CN214565783U - Bionic robot leg structure with buffer structure - Google Patents
Bionic robot leg structure with buffer structure Download PDFInfo
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- CN214565783U CN214565783U CN202120265521.5U CN202120265521U CN214565783U CN 214565783 U CN214565783 U CN 214565783U CN 202120265521 U CN202120265521 U CN 202120265521U CN 214565783 U CN214565783 U CN 214565783U
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- China
- Prior art keywords
- steering engine
- slide bar
- connecting piece
- joint steering
- fixing table
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 26
- 210000002414 leg Anatomy 0.000 claims abstract description 36
- 210000000629 knee joint Anatomy 0.000 claims abstract description 30
- 210000004394 hip joint Anatomy 0.000 claims abstract description 26
- 241000574149 Podotheca Species 0.000 claims abstract description 4
- 210000000689 upper leg Anatomy 0.000 claims description 15
- 238000005265 energy consumption Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000005457 optimization Methods 0.000 abstract description 4
- 230000003139 buffering effect Effects 0.000 abstract description 3
- 241000238631 Hexapoda Species 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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Abstract
The utility model discloses a bionic robot's shank structure with buffer structure, including the leg with the mounting, set up base joint motion subassembly, the hip joint motion subassembly of setting on base joint motion subassembly and the knee joint motion subassembly of setting on hip joint motion subassembly on the leg with the mounting, be equipped with L type connecting piece on the knee joint motion subassembly, be equipped with the slide bar cover on the L type connecting piece, wear to be equipped with the slide bar on the slide bar cover, the slide bar cover upper end is equipped with the slide bar stop collar, the slide bar outside is equipped with buffer spring to set up rubber slide bar podotheca in the slide bar bottom, thereby constitute bionic robot shank structure. The utility model has the advantages that: design benefit, it is rational in infrastructure, convenient to use uses the shank structure that has buffer structure's bionic robot, can let polypod robot in the walking in-process, when the shank lands, reaches the buffering, realizes certain energy consumption optimization.
Description
Technical Field
The utility model relates to a bionic robot technical field, concretely relates to bionic robot's shank structure with buffer structure.
Background
The leg structure of the existing multi-legged robot is generally a three-degree-of-freedom structure, the driving mode of the leg is usually electrically driven, the steering engine is used as one of servo motors, the size is small, the moment is large, the external mechanical design is simple, and the stability is high, so that the multi-legged robot is very often applied to small robots.
The importance of the multi-legged robot in the field of robot technology is gradually highlighted due to the wide application of the multi-legged robot. The main reason for their adoption is that they provide a wide range of mobility for movement over a variety of terrains. The multi-legged mobile robot is more maneuverable and flexible over rough terrain than more traditional wheeled mobile robots and tracked mobile robots. It introduces more flexibility and terrain adaptability at the expense of lower speed and increased control complexity. Although the technology adopted by the foot type robot is not mature enough compared with the wheel type mobile robot and the crawler type mobile robot, along with the research on relevant robots at home and abroad, the continuous deepening of the research on animal motion and the enhancement of the bionic technology, the multi-foot walking robot has a very considerable development prospect in the future, and has a great application prospect and popularization value in the motion energy consumption analysis and optimization of the foot type walking robot.
The multi-legged walking robot has good mobility and can overcome various rugged terrains, but the multi-legged walking robot has the defects of unstable walking and energy consumption, the walking stability and the reduction of the energy consumption can enable the multi-legged robot to walk farther, and the size of an actuator can be reduced, so that the weight and the cost are reduced, and how to design a leg structure which can be easier to walk on a rugged road and has the optimal energy consumption in the walking process becomes the key for the research in the field of robots.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned problem that exists among the prior art, the utility model aims to provide a bionic robot's shank structure with buffer structure to realize the bradyseism effect, reach the effect that the robot energy consumption was optimized in the walking process.
The technical scheme of the utility model as follows:
the utility model provides a leg structure of bionic robot with buffer structure, its characterized in that, includes the leg with the mounting, set up base joint motion subassembly, the hip joint motion subassembly of setting on base joint motion subassembly and the knee joint motion subassembly of setting on hip joint motion subassembly on the leg with the mounting, be equipped with L type connecting piece on the knee joint motion subassembly, be equipped with the slide bar cover on the L type connecting piece, wear to be equipped with the slide bar on the slide bar cover, slide bar cover upper end is equipped with the slide bar stop collar, the slide bar outside is equipped with buffer spring to set up rubber slide bar podotheca in the slide bar bottom, thereby constitute bionic robot leg structure.
The leg structure of the bionic robot with the buffer structure is characterized in that the base joint movement assembly comprises a base joint steering engine fixing table, a base joint steering engine, a steering wheel, a bearing and a U-shaped connecting piece, the base joint steering engine is fixed on the base joint steering engine fixing table, the base joint steering engine fixing table is connected to a leg heel fixing piece through bolts, the base joint steering engine passes through the steering wheel and is connected to the lower end of the base joint steering engine fixing table through the bearing, a reaming hole bolt, a gasket and the U-shaped connecting piece.
