CN217170854U - Bionic robot walking mechanism - Google Patents
Bionic robot walking mechanism Download PDFInfo
- Publication number
- CN217170854U CN217170854U CN202221147393.5U CN202221147393U CN217170854U CN 217170854 U CN217170854 U CN 217170854U CN 202221147393 U CN202221147393 U CN 202221147393U CN 217170854 U CN217170854 U CN 217170854U
- Authority
- CN
- China
- Prior art keywords
- bionic robot
- supporting legs
- walking mechanism
- thimble
- landing leg
- 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.)
- Expired - Fee Related
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 title claims description 36
- 230000000694 effects Effects 0.000 claims abstract description 9
- 238000004140 cleaning Methods 0.000 claims description 17
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract 2
- 230000008602 contraction Effects 0.000 abstract 1
- 238000010030 laminating Methods 0.000 abstract 1
- 210000002414 leg Anatomy 0.000 description 44
- 210000000689 upper leg Anatomy 0.000 description 18
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000031018 biological processes and functions Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
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Abstract
The utility model discloses a bionic robot running gear, including the running gear body, the activity is provided with rocker and landing leg on the running gear body, the activity is provided with the supporting legs on the landing leg, the supporting legs include movable mounting in just be the thimble that rectangular array distributes on the landing leg, thimble pressurized contraction is in order to laminate ground. The utility model discloses a bionic robot running gear who provides, the activity is provided with the supporting legs on the landing leg, the supporting legs includes movable mounting on the landing leg and is the thimble that rectangular array distributes, thimble pressurized shrink is with laminating ground, when walking, the supporting legs supports and leans on subaerial, subaerial protruding can with syringe needle jack-up, the syringe needle contracts in the installation piece, the length of thimble reduces this moment, form the opposite curved surface of shape with ground, laminate in ground more, prevent that bionic robot from skidding when walking, when the supporting legs lifts up, support and push away the spring and support and push away the syringe needle, make it stretch out from the installation piece.
Description
Technical Field
The utility model relates to a bionic robot technical field relates to a bionic robot running gear particularly.
Background
The bionic robot is a robot capable of simulating biological actions, can be used for some simple works, has higher and higher requirements on the robot along with the development of science and technology, and also has walking capability and can traverse a complex environment.
According to patent No. CN110329389A, published (announced) No. 2019.10.15, a two-legged bionic robot based on a link mechanism is disclosed, which comprises a robot body and two walking mechanisms fixed on the robot body; the walking mechanism comprises a thigh link mechanism, a double-rod cylinder, a thigh pulley, a shank pulley, a thigh driving slider and a shank driving slider, wherein the thigh link mechanism is connected with the robot body, the thigh driving slider and the shank driving slider are connected to the robot body in a sliding mode, one end of the thigh mechanism is connected with the robot body, the other end of the thigh mechanism is connected with the shank link mechanism, one output end of the double-rod cylinder is connected with one end of a thigh traction rope, the other end of the thigh traction rope bypasses the thigh pulley to be connected with the thigh driving slider, and the thigh driving slider is connected with the thigh link mechanism through a thigh driving rod; the other output end of the double-rod cylinder is connected with one end of a lower leg traction rope, the other end of the lower leg traction rope is connected with a lower leg driving sliding block by bypassing the lower leg pulley, and the lower leg driving sliding block is connected with the lower leg connecting rod mechanism through a transmission mechanism; the thigh driving slide block moves to drive the thigh connecting rod mechanism to move, and the shank driving slide block moves to drive the shank connecting rod mechanism to move through the transmission mechanism connected with the shank driving slide block. The walking mechanism of the device comprises a thigh link mechanism and a shank link mechanism, and power devices of the device are not arranged on legs, so that the self weight of a leg structure is reduced, and the leg structure is lighter; moreover, the invention adopts a double-rod cylinder to realize the movement with two degrees of freedom of leg lifting and walking, thereby saving energy consumption; the thigh return spring and the shank return spring of the device can store certain potential energy, so that the driving force is formed by the upright movement of the walking mechanism and the gravity work, and the landing energy consumption of the robot during walking is reduced.
