CN214565786U

CN214565786U - Mechanical leg linkage motion mechanism

Info

Publication number: CN214565786U
Application number: CN202121328277.9U
Authority: CN
Inventors: 姜妙龙; 张后胜; 陈小戈; 秦志文; 刘威
Original assignee: Hangzhou Runyang Performing Equipment Technology Co ltd
Current assignee: Hangzhou Runyang Performing Equipment Technology Co ltd
Priority date: 2021-06-16
Filing date: 2021-06-16
Publication date: 2021-11-02
Anticipated expiration: 2031-06-16

Abstract

The utility model discloses a mechanical leg linkage motion mechanism, which comprises a fixed base, wherein the fixed base is fixedly arranged on a robot, and a first leg bone and a second leg bone are sequentially connected below the fixed base; the foot plate is arranged at the lower end of the second leg bone; a transmission mechanism is arranged between the fixing base and the first leg bone and consists of a fixed gear, an idler wheel, a first chain wheel, a second chain wheel and a chain, the first leg bone is hinged with the fixing base and is hinged with the second leg bone, the fixed gear is further mounted on the first leg bone, and the first leg bone is connected with the second leg bone through the second chain wheel. This mechanical leg linkage motion mechanism, simple structure, the mechanism is ingenious, adopts a power drive to realize the bending motion that machinery moved back, has simplified mechanical motion control's complexity, and this mechanism and structural design are simple, ingenious, reliable, and the device itself processing installation manufacturability is good, easily realizes.

Description

Mechanical leg linkage motion mechanism

Technical Field

The utility model relates to a relevant technical field of robot specifically is a mechanical leg coordinated movement mechanism.

Background

The robot is widely applied in industrial production, generally, the robot is used for replacing part of work of workers, the working efficiency of production is improved, the safety of the workers in production is guaranteed, and corresponding movement keys need to be set in the using process of the robot to guarantee flexible movement of the robot.

Generally, the existing robot has numerous motion joints, and the independent joints are respectively driven by independent power sources, so that the structure is complex, the centralized control difficulty of a plurality of power sources is large, the realization cost is high, and the robot is not beneficial to general production and popularization.

Therefore, we propose a mechanical leg linkage motion mechanism in order to solve the problems set forth above.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mechanical leg coordinated motion mechanism to solve the mechanical leg coordinated motion mechanism of most of robots that provide among the above-mentioned background art, often the motion joint is more, and solitary joint adopts solitary power supply drive respectively, and the structure is complicated, and a plurality of power supplies centralized control degree of difficulty is big, realizes problem with high costs.

In order to achieve the above object, the utility model provides a following technical scheme: a mechanical leg linkage motion mechanism comprising:

the fixing base is fixedly arranged on the robot, and a first leg bone and a second leg bone are sequentially connected below the fixing base;

the foot plate is arranged at the lower end of the second leg bone;

a transmission mechanism is arranged between the fixed base and the first leg bone, and the transmission mechanism is composed of a fixed gear, an idler wheel, a first chain wheel, a second chain wheel and a chain.

Preferably, the first leg bone is hinged with the fixed base, the first leg bone is hinged with the second leg bone, the fixed gear is further mounted on the first leg bone, and the first leg bone is connected with the second leg bone through the second sprocket.

Preferably, the first leg bone, the second leg bone and the foot plate form a transmission mechanism, and the first leg bone, the second leg bone and the foot plate are arranged in a front-back symmetrical mode relative to a vertical central axis of the fixing base.

Preferably, the fixed gear and the idler constitute a transmission structure, a first chain wheel is connected below the idler, and the transmission structure is constituted between the first chain wheel and the second chain wheel through a chain.

Preferably, the telescopic device further comprises a telescopic push rod, wherein the upper end and the lower end of the telescopic push rod are respectively hinged with the fixing base and the first leg bone, and the telescopic push rod is integrally arranged at the inner side of the first leg bone.

Preferably, the foot plate and the second leg bone form a rotating structure through the ankle joint, and the lower surface of the foot plate is parallel to the ground.

Compared with the prior art, the beneficial effects of the utility model are that: this mechanical leg linkage motion mechanism, simple structure, the mechanism is ingenious, adopts a power drive to realize the bending motion that machinery moved back, has simplified mechanical motion control's complexity, and this mechanism and structural design are simple, ingenious, reliable, and the device itself processing installation manufacturability is good, easily realizes.

Drawings

Fig. 1 is a front view structural diagram of the bending state of the mechanical leg of the present invention;

fig. 2 is a schematic structural view of the mechanical leg in a straight state;

fig. 3 is the side view structure schematic diagram of the mechanical leg in the extended state.

