CN218802352U

CN218802352U - Intelligent biped joint linkage balance structure

Info

Publication number: CN218802352U
Application number: CN202223020197.4U
Authority: CN
Inventors: 王峰
Original assignee: Suzhou Sigma Intelligent Technology Co ltd
Current assignee: Suzhou Sigma Intelligent Technology Co ltd
Priority date: 2022-11-14
Filing date: 2022-11-14
Publication date: 2023-04-07
Anticipated expiration: 2032-11-14

Abstract

The utility model discloses an intelligence biped joint linkage balanced structure, including the sole, the spout has been seted up in the sole, spout and slider sliding connection, the bottom fixed mounting of slider has spring one, still be provided with control assembly in the slider, control assembly includes: the push rod, montant and kelly, through being provided with control assembly, when intelligence biped will move on the way of slope, through pressing the push rod, the push rod slides to the slider under the support of spring two, then the montant of dead lever surface fixed will drive the kelly and shift out from the latch on the spout under the effect of spring three, remove the spacing to the slider, then the slider can drive spring one and slide in the spout, the surface slip of the half arc piece that the triangular rod on the push rod will be on the dead lever slides to the bottom of half arc piece and fixes, then the robot is when walking on the domatic of slope, can keep the balance of upper part of the body with the mankind is the same, the condition of empting can not take place.

Description

Intelligent linkage balancing structure for joint of double feet

Technical Field

The utility model relates to an intelligence biped field, in particular to intelligence biped joint linkage balanced structure.

Background

The dynamic balance capability of the biped walking humanoid robot directly reflects the research and development level of the robot. Most of the existing robots detect the postures of the robots through sensors, and then send operation instructions to each execution mechanism of a body through algorithm calculation of a control system, and the balance adjustment of the body of the robot can be completed only by executing the operation instructions by related execution mechanisms.

When walking on an inclined plane with a large gradient, the intelligent biped robot cannot keep a straight body when walking on the inclined plane like a human body, so that the situation of toppling over can be caused when walking, and aiming at the problem, an intelligent biped joint linkage balance structure is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an intelligence biped joint linkage balanced structure has solved the problem of proposing among the above-mentioned background art.

In order to achieve the above object, the utility model provides an intelligence biped joint linkage balanced structure, including the sole, set up the spout in the sole, spout and slider sliding connection, the bottom fixed mounting of slider has spring one, still be provided with control assembly in the slider, control assembly includes: the push rod penetrates through the sliding block and is in sliding connection with the sliding block, the inner wall of the sliding block is fixedly connected with one end of a second spring, and the other end of the second spring is fixedly installed on the surface of the push rod; the bottom of the vertical rod is fixedly arranged on the surface of the push rod, and the top of the vertical rod is fixedly arranged on the surface of the clamping rod; the clamping rod penetrates through the sliding block and is connected with the sliding block in a sliding mode, the inner wall of the sliding block is fixedly connected with one end of the third spring, the other end of the third spring is fixedly installed on the surface of the clamping rod, when the intelligent feet need to move on an inclined road, the rotating disc is rotated, the support block fixed on the surface of the rotating disc can slide in the annular groove in the clamping groove and slide into the transverse groove, the limit on the push rod is removed, after the limit is removed, the push rod can slide towards the sliding block under the support of the second spring by pressing the push rod in the control assembly, meanwhile, the vertical rod fixed on the surface of the push rod can drive the clamping rod to move out of the clamping teeth on the sliding groove under the action of the third spring, the limit on the sliding block is removed, the sliding block can drive the first spring to slide in the sliding groove in the sole, the task of walking on an inclined slope surface is completed, and therefore the balance of the intelligent feet joint is kept.

Optionally, a latch is fixedly mounted in the sliding groove, and the clamping rod is clamped in the latch for fixing, so that the adjusted angle can be prevented from sliding.

Optionally, the push rod is run through by the triangle pole and with triangle pole sliding connection, the surface of triangle pole and the one end fixed connection of spring four, the other end fixed mounting of spring four is on the surface of push rod, and the triangle pole on the push rod will be at the surface slip of the half arc piece on the dead lever, and it fixes to the bottom of half arc piece to slide.

Optionally, fixed mounting has the dead lever on the inner wall of slider, the top fixed mounting of dead lever has half arc piece, the dead lever run through by the arc lug and with arc lug sliding connection, the surface of arc lug and the one end fixed connection of five springs, the other end fixed mounting of five springs is on the surface of dead lever, when needs fix the distance after adjusting, presses the push rod again, and then the triangle pole on the push rod will follow the bottom of half arc piece at the surface slip of arc lug, because the arc lug is curved, the triangle pole will bounce under the effect of spring four, and the arc lug bounces under the effect of spring five, thereby the usage of convenient next time of reconversion.

Optionally, a driven assembly is further disposed within the slider, the driven assembly comprising: the carousel, the carousel is run through by the push rod and is connected with the push rod rotation, the fixed surface of carousel installs a piece, can avoid other people's inadvertent touching and lead to intelligent biped robot to take place unbalance to the condition of empting takes place.