The walking mechanism of the bionic robot is mostly formed by combining a gear, a connecting rod and a plate, the connection between the supporting legs and the ground is not tight, and the slipping condition is easy to occur during walking, so that the overall stability of the bionic robot is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a bionic robot running gear aims at solving traditional bionic robot landing leg and skids easily when the walking, influences the problem of bionic robot overall stability.
In order to realize the above purpose, the utility model provides a bionic robot running gear, including the running gear body, the activity is provided with rocker and landing leg on the running gear body, the activity is provided with the supporting legs on the landing leg, the supporting legs include movable mounting in just be the thimble that the rectangle array distributes on the landing leg, thimble pressurized shrinkage is in order to laminate ground.
Preferably, the supporting legs comprise a shell rotatably mounted on the supporting legs, and ejector pins distributed in a rectangular array are fixedly mounted in the shell.
Preferably, elastic pieces are symmetrically arranged between the shell and the supporting legs.
Preferably, the thimble includes a mounting block fixedly mounted inside the housing.
Preferably, the mounting block is movably provided with a needle.
Preferably, a pushing spring is arranged between the needle head and the mounting block.
Preferably, a cleaning plate for cleaning sundries between the thimbles is movably arranged in the shell.
Preferably, a return spring is arranged between the cleaning plate and the shell.
Preferably, the supporting leg is provided with a mandril in a sliding manner for pushing the cleaning plate to move.
Preferably, the ejector rod is provided with a convex block, and the rocker is provided with a groove matched with the convex block.
In the technical scheme, the utility model provides a pair of bionic robot running gear possesses following beneficial effect: the walking mechanism body is movably provided with a rocker and a supporting leg, the supporting leg is movably provided with supporting legs, the supporting legs comprise ejector pins which are movably installed on the supporting legs and distributed in a rectangular array, the ejector pins are compressed to shrink to be attached to the ground, the supporting legs are abutted to the ground when the robot walks, the ejector pins can be jacked by the aid of protrusions on the ground, the ejector pins shrink to form curved surfaces opposite in shape to the ground, the curved surfaces are attached to the ground more, and the bionic robot is prevented from slipping when the robot walks.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to these drawings.
Fig. 1 is a schematic view of an overall structure provided by an embodiment of the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
fig. 3 is a schematic view of an internal structure provided in an embodiment of the present invention;
FIG. 4 is an enlarged view of FIG. 3 at B;
fig. 5 is an enlarged view of fig. 3 at C.
Description of reference numerals:
1. a traveling mechanism body; 11. a rocker; 12. a support leg; 2. supporting legs; 21. a thimble; 211. mounting blocks; 212. a needle head; 213. pushing the spring; 22. a housing; 23. an elastic sheet; 31. cleaning the plate; 32. a return spring; 33. a top rod; 331. and (4) a bump.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
As shown in fig. 1-5, a walking mechanism of a bionic robot comprises a walking mechanism body 1, a rocker 11 and a leg 12 are movably arranged on the walking mechanism body 1, a supporting leg 2 is movably arranged on the leg 12, the supporting leg 2 comprises ejector pins 21 which are movably arranged on the leg 12 and distributed in a rectangular array, and the ejector pins 21 are compressed and contracted to fit the ground.
Among the above-mentioned technical scheme, the activity is provided with rocker 11 and landing leg 12 on the running gear body 1, the activity is provided with supporting legs 2 on landing leg 12, supporting legs 2 includes movable mounting on landing leg 12 and is the thimble 21 that the rectangular array distributes, thimble 21 pressurized shrink is in order to laminate ground, when walking, supporting legs 2 supports and leans on subaerial, subaerial protruding can jack-up thimble 21, thimble 21 shrink forms the opposite curved surface of shape with ground, laminate in ground more, prevent that bionic robot from skidding when walking.