The leg structure of the bionic robot with the buffer structure is characterized in that the hip joint movement assembly comprises a hip joint steering engine and a hip joint steering engine fixing table, and the hip joint steering engine is fixed on the hip joint steering engine fixing table and connected with a U-shaped connecting piece through a bolt.
The leg structure of the bionic robot with the buffer structure is characterized in that the knee joint movement assembly comprises a thigh connecting piece I, a thigh connecting piece II, a knee joint steering engine fixing table and a knee joint steering engine, the knee joint steering engine is fixed on the knee joint steering engine fixing table, the knee joint steering engine is connected with the hip joint steering engine through the thigh connecting piece I and the thigh connecting piece II, and the knee joint steering engine fixing table is connected with the L-shaped connecting piece through screws.
The utility model has the advantages that: design benefit, it is rational in infrastructure, convenient to use uses the shank structure that has buffer structure's bionic robot, can let polypod robot in the walking in-process, when the shank lands, reaches the buffering, realizes certain energy consumption optimization.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an exploded view of the lower leg of the present invention;
FIG. 3 is an exploded view of the base joint steering engine of the present invention;
in the figure: 1-leg heel fixing piece, 2-base joint steering engine fixing table, 3-base joint steering engine, 4-steering wheel, 5-bearing, 6-U-shaped connecting piece, 7-hip joint steering engine fixing table, 8-hip joint steering engine, 9-thigh connecting piece I, 10-thigh connecting piece II, 11-knee joint steering engine fixing table, 12-knee joint steering engine, 13-L-shaped connecting piece, 14-sliding rod limiting sleeve, 15-sliding rod sleeve, 16-sliding rod, 17-buffer spring, 18-sliding rod foot sleeve, 19-gasket and 20-reamed hole bolt.
Detailed Description
The technical scheme of the utility model is further described with the accompanying drawings of the specification as follows:
as shown in fig. 1-3, a leg structure of a bionic robot with a buffer structure comprises a leg heel fixing part 1, a base joint steering engine fixing table 2, a base joint steering engine 3, a steering wheel 4, a bearing 5, a U-shaped connecting piece 6, a hip joint steering engine fixing table 7, a hip joint steering engine 8, a thigh connecting piece I9, a thigh connecting piece II 10, a knee joint steering engine fixing table 11, a knee joint steering engine 12, an L-shaped connecting piece 13, a slide rod limiting sleeve 14, a slide rod sleeve 15, a slide rod 16, a buffer spring 17, a slide rod foot sleeve 18, a gasket 19 and a reamed hole bolt 20.
Example (b):
a leg structure of a bionic robot with a buffer structure comprises a base joint steering engine 3, a hip joint steering engine 8 and a knee joint steering engine 12. The base joint steering engine 3 is fixed on the base joint steering engine fixing table 2 and connected to the leg and the fixing part 1 through bolts, the base joint steering engine 3 is connected with the U-shaped connecting piece 6 through the steering wheel 4 and the bearing and connected with the trunk of the robot through the leg and the fixing part 1, so that the plane of the rotating shaft of the base joint perpendicular to the trunk is used for completing leg swinging actions of the bionic robot when simulating walking of a polypod organism.
In the specific embodiment, the base joint steering engine 3 is connected with the U-shaped connecting piece 6 through a steering wheel 4, a bearing 5, a hinged hole bolt 20 and a gasket 19 at the lower end, and the hip joint steering engine 8 and the knee joint steering engine 12 also adopt similar structures to realize the rotation of the steering engines according to corresponding rotating shafts, so that the bionic robot leg imitates a biological joint.
The hip joint steering engine 8 is fixed on the hip joint steering engine fixing table 7 and connected with the U-shaped connecting piece 6 through bolts to play a role in connecting a base joint and a knee joint, and the steering engine plays a role in lifting and putting down legs during movement. The knee joint steering engine 12 and the hip joint steering engine 8 are connected through a thigh connecting piece I9 and a thigh connecting piece II 10 of the thigh part to form the thigh part of the bionic robot, and the thigh part is longer than the base joint connecting piece.
