CN216805640U - Self-adaptive ground contact mechanical leg of foot type robot - Google Patents
Self-adaptive ground contact mechanical leg of foot type robot Download PDFInfo
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- CN216805640U CN216805640U CN202123434513.8U CN202123434513U CN216805640U CN 216805640 U CN216805640 U CN 216805640U CN 202123434513 U CN202123434513 U CN 202123434513U CN 216805640 U CN216805640 U CN 216805640U
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Abstract
The utility model relates to the field of foot robots, in particular to a self-adaptive touchdown mechanical leg of a foot robot, which mainly aims to enhance the foot end self-adaptability of the foot robot, increase the contact area and the friction force and improve the stability. Comprises a frame, a joint unit and a foot end unit. The frame is fixedly connected with one end of the joint unit, and the foot end unit is fixedly connected with the other end of the joint unit. The frame is mainly used for fixing the mechanical legs and placing other related devices, the joint unit is mainly used for controlling the free motion of the mechanical legs, and the foot end unit is mainly used for enhancing the foot end adaptivity of the foot type robot, increasing the contact area and the friction force and improving the stability. The foot end unit is designed (comprising a support rod, a ball head connecting rod, a ball head base, a spring and a rubber sheet), the support rod is embedded into the bottom end of the shank and is fixedly connected with a shank bottom fixing frame through a screw, the ball head base is matched with the ball head connecting rod through a universal joint, and the self-adaptive capacity of the universal joint can be improved through the all-round rotation of the universal joint. Compression spring's holding can keep ball head base unsettled state down with ball head connecting rod one-tenth 90, make things convenient for next ground contact, the rubber sheet effect has improved the land fertility of grabbing, its shank is 3D and prints, and the shank is connected and is adopted a plurality of connecting pieces, has reduced the processing degree of difficulty and has made things convenient for the dismouting.
Description
Technical Field
The utility model relates to the field of foot robots, in particular to a self-adaptive touchdown mechanical leg of a foot robot.
Background
The development of present foot robot is rapid, and the technical application of foot robot involves fields such as survey and rescue, but the motion of foot robot mostly is tiptoe contact ground, often appears in walking, uphill, downhill path, climbing process because contact area undersize, frictional force are not enough leads to the robot stability not enough, and then leads to the robot to appear inclining and the condition of turning on one's side. In view of this, the utility model provides an adaptive touchdown mechanical leg of a legged robot, which has the following specific beneficial effects:
1. the self-adaptive ground contact mechanical leg of the foot type robot is characterized in that a foot end unit is designed (comprising a support rod, a ball head connecting rod, a ball head base, a compression spring and a rubber sheet), the ball head base and the ball head connecting rod are matched through a universal joint, and the self-adaptive capacity of the universal joint can be improved through the omnibearing rotation of the universal joint. The compression spring can keep the ball head base to form 90 degrees with the ball head connecting rod in a suspended state, the next ground contact is facilitated, and the rubber sheet improves the ground holding force.
2. According to the self-adaptive ground-contact mechanical leg of the foot type robot, the shank is printed in a 3D mode, the leg is connected through the connecting pieces, the processing difficulty is reduced, and the leg is convenient to disassemble and assemble.
SUMMERY OF THE UTILITY MODEL
In order to make up for the defects of the prior art, the utility model provides a self-adaptive touchdown mechanical leg of a foot type robot, which mainly aims to enhance the self-adaptability of the foot end of the foot type robot, increase the contact area and the friction force and improve the stability. The foot end unit is designed (comprising a support rod, a ball head connecting rod, a ball head base, a spring and a rubber sheet), the ball head base and the ball head connecting rod are in universal joint fit, and the self-adaptive capacity of the ball head base can be improved through the omnibearing rotation of the universal joint. Compression spring's holding can keep ball head base unsettled state down with ball head connecting rod one-tenth 90, make things convenient for next ground contact, the rubber sheet effect has improved the land fertility of grabbing, its shank is 3D and prints, and the shank is connected and is adopted a plurality of connecting pieces, has reduced the processing degree of difficulty and has made things convenient for the dismouting. The design effectively realizes the functions of enhancing the foot end adaptivity of the foot type robot, increasing the contact area and the friction force and improving the stability of the foot type robot.
