CN218477574U - Human body leg profiling leg kicking structure and robot thereof - Google Patents
Human body leg profiling leg kicking structure and robot thereof Download PDFInfo
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- CN218477574U CN218477574U CN202222090995.8U CN202222090995U CN218477574U CN 218477574 U CN218477574 U CN 218477574U CN 202222090995 U CN202222090995 U CN 202222090995U CN 218477574 U CN218477574 U CN 218477574U
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- leg
- rocker arm
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- leg assembly
- pedaling
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Abstract
The utility model discloses a human shank profile modeling kicks leg structure and robot thereof. The human body leg profiling leg pedaling structure comprises a power system, a rocker arm assembly and a leg supporting assembly. The power system comprises a motor and a motor supporting seat connected with the motor; the rocker arm assembly comprises a first rocker arm and a second rocker arm which are arranged at two ends of the power system, and the first rocker arm and the second rocker arm do circular motion under the driving of the power system; the leg assembly is connected with the rocker arm assembly and comprises a first leg assembly connected with the first rocker arm and a second leg assembly connected with the second rocker arm. The rocker arm assembly is connected with the supporting leg assembly through a connecting shaft and a roller bearing follower, and the first rocker arm and the second rocker arm do circular motion to drive the supporting leg assembly to perform leg pedaling motion. The utility model provides a leg structure is stepped on in human shank profile modeling and robot thereof can reduce the use of spare part, and simple structure is favorable to subsequent appearance modeling work.
Description
Technical Field
The utility model relates to a mechanical simulation technical field especially relates to a human shank profile modeling is pedaled leg structure and robot thereof.
Background
The traditional mechanical device for simulating the motion of the legs of the living being generally adopts a mode of independent driving at all levels, the mode adopts more parts, the cost is higher, the weight of the leg structure is large, the occupied space is large, and the whole mechanical device is too large, so that the subsequent execution sensitivity of appearance modeling work and simulation machinery is not facilitated.
Therefore, the prior art is in need of improvement.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a human leg shape profile modeling structure with low costs, light in weight, transmission are reliable, mechanical structure occupation space is little.
The utility model provides a technical scheme that technical problem adopted as follows:
in a first aspect, the utility model provides a human shank profile modeling kicks leg structure, it includes:
the power system comprises a motor and a motor supporting seat connected with the motor,
the rocker arm assembly comprises a first rocker arm and a second rocker arm which are arranged at two ends of the power system, and the first rocker arm and the second rocker arm do circular motion under the driving of the power system;
the leg assembly is connected with the rocker arm assembly and comprises a first leg assembly connected with the first rocker arm and a second leg assembly connected with the second rocker arm;
the rocker arm assembly is connected with the supporting leg assembly through a connecting shaft and a roller bearing follower, and the first rocker arm and the second rocker arm respectively do circular motion to drive the first supporting leg assembly and the second supporting leg assembly to perform leg pedaling motion.
In one implementation, the motor support base is a waist-shaped plate structure, and one side of the waist-shaped plate structure is arranged at one end of a bearing in the motor.
In one implementation manner, the first rocker arm and the second rocker arm have the same structure, the first rocker arm comprises a rocker arm connected with the motor support seat and a rocker arm connected with the rocker arm, and the other end of the rocker arm is connected with the connecting shaft.
In one implementation, the leg assembly includes a connecting member engaged with the connecting shaft, the connecting member is of an annular structure, and the connecting shaft can move axially on the connecting member when performing a leg pedaling motion.
In one implementation, the leg assembly further includes washers disposed on the connecting shaft and the leg assembly, and the washers are respectively disposed at positions where the connecting shaft contacts the connecting member.
In one implementation mode, the motor supporting seat further comprises a swing rod, two sides of the swing rod are connected with the supporting leg assembly, and the swing rod is connected with the supporting leg assembly through a supporting leg shaft.
In one implementation, a deep groove ball bearing is arranged at the joint of the supporting leg shaft and the supporting leg assembly.
In one implementation, the leg assembly provides a bearing cover plate at the deep groove ball bearing.
In one implementation, a spacer bush is arranged between the supporting leg shaft and the deep groove ball bearing.
In a second aspect, the present invention further provides a robot, which comprises a human body leg profiling leg-pedaling structure.
Has the beneficial effects that: the utility model provides a human shank profile modeling is pedaled leg structure and robot drives the rocker arm subassembly and then drives the landing leg subassembly and realize pedalling the leg action through setting up driving system, wherein, the rocker arm subassembly with the landing leg subassembly passes through the connecting axle and the roller bearing follower is connected, first rocking arm with circular motion drive is done respectively to the second rocking arm first landing leg subassembly and second landing leg subassembly are pedaled the leg motion, the utility model discloses a driving system drives two landing leg subassembly swings, reduces the use of spare part, and simple structure is favorable to subsequent appearance modeling work and shank execution sensitivity.