The knee joint steering engine 12 is fixed on the knee joint steering engine fixing table 11, and the knee joint steering engine fixing table 11 is connected with the L-shaped connecting piece 13 through screws. The L-shaped connecting piece 13 is connected with a sliding rod sleeve 15, the sliding rod sleeve 15 is in clearance fit with a sliding rod 16 (the sliding rod 16 is arranged in a through hole in the middle of the sliding rod sleeve 15 in a penetrating manner), a buffer spring 17 is arranged outside the sliding rod 16, a rubber sliding rod foot sleeve 18 is arranged at the foot end of the sliding rod 16, a sliding rod limiting sleeve 14 (the sliding rod limiting sleeve 14 is in threaded connection with the top of the sliding rod 16) is arranged at the upper end of the sliding rod sleeve 15, when the sliding rod foot sleeve 18 lands, a leg part receives upward force, the sliding rod 16 slides upwards along the sliding rod sleeve 15, the buffer spring 17 is compressed, the leg part structure is buffered in the landing process of the leg part, the sliding rod limiting sleeve 14 prevents the sliding rod 16 from sliding downwards, the bionic multi-foot insect shank function is realized, the foot part structure is designed into a structure with the tail end gradually narrowed, the connection between the hexapod robot and the ground is approximately regarded as point-surface contact, and rubber is adopted as the foot end, the phenomenon that the mechanical legs slide on the ground when the hexapod robot moves is avoided.
The working process is as follows:
the leg structure of the robot is driven by a base joint steering engine, a hip joint steering engine and a knee joint steering engine to realize that all joints complete walking of the whole leg according to a certain rotation angle, including lifting, bending and landing, and the driving of the steering engines is realized by writing in a driving function. The buffer structure of shank part, when the slide bar podotheca lands, the shank receives ascending power for the slide bar upwards slides along the slide bar cover, and slide bar buffer spring will receive the compression, and the slide bar stop collar prevents that the slide bar from sliding downwards, makes the shank land the in-process, obtains the buffering when shank structure walks, reaches the effect of energy consumption optimization.
Claims (4)
1. The utility model provides a leg structure of bionic robot with buffer structure, its characterized in that, include the leg with mounting (1), set up the base joint motion subassembly on leg with mounting (1), set up hip joint motion subassembly and the knee joint motion subassembly of setting on hip joint motion subassembly on base joint motion subassembly, be equipped with L type connecting piece (13) on the knee joint motion subassembly, be equipped with slide bar cover (15) on L type connecting piece (13), wear to be equipped with slide bar (16) on slide bar cover (15), there is slide bar stop collar (14) slide bar cover (15) upper end, slide bar (16) outside is equipped with buffer spring (17) to set up rubber slide bar podotheca (18) in slide bar (16) bottom, thereby constitute bionic robot leg structure.
2. The leg structure with the buffer structure of the bionic robot is characterized in that the base joint movement assembly comprises a base joint steering engine fixing table (2), a base joint steering engine (3), a steering wheel (4), a bearing (5) and a U-shaped connecting piece (6), the base joint steering engine (3) is fixed on the base joint steering engine fixing table (2), the base joint steering engine fixing table (2) is connected to the leg heel fixing piece (1) through bolts, the base joint steering engine (3) passes through the steering wheel (4) and the bearing (5), a hinged hole bolt (20) and a gasket (19) are arranged at the lower end of the base joint steering engine fixing table, and the bearing (5), the gasket (19) and the U-shaped connecting piece (6) are arranged on the base joint steering engine fixing table.
3. The leg structure of the bionic robot with the buffer structure as claimed in claim 2, wherein the hip joint movement assembly comprises a hip joint steering engine (8) and a hip joint steering engine fixing table (7), and the hip joint steering engine (8) is fixed on the hip joint steering engine fixing table (7) and connected with the U-shaped connecting piece (6) through a bolt.
4. The leg structure with the buffer structure of the bionic robot is characterized in that the knee joint movement assembly comprises a first thigh connecting piece (9), a second thigh connecting piece (10), a knee joint steering engine fixing table (11) and a knee joint steering engine (12), the knee joint steering engine (12) is fixed on the knee joint steering engine fixing table (11), the knee joint steering engine (12) is connected with the hip joint steering engine (8) through the first thigh connecting piece (9) and the second thigh connecting piece (10), and the knee joint steering engine fixing table (11) is connected with an L-shaped connecting piece (13) through a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120265521.5U CN214565783U (en) | 2021-01-31 | 2021-01-31 | Bionic robot leg structure with buffer structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120265521.5U CN214565783U (en) | 2021-01-31 | 2021-01-31 | Bionic robot leg structure with buffer structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214565783U true CN214565783U (en) | 2021-11-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120265521.5U Expired - Fee Related CN214565783U (en) | 2021-01-31 | 2021-01-31 | Bionic robot leg structure with buffer structure |
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| Country | Link |
|---|---|
| CN (1) | CN214565783U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084245A (en) * | 2021-12-10 | 2022-02-25 | 济南大学 | Elastic vibration-damping foot rod |
-
2021
- 2021-01-31 CN CN202120265521.5U patent/CN214565783U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084245A (en) * | 2021-12-10 | 2022-02-25 | 济南大学 | Elastic vibration-damping foot rod |
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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: 20211102 |
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| CF01 | Termination of patent right due to non-payment of annual fee |