Optionally, a clamping groove is formed in the sliding block, an annular groove and a transverse groove are formed in the clamping groove, and the limit on the push rod can be released only when the support block slides in the annular groove in the clamping groove and slides into the transverse groove.

Compared with the prior art, the utility model discloses possess following beneficial effect:

(1) This intelligence biped joint linkage balanced structure, through being provided with control assembly, when intelligence biped will move on the way of slope, through pressing the push rod, the push rod slides to the slider under the support of spring two, then the montant of push rod fixed surface will drive the trip bar and shift out from the latch on the spout under the effect of spring three, relieve the spacing to the slider, then the slider can drive spring one and slide in the spout, the surface slip of the half arc piece that the triangle-shaped pole on the push rod will be on the dead lever slides to the bottom of half arc piece and fixes, then the robot is when walking on slope of slope, can keep upper half body's balance with the mankind, the condition of empting can not take place.

(2) This intelligence biped joint linkage balanced structure through being provided with driven subassembly, only through rotating the carousel, the restriction to the push rod just can be relieved in the annular groove of carousel fixed surface slides in the ring channel in the draw-in groove to promote the push rod and carry out operation on next step, can avoid the push rod pole on the sole to be leaded to by inadvertent pressing, intelligence biped joint takes place the unbalanced condition.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of the front cross-sectional structure of the present invention;

FIG. 3 is a schematic view of the bottom view of the sole of the present invention;

FIG. 4 is a schematic side view of the cross-sectional structure of the present invention;

FIG. 5 is an enlarged view of the structure A in FIG. 4 according to the present invention;

fig. 6 is an enlarged schematic view of the structure B in fig. 4 according to the present invention.

The reference numbers indicate: 1. a sole; 101. a chute; 102. clamping teeth; 2. a first spring; 21. a slider; 3. a control component; 31. a push rod; 32. a second spring; 33. a vertical rod; 34. a clamping rod; 35. a third spring; 36. a triangular rod; 361. a fourth spring; 37. fixing the rod; 371. a half-arc block; 372. an arc-shaped bump; 373. a fifth spring; 4. a driven assembly; 41. a turntable; 42. supporting a block; 43. a card slot; 44. an annular groove; 45. a transverse groove.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely 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, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 6, the utility model provides an intelligence biped joint linkage balanced structure, including sole 1, seted up spout 101 in sole 1, spout 101 and slider 21 sliding connection, the bottom fixed mounting of slider 21 has spring one 2, still is provided with control assembly 3 in the slider 21.

In an embodiment of the present invention, the control component 3 includes: the push rod 31 penetrates through the sliding block 21 and is in sliding connection with the sliding block 21, the inner wall of the sliding block 21 is fixedly connected with one end of the second spring 32, and the other end of the second spring 32 is fixedly arranged on the surface of the push rod 31; the bottom of the vertical rod 33 is fixedly arranged on the surface of the push rod 31, and the top of the vertical rod 33 is fixedly arranged on the surface of the clamping rod 34; the clamping rod 34 penetrates through the sliding block 21 and is in sliding connection with the sliding block 21, the inner wall of the sliding block 21 is fixedly connected with one end of the spring III 35, the other end of the spring III 35 is fixedly installed on the surface of the clamping rod 34, and when the intelligent double-feet need to move on an inclined path.

Specifically, the control assembly 3 includes: the push rod 31, the vertical rod 33 and the clamping rod 34 rotate the rotary disc 41, the supporting block 42 fixed on the surface of the rotary disc 41 slides in the annular groove 44 in the clamping groove 43 and slides to the transverse groove 45, the limit on the push rod 31 is removed, after the limit is removed, the push rod 31 in the control assembly 3 is pressed, the push rod 31 can slide towards the sliding block 21 under the support of the second spring 32, meanwhile, the vertical rod 33 fixed on the surface of the push rod 31 drives the clamping rod 34 to move out of the clamping tooth 102 on the sliding groove 101 under the action of the third spring 35, the limit on the sliding block 21 is removed, the sliding block 21 can drive the first spring 2 to slide in the sliding groove 101 in the sole 1, the walking task on the inclined slope surface is completed, and the balance of the intelligent biped joint is kept.

In an embodiment of the present invention, a latch 102 is fixedly installed in the sliding groove 101, and the latch bar 34 is clamped into the latch 102 for fixing, so as to prevent the adjusted angle from sliding.

With reference to fig. 1-6, the push rod 31 is penetrated by the triangular rod 36 and slidably connected to the triangular rod 36, the surface of the triangular rod 36 is fixedly connected to one end of the spring four 361, the other end of the spring four 361 is fixedly mounted on the surface of the push rod 31, and the triangular rod 36 on the push rod 31 slides on the surface of the half-arc block 371 on the fixing rod 37 to the bottom of the half-arc block 371 for fixing.