Drawings
FIG. 1 is a schematic view of the overall structure of the human body leg profiling pedaling structure provided by the present invention;
FIG. 2 is a schematic view of another angular overall configuration of the contoured human leg kicking structure of FIG. 1;
FIG. 3 is an exploded view of the contoured human leg kicking structure of FIG. 1;
fig. 4 is a schematic view of the application of the human body leg profiling pedaling structure shown in fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the following description refers to the accompanying drawings and illustrates embodiments of the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 1-4, fig. 1 is a schematic view of an overall structure of a human body leg copying pedaling structure provided by the present invention, fig. 2 is a schematic view of an overall structure of another angle of the human body leg copying pedaling structure shown in fig. 1, fig. 3 is a schematic view of an exploded structure of the human body leg copying pedaling structure shown in fig. 1, and fig. 4 is a schematic view of an application of the human body leg copying pedaling structure shown in fig. 1.
The utility model provides a human shank profile modeling is pedaled leg structure 100, its include driving system 10, with rocking arm subassembly 20 that driving system 10 connects and with landing leg subassembly 30 that rocking arm subassembly 20 connects. The power system 10 comprises a motor 11 and a motor support base 12 connected with the motor 11, the rocker arm assembly 20 comprises a first rocker arm 21 and a second rocker arm 22 which are arranged at two ends of the power system, and the first rocker arm 21 and the second rocker arm 22 are driven by the power system 10 to do circular motion; the leg assembly 30 is connected to the rocker arm assembly 20 and includes a first leg assembly 31 connected to the first rocker arm 21 and a second leg assembly 32 connected to the second rocker arm 22. The rocker arm assembly 20 is connected with the leg assembly 30 through a connecting shaft 41 and a roller bearing follower 42, and the first rocker arm 21 and the second rocker arm 22 respectively make circular motion to drive the first leg assembly 31 and the second leg assembly 32 to perform leg pedaling motion.
Specifically, in the power system 10, the motor support base 12 is a waist-shaped plate structure, and one side of the waist-shaped plate structure is disposed at one end of a bearing in the motor 11. The motor support base 12 is configured as a waist-shaped plate structure, so as to support the motor 11 and facilitate connection with the leg assembly 30. Further, the motor support base 12 further includes a swing rod 121 connected to the leg assembly 30 at two sides, and the swing rod 121 is connected to the leg assembly 30 through a leg shaft 50.
In the present embodiment, the first rocker arm 21 and the second rocker arm 22 have the same structure, and for convenience of description, only the structure of the first rocker arm 21 is taken as an example below. The first rocker arm 21 comprises a rocker arm 211 connected with the motor support base 12, a rocker 212 connected with the rocker arm 211, and a connecting shaft 213 arranged at the other end of the rocker 212, wherein the connecting shaft 213 is fixedly connected with the landing leg assembly 30. The first rocker arm 21 can drive the first leg assembly 31 to swing through the circular motion of the first rocker arm, so that the leg-climbing motion of the leg profiling structure connected with the first leg assembly 31 is realized.
In the present embodiment, the first leg assembly 31 and the second leg assembly 32 have the same structure, and for convenience of description, only the structure of the first leg assembly 31 is taken as an example. The first leg unit 31 includes a connecting member 311 engaged with the connecting shaft 213, the connecting member 311 has an annular structure, and the connecting shaft 213 can move axially on the connecting member 311 during a leg-kicking motion. That is, the pedaling motion of the first leg assembly 31 is achieved by the movement of the first swing arm 21 on the link 311.
In addition, the first leg assembly 31 further includes washers 312 disposed on the connecting shaft 213 and the first leg assembly 31, and the washers 312 are respectively disposed at positions where the connecting shaft 213 contacts the connecting member 311. The gasket 312 is provided to increase a contact area between the connection shaft 213 and the connection member 311, reduce a pressure, and protect the connection shaft 213 and the connection member 311. Specifically, the washer 312 is disposed at the outer periphery of the roller bearing follower 42 for protecting the roller bearing follower 42. The roller bearing follower 42 is used for a heavy load or a low hardness of the raceway surface, and reduces friction of the first leg unit 31 and the first swing arm 21, so that the rotation thereof is smoother.
The motor support base 12 further includes a swing lever 121 connected to the leg assembly 30 at both sides thereof, and the swing lever 121 is connected to the first leg assembly 31 through a leg shaft 313. A deep groove ball bearing (not shown) is arranged at the joint of the supporting leg shaft 313 and the first supporting leg assembly 31. The first leg assembly 31 is provided with a bearing cover plate 315 on the deep groove ball bearing. A spacer 316 is arranged between the supporting leg shaft 313 and the deep groove ball bearing 315. The deep groove ball bearing has small friction resistance and high rotating speed, can be used on a machine element bearing radial load or combined load acted simultaneously in the radial direction and the axial direction, and can also be used on a machine element bearing axial load. That is, the first leg assembly 31 is connected to the swing lever 121 of the motor support 12 and the connecting shaft 41, respectively, to perform a leg-pedaling action.