In the figure: 1. a fixed base; 2. a first leg bone; 3. a second leg bone; 4. fixing a gear; 5. an idler pulley; 6. a first sprocket; 7. a second sprocket; 8. a chain; 9. a telescopic push rod; 10. a foot plate; 11. an ankle joint.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

Referring to fig. 1-3, a mechanical leg linkage motion mechanism includes a fixed base 1, a first leg 2, a second leg 3, a fixed gear 4, an idler gear 5, a first sprocket 6, a second sprocket 7, a chain 8, a telescopic push rod 9, a foot plate 10 and an ankle joint 11;

when the mechanical leg linkage movement mechanism is required to bend, referring to fig. 2 and 3, firstly, as the upper end of the telescopic push rod 9 is hinged with the fixed base 1 and the lower end of the telescopic push rod 9 is hinged with the middle inner side of the first leg 2, the telescopic push rod 9 can push the first leg 2 to rotate around the center of the fixed gear 4, and as the fixed gear 4 and the idle gear 5 form a transmission structure, the idle gear 5 on the first leg 2 can simultaneously rotate, and further drive the first chain wheel 6 below to rotate, as the outer side of the first chain wheel 6 is connected with the outer side of the second chain wheel 7 through the chain 8, the rotation movement can be transmitted to the second chain wheel 7 on the second leg 3 through the chain 8, so that the second leg 3 can rotate in the opposite direction, the idler pulley 5 here serves to change the direction of rotation of the second leg bone 3, thereby assuming the state shown in fig. 1;

in addition, the design of the foot plate 10 at the bottom of the second leg bone 3 adopts a low gravity center design, and the foot plate 10 is connected with the second leg bone 3 through the ankle joint 11, so that the foot plate 10 can keep the gravity center to droop horizontally by virtue of the self weight;

when the telescopic push rod 9 extends out, the mechanical leg bends, as shown in fig. 1, and when the telescopic push rod 9 contracts, the mechanical leg straightens, and the state shown in fig. 2 is presented.

The utility model discloses the standard part that uses all can purchase from the market, and dysmorphism piece all can be customized according to the description with the record of drawing of description, and the concrete connected mode of each part all adopts conventional means such as ripe bolt, rivet, welding among the prior art, and machinery, part and equipment all adopt among the prior art, and conventional model, including the conventional connected mode among the circuit connection adoption prior art, and the details are not repeated here, and the content that does not make detailed description in this description belongs to the prior art that skilled person in the art knows.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. A mechanical leg linkage motion mechanism, comprising:

the robot comprises a fixed base (1), wherein the fixed base (1) is fixedly arranged on a robot, and a first leg bone (2) and a second leg bone (3) are sequentially connected below the fixed base (1);

a foot plate (10), wherein the foot plate (10) is arranged at the lower end of the second leg bone (3);

a transmission mechanism is arranged between the fixed base (1) and the first leg frame (2), and the transmission mechanism is composed of a fixed gear (4), an idler wheel (5), a first chain wheel (6), a second chain wheel (7) and a chain (8).

2. A mechanical leg linkage motion mechanism according to claim 1, wherein: the first leg bone (2) is hinged with the fixed base (1), and the first leg bone (2) is hinged with the second leg bone (3);

the first leg (2) is also provided with a fixed gear (4), and the first leg (2) is connected with the second leg (3) through a second chain wheel (7).

3. A mechanical leg linkage motion mechanism according to claim 2, wherein: the first leg bone (2), the second leg bone (3) and the foot plate (10) form a transmission mechanism, and the first leg bone (2), the second leg bone (3) and the foot plate (10) are symmetrically arranged in front and back of a vertical central axis of the fixing base (1).

4. A mechanical leg linkage motion mechanism according to claim 1, wherein: a transmission structure is formed between the fixed gear (4) and the idler wheel (5), a first chain wheel (6) is connected below the idler wheel (5), and the transmission structure is formed between the first chain wheel (6) and the second chain wheel (7) through a chain (8).

5. A mechanical leg linkage motion mechanism according to claim 1, wherein: still include flexible push rod (9), the upper and lower both ends of flexible push rod (9) are connected with fixed baseplate (1) and first shank (2) are articulated respectively to the whole setting of flexible push rod (9) is in the position of first shank (2) inboard.

6. A mechanical leg linkage motion mechanism according to claim 1, wherein: the foot plate (10) and the second leg bone (3) form a rotating structure through the ankle joint (11), and the lower surface of the foot plate (10) is parallel to the ground.