In addition, fixed mounting has dead lever 37 on the inner wall of slider 21, the top fixed mounting of dead lever 37 has half arc piece 371, dead lever 37 is run through by arc lug 372 and with arc lug 372 sliding connection, the surface of arc lug 372 and the one end fixed connection of spring five 373, the other end fixed mounting of spring five 373 is on the surface of dead lever 37, when the distance after needs are fixed, push rod 31 is pressed again, then triangle pole 36 on push rod 31 will follow the bottom of half arc piece 371 and slide on the surface of arc lug 372, because arc lug 372 is curved, triangle pole 36 will bounce under the effect of spring four 361, arc lug 372 bounces under the effect of spring five 373, thereby the reconversion is convenient next use.

In order to avoid other people's inadvertent touching and lead to intelligent biped robot to take place the unbalance to the condition of empting takes place, still be provided with driven subassembly 4 in the slider 21, driven subassembly 4 includes: the turntable 41 is penetrated by the push rod 31 and is rotatably connected with the push rod 31, and a support block 42 is fixedly arranged on the surface of the turntable 41.

The utility model discloses an among the embodiment, seted up draw-in groove 43 in the slider 21, ring channel 44 and transverse groove 45 have been seted up to draw-in groove 43, and support block 42 slides and when sliding to transverse groove 45 in the ring channel 44 in draw-in groove 43, just can remove the restriction to push rod 31.

In the utility model, when the intelligent feet need to move on the inclined road, by rotating the rotary disc 41 in the driven component 4, the supporting block 42 fixed on the surface of the rotary disc 41 slides in the annular groove 44 in the clamping groove 43 and slides into the transverse groove 45, the limit on the push rod 31 is removed, after the limit is removed, by pressing the push rod 31 in the control component 3, the push rod 31 can slide in the slide block 21 under the support of the spring II 32, meanwhile, the vertical rod 33 fixed on the surface of the push rod 31 can drive the clamping rod 34 to move out from the clamping tooth 102 on the slide groove 101 under the action of the spring III 35, the limit on the slide block 21 is removed, the slide block 21 can drive the spring I2 to slide in the slide groove 101 in the sole 1, the walking task on the inclined slope surface is completed, when the push rod 31 in the control component 3 is pressed inwards, the triangle pole 36 on the push rod 31 will be in the surperficial slip of the half arc piece 371 on the dead lever 37, it is fixed to slide to the bottom of half arc piece 371, when the distance after adjusting is fixed to needs, press push rod 31 again, then triangle pole 36 on the push rod 31 will follow the bottom of half arc piece 371 and slide on the surface of arc lug 372, because arc lug 372 is curved, triangle pole 36 will bounce under the effect of spring four 361, arc lug 372 rebounds under the effect of spring five 373, thereby the convenient next use of reconversion, then push rod 31 will rebound and card pole 34 can block into again and fix in latch 102 under the effect of spring two 32, prevent that the angle after adjusting from taking place to slide, thereby lead to the intelligent biped robot unbalance to take place the condition of empting.

The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. The utility model provides an intelligence biped joint linkage balanced structure, includes sole (1), its characterized in that: seted up spout (101) in sole (1), spout (101) and slider (21) sliding connection, the bottom fixed mounting of slider (21) has spring (2), still be provided with control assembly (3) in slider (21), control assembly (3) include:

the push rod (31) penetrates through the sliding block (21) and is in sliding connection with the sliding block (21), the inner wall of the sliding block (21) is fixedly connected with one end of a second spring (32), and the other end of the second spring (32) is fixedly installed on the surface of the push rod (31);

the bottom of the vertical rod (33) is fixedly arranged on the surface of the push rod (31), and the top of the vertical rod (33) is fixedly arranged on the surface of the clamping rod (34);

kelly (34), kelly (34) run through slider (21) and with slider (21) sliding connection, the inner wall of slider (21) and the one end fixed connection of three (35) of spring, the other end fixed mounting of three (35) of spring is on the surface of kelly (34).

2. The intelligent bipedal joint linkage balancing structure of claim 1, wherein: a latch (102) is fixedly arranged in the sliding groove (101).

3. The intelligent bipedal joint linkage balancing structure of claim 1, wherein: the push rod (31) is penetrated by a triangular rod (36) and is in sliding connection with the triangular rod (36), the surface of the triangular rod (36) is fixedly connected with one end of a spring IV (361), and the other end of the spring IV (361) is fixedly installed on the surface of the push rod (31).

4. The intelligent bipedal joint linkage balancing structure of claim 1, wherein: fixed mounting has dead lever (37) on the inner wall of slider (21), the top fixed mounting of dead lever (37) has half arc piece (371), dead lever (37) run through by arc lug (372) and with arc lug (372) sliding connection, the surface of arc lug (372) and the one end fixed connection of spring five (373), the other end fixed mounting of spring five (373) is on the surface of dead lever (37).

5. The intelligent bipedal joint linkage balancing structure of claim 1, wherein: still be provided with driven subassembly (4) in slider (21), driven subassembly (4) include: carousel (41), carousel (41) are run through by push rod (31) and are connected with push rod (31) rotation, the fixed surface of carousel (41) installs a piece (42).

6. The intelligent bipedal joint linkage balancing structure of claim 1, wherein: a clamping groove (43) is formed in the sliding block (21), and an annular groove (44) and a transverse groove (45) are formed in the clamping groove (43).