The utility model also provides a robot, it includes the human shank profile modeling leg kicking structure 100 in this embodiment.
The utility model provides a human shank profile modeling is pedaled leg structure 100's theory of use as follows: when the power system 10 is started, the swing arm 211 connected to the power system 10 drives the rotating shaft 41 to make axial movement on the connecting member 311 through its own circular movement, and at this time, because the leg shaft 313 of the leg assembly 30 is connected to the swing rod 121 of the motor support base 12, the leg assembly 30 swings with the leg shaft 313 as a fulcrum, so as to generate a leg-kicking effect.
Generally speaking, the utility model provides a human shank profile modeling is pedaled leg structure 100 and robot drives rocking arm subassembly 20 through setting up driving system 10 and then drives landing leg subassembly 30 and realize pedalling the leg action, can demonstrate the pedalling action of two legs vividly, and the action of pedalling of struggling of anthropomorphic dummy or humanoid biology, wherein, rocking arm subassembly 20 with landing leg subassembly 30 passes through connecting axle 41 and roller bearing follower 42 and connects, first rocking arm 21 with circular motion drive is done respectively to second rocking arm 22 first landing leg subassembly 31 and second landing leg subassembly 32 are pedaled the leg motion, the utility model discloses a driving system 10 drives two landing leg subassemblies 30 swings, reduces spare part's use, and simple structure is favorable to subsequent outward appearance modeling work and shank execution sensitivity.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A human leg profile modeling kicks leg structure which characterized in that includes:
the power system comprises a motor and a motor supporting seat connected with the motor,
the rocker arm assembly comprises a first rocker arm and a second rocker arm which are arranged at two ends of the power system, and the first rocker arm and the second rocker arm do circular motion under the driving of the power system;
the leg assembly is connected with the rocker arm assembly and comprises a first leg assembly connected with the first rocker arm and a second leg assembly connected with the second rocker arm;
the rocker arm assembly is connected with the supporting leg assembly through a connecting shaft and a roller bearing follower, and the first rocker arm and the second rocker arm respectively do circular motion to drive the first supporting leg assembly and the second supporting leg assembly to perform leg pedaling motion.
2. The human body leg profiling stepping structure as claimed in claim 1, wherein the motor supporting seat is a waist-shaped plate structure, one side of which is arranged on one end of a bearing in the motor.
3. The human leg profiling pedaling structure as claimed in claim 1, wherein the first rocker arm and the second rocker arm have the same structure, the first rocker arm comprises a rocker arm connected with the motor supporting seat and a rocker arm connected with the rocker arm, and the other end of the rocker arm is connected with the connecting shaft.
4. The contoured human leg pedaling structure as claimed in claim 1, wherein said first and second leg assemblies are identical in structure, and said first leg assembly comprises a connecting member engaged with said connecting shaft, said connecting member is of annular structure, and said connecting shaft is capable of axial movement on said connecting member during pedaling motion.
5. The contoured human leg pedaling structure as claimed in claim 4, wherein said leg assembly further comprises washers disposed on said connecting shaft and said leg assembly, said washers being respectively disposed at positions where said connecting shaft contacts said connecting member.
6. The human leg profiling pedaling structure as claimed in claim 1, wherein said motor supporting base further comprises a swinging rod connected with said leg assembly at both sides, said swinging rod is connected with said leg assembly through a leg shaft.
7. The human leg profiling pedaling structure as defined in claim 6, wherein deep groove ball bearings are arranged on the connection part of the supporting leg shaft and the supporting leg assembly.
8. The human leg profiling kicking structure of claim 7, wherein the landing leg assembly is provided with a bearing cover plate on the deep groove ball bearing.
9. The human body leg profiling pedaling structure as claimed in claim 8, wherein a spacer is provided between the supporting leg shaft and the deep groove ball bearing.
10. A robot, characterized in that it comprises a human leg profiling kicking structure according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222090995.8U CN218477574U (en) | 2022-08-09 | 2022-08-09 | Human body leg profiling leg kicking structure and robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222090995.8U CN218477574U (en) | 2022-08-09 | 2022-08-09 | Human body leg profiling leg kicking structure and robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218477574U true CN218477574U (en) | 2023-02-14 |
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ID=85165352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222090995.8U Active CN218477574U (en) | 2022-08-09 | 2022-08-09 | Human body leg profiling leg kicking structure and robot thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218477574U (en) |
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2022
- 2022-08-09 CN CN202222090995.8U patent/CN218477574U/en active Active
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