As a further embodiment of the present invention, as shown in fig. 1-4, the supporting leg 2 includes a housing 22 rotatably mounted on the supporting leg 12, the supporting leg 22 is internally and fixedly mounted with ejector pins 21 distributed in a rectangular array, elastic pieces 23 are symmetrically disposed between the housing 22 and the supporting leg 12, the elastic pieces 23 can make the supporting leg 2 perpendicular to the supporting leg 12 when the supporting leg 2 is suspended, the ejector pins 21 include a mounting block 211 fixedly mounted inside the housing 22, a needle 212 is movably disposed on the mounting block 211, and a pushing spring 213 is disposed between the needle 212 and the mounting block 211; when the bionic robot walks, the supporting feet 2 abut against the ground, the needle 212 is jacked up by the protrusions on the ground, the needle 212 is retracted into the mounting block 211, the length of the thimble 21 is reduced, a curved surface with the shape opposite to that of the ground is formed, the thimble is more attached to the ground, the bionic robot is prevented from slipping when the bionic robot walks, and when the supporting feet 2 are lifted, the propping spring 213 props against the needle 212 to enable the needle to extend out of the mounting block 211.
As a further embodiment provided by the present invention, as shown in fig. 3-5, a cleaning plate 31 for cleaning the sundries between the ejector pins 21 is movably disposed inside the housing 22, a return spring 32 is disposed between the cleaning plate 31 and the housing 22, a push rod 33 for pushing the cleaning plate 31 to move is slidably disposed on the supporting leg 12, a protrusion 331 is disposed on the push rod 33, a groove adapted to the protrusion 331 is disposed on the rocker 11, when the supporting leg 12 is lifted, the supporting leg 12 gradually approaches the rocker 11, the protrusion 331 on the push rod 33 approaches the groove on the rocker 11, when the protrusion 331 enters the groove on the rocker 11, the rocker 11 pushes the push rod 33 to push the cleaning plate 31, the cleaning plate 31 moves downward along the ejector pins 21 to clean the sundries jammed between the ejector pins 21, the rocker 11 continues to rotate, the protrusion 331 is sent out of the groove, the return spring 32 pulls the cleaning plate 31 and returns it, the cleaning plate 31 pushes the push rod 33 to reset.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (10)
1. The utility model provides a bionic robot walking mechanism, includes running gear body (1), the activity is provided with rocker (11) and landing leg (12) on running gear body (1), its characterized in that, the activity is provided with supporting legs (2) on landing leg (12), supporting legs (2) including movable mounting in on landing leg (12) and be thimble (21) that the rectangular array distributes, thimble (21) pressurized shrinkage is in order to laminate ground.
2. The walking mechanism of the bionic robot as claimed in claim 1, wherein the supporting feet (2) comprise a shell (22) rotatably mounted on the supporting legs (12), and ejector pins (21) distributed in a rectangular array are fixedly mounted in the shell (22).
3. The walking mechanism of the bionic robot as claimed in claim 2, wherein elastic pieces (23) are symmetrically arranged between the shell (22) and the supporting legs (12).
4. The walking mechanism of the bionic robot as claimed in claim 2, wherein the thimble (21) comprises a mounting block (211) fixedly mounted inside the housing (22).
5. The walking mechanism of the bionic robot as claimed in claim 4, wherein the mounting block (211) is movably provided with a needle (212).
6. The walking mechanism of the bionic robot as claimed in claim 5, wherein a pushing spring (213) is arranged between the needle (212) and the mounting block (211).
7. The walking mechanism of the bionic robot as claimed in claim 2, wherein a cleaning plate (31) for cleaning up sundries between the ejector pins (21) is movably arranged in the shell (22).
8. The biomimetic robot walking mechanism according to claim 7, wherein a return spring (32) is provided between the cleaning plate (31) and the housing (22).
9. The walking mechanism of the bionic robot as claimed in claim 7, wherein the supporting leg (12) is slidably provided with a mandril (33) for pushing the cleaning plate (31) to move.
10. The walking mechanism of the bionic robot as claimed in claim 9, wherein the push rod (33) is provided with a protrusion (331), and the rocker (11) is provided with a groove adapted to the protrusion (331).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221147393.5U CN217170854U (en) | 2022-05-12 | 2022-05-12 | Bionic robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221147393.5U CN217170854U (en) | 2022-05-12 | 2022-05-12 | Bionic robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217170854U true CN217170854U (en) | 2022-08-12 |
Family
ID=82712273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221147393.5U Expired - Fee Related CN217170854U (en) | 2022-05-12 | 2022-05-12 | Bionic robot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217170854U (en) |
-
2022
- 2022-05-12 CN CN202221147393.5U patent/CN217170854U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220812 |