected with the bottom ends of the four mounting plates (2) respectively, the surface of each first guide pillar (31) is sleeved with one first buffer spring (33), the number of the first guide pillars (31) is four, the first guide pillars (31) are slidably connected with the four first guide sleeves (32), and the bottom ends of the four first guide sleeves (32) are fixedly connected with the two sides of the top ends of the two horizontal plates (4) respectively.

3. An under-actuated mechanical lower limb structure according to claim 1, wherein: the eight second buffer mechanisms (10) respectively comprise second guide pillars (101) and second buffer springs (102), the eight second guide pillars (101) are respectively in sliding connection with the eight sliding grooves (9), the surfaces of the eight second guide pillars (101) are respectively sleeved with the second buffer springs (102), one ends of the four second guide pillars (101) are respectively fixedly connected with one sides of the two first anti-collision plates (11), and the other ends of the four second guide pillars (101) are respectively fixedly connected with one sides of the two second anti-collision plates (12).

4. An under-actuated mechanical lower limb structure according to claim 1, wherein: two coupling mechanism (14) all include fixed plate (141), riser (142), connecting plate (143), a plurality of connecting hole (144) and two stand (145), two the bottom of fixed plate (141) respectively with the both sides fixed connection on bottom plate (1) top, two one side on fixed plate (141) top all through riser (142) respectively with one side fixed connection of two connecting plate (143) bottoms, two a plurality of connecting hole (144) have all been seted up on the surface of connecting plate (143), two the opposite side of connecting plate (143) bottom all through two stand (145) respectively with the both sides fixed connection on bottom plate (1) top.

5. An under-actuated mechanical lower limb structure according to claim 4, wherein: the two connecting mechanisms (14) further comprise two first reinforcing plates (146) and two second reinforcing plates (147), one sides of the two vertical plates (142) are respectively and fixedly connected with the top ends of the two fixing plates (141) through the two first reinforcing plates (146), and the other sides of the two vertical plates (142) are respectively and fixedly connected with the bottom ends of the two connecting plates (143) through the two second reinforcing plates (147).

6. An under-actuated mechanical lower limb structure according to claim 1, wherein: the clamping grooves are formed in the two sides of the bottom end of the bottom plate (1), clamping blocks (8) are fixedly arranged at the top ends of the mounting plates (2), and the clamping blocks (8) are clamped and connected with the two clamping grooves respectively.

Images