The technical scheme adopted by the utility model for solving the technical problems is as follows: comprises a frame, a joint unit and a foot end unit. The frame is fixedly connected with one end of the joint unit, and the foot end unit is fixedly connected with the other end of the joint unit. The frame is mainly used for fixing the mechanical legs and placing other related devices, the joint unit is mainly used for controlling the free motion of the mechanical legs, and the foot end unit is mainly used for enhancing the foot end adaptability of the foot type robot, increasing the contact area and the friction force and improving the stability.
As a preferred technical scheme of the utility model, the frame comprises an upper top plate and a lower bottom plate; the upper top plate and the lower bottom plate are arranged in parallel, a plurality of positioning holes are formed in the upper top plate and the lower bottom plate, and the joint unit is connected with the rack through the positioning holes.
As a preferable technical scheme of the utility model, the joint unit comprises a steering engine, a connecting piece, a thigh plate and a shank. The steering wheel links firmly with the upper top plate and the lower plate of frame, the head and the tail both ends of connecting piece link firmly with the steering wheel respectively, thigh board both ends link firmly with the steering wheel, the shank link firmly in the steering wheel tail end.
As a preferred technical scheme of the utility model, the foot end unit comprises a support rod, a ball head connecting rod, a ball head base, a compression spring and a rubber sheet; the supporting rod is embedded into the bottom end of the shank and is fixedly connected with a fixing frame at the bottom end of the shank by screws; the ball head connecting rod is connected with the ball head base through a universal joint, and the self-adaptive capacity of the universal joint can be improved through the omnibearing rotation of the universal joint; a spring is sleeved on the ball head connecting rod, and the ball head base can be kept to form 90 degrees with the ball head connecting rod in a suspended state by the aid of the compression spring, so that the ball head base can be conveniently contacted with the ground next time; the support rod is in threaded connection with the ball head connecting rod; the rubber sheet is adhered to the bottom of the ball head base to increase friction.
The utility model has the beneficial effects that:
1. according to the self-adaptive ground contact mechanical leg of the foot type robot, the design of the foot end unit enhances the self-adaptability of the foot end of the foot type robot, increases the contact area and the friction force, and improves the stability.
2. According to the self-adaptive ground-contact mechanical leg of the foot type robot, the shank is printed in a 3D mode, the leg is connected through the connecting pieces, the processing difficulty is reduced, and the leg is convenient to disassemble and assemble.
Drawings
The utility model is further described with reference to the following figures and embodiments.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the frame structure of the present invention;
FIG. 3 is a schematic structural view of a joint unit of the present invention;
FIG. 4 is a schematic view of a foot end unit structure of the present invention;
FIG. 5 is a perspective view of the lower leg of the present invention;
FIG. 6 is a cross-sectional view of the lower leg end mount of the present invention;
FIG. 7 is a schematic view of the assembly structure of the foot end unit and the lower leg end fixing frame of the present invention;
in the figure: the device comprises a rack 1, a joint unit 2, a foot end unit 3, an upper top plate 11, a lower bottom plate 12, a steering engine 21, a connecting piece 22, a thigh plate 23, a shank 24, a fixing frame 25, a supporting rod 31, a compression spring 32, a ball head connecting rod 33, a ball head base 34 and a rubber sheet 35.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the utility model easy to understand, the utility model is further described with the specific embodiments.
As shown in fig. 1 to 7, the present invention relates to an adaptive ground-contact mechanical leg of a legged robot. Comprises a frame 1, a joint unit 2 and a foot end unit 3. The frame 1 is fixedly connected with one end of the joint unit 2, and the foot end unit 3 is fixedly connected with the other end of the joint unit 2. The frame 1 is mainly used for fixing mechanical legs and placing other related devices, the joint unit 2 is mainly used for controlling the free motion of the mechanical legs, and the foot end unit 3 is mainly used for enhancing the foot end adaptability of the foot type robot, increasing the contact area and the friction force and improving the stability.
As shown in fig. 1 to 7, the present invention relates to an adaptive ground-contact mechanical leg of a legged robot. The frame 1 comprises an upper top plate 11 and a lower bottom plate 12; the upper top plate 11 and the lower bottom plate 12 are arranged in parallel, a plurality of positioning holes are formed in the upper top plate 11 and the lower bottom plate 12, and the joint unit 2 is connected with the rack 1 through the positioning holes.
As shown in fig. 1 to 7, the present invention relates to an adaptive ground-contact mechanical leg of a legged robot. The joint unit 2 comprises a steering engine 21, a connecting piece 22, a thigh plate 23 and a shank 24. The steering engine 21 is fixedly connected with the upper top plate 11 and the lower bottom plate 12 of the frame 1, the head and the tail ends of the connecting piece 22 are fixedly connected with the steering engine 21 respectively, the two ends of the thigh plate 23 are fixedly connected with the steering engine 21, and the shank 24 is fixedly connected with the tail end of the steering engine 21.
As shown in fig. 1 to 7, the present invention relates to an adaptive ground-contact mechanical leg of a legged robot. The foot end unit 3 comprises a support rod 31, a compression spring 32, a ball head connecting rod 33, a ball head base 34 and a rubber sheet 35; the support rod 31 is embedded into the lower leg bottom and is fixedly connected with the lower leg bottom fixing frame 25 through screws; the ball head connecting rod 33 and the ball head base 34 are connected by a universal joint, and the self-adaptive capacity of the universal joint can be improved by the omnibearing rotation of the universal joint; the ball head connecting rod 33 is sleeved with the compression spring 32, and the ball head base 34 can be kept at 90 degrees with the ball head connecting rod 33 in a suspended state by the compression spring 32, so that the next grounding is facilitated; the support rod 31 is in threaded connection with the ball head connecting rod 33; the rubber sheet 35 is adhered to the bottom of the ball head base 34 to increase friction.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the utility model as defined by the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.
Claims (2)
1. An adaptive ground contact mechanical leg of a legged robot, characterized in that: the device comprises a rack (1), a joint unit (2) and a foot end unit (3), wherein the rack (1) is fixedly connected with one end of the joint unit (2), the foot end unit (3) is fixedly connected with the other end of the joint unit (2), and the foot end unit (3) comprises a support rod (31), a compression spring (32), a ball head connecting rod (33), a ball head base (34) and a rubber sheet (35).
2. The adaptive ground-contacting mechanical leg of a legged robot according to claim 1, characterized by: the supporting rod (31) is embedded into the lower leg bottom and is fixedly connected with the lower leg bottom fixing frame (25) through screws; the ball head connecting rod (33) is connected with the ball head base (34) through a universal joint; a compression spring (32) is sleeved on the ball head connecting rod (33); the support rod (31) is in threaded connection with the ball head connecting rod (33); the rubber sheet (35) is bonded to the ball head base (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123434513.8U CN216805640U (en) | 2021-12-30 | 2021-12-30 | Self-adaptive ground contact mechanical leg of foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123434513.8U CN216805640U (en) | 2021-12-30 | 2021-12-30 | Self-adaptive ground contact mechanical leg of foot type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216805640U true CN216805640U (en) | 2022-06-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123434513.8U Active CN216805640U (en) | 2021-12-30 | 2021-12-30 | Self-adaptive ground contact mechanical leg of foot type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216805640U (en) |
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2021
- 2021-12-30 CN CN202123434513.8U patent/CN216805640U/en active Active
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