CN219154616U

CN219154616U - Combined mechanical leg

Info

Publication number: CN219154616U
Application number: CN202320122705.5U
Authority: CN
Inventors: 李�根; 成建渝; 黎泽伦; 赵晨渝
Original assignee: Suzhou Xundong Gas Technology Co ltd
Current assignee: Suzhou Xundong Gas Technology Co ltd
Priority date: 2023-01-16
Filing date: 2023-01-16
Publication date: 2023-06-09
Anticipated expiration: 2033-01-16

Abstract

The utility model relates to the technical field of mechanical legs, in particular to a composite mechanical leg which comprises a connecting frame and a supporting component, wherein the supporting component comprises a large steering engine, a U-shaped frame, a double-shaft steering engine, a frame, a telescopic rod, an upper mounting frame, a lower mounting frame, a sucker, four air pumps, two branch pipes and a connecting pipe; the big steering wheel can drive the U type frame and rotate, the part that biax steering wheel can drive biax steering wheel and biax steering wheel below rotates, the frame is used for installing the telescopic link, the telescopic link can realize changing the effect of shank length, go up the inside four air pumps that have set up of installing the frame, lower installing the frame setting in last installing frame below for install the sucking disc, four air pumps communicate with the connecting pipe through two branch pipes, the connecting pipe communicates with the sucking disc, make the sucking disc can form the negative pressure, conveniently hold the wall, can climb the wall walking, thereby it is general all to walk at the level ground to solve current mechanical leg, can't realize the problem of climbing the wall walking.

Description

Combined mechanical leg

Technical Field

The utility model relates to the technical field of mechanical legs, in particular to a composite mechanical leg.

Background

The robot is an intelligent machine capable of semi-autonomous or fully autonomous operation, and a plurality of mechanical legs are generally arranged on the robot body, support the robot body and drive the body to move.

The existing mechanical legs can only walk on the horizontal ground generally, and wall climbing walking cannot be achieved.

Disclosure of Invention

The utility model aims to provide a composite mechanical leg, which aims to solve the problem that the existing mechanical leg can only walk on the horizontal ground and cannot walk on the wall.

In order to achieve the above object, the present utility model provides a composite mechanical leg, including a connection frame and a support assembly;

the support assembly comprises a large steering engine, a U-shaped frame, a double-shaft steering engine, a frame, a telescopic rod, an upper mounting frame, a lower mounting frame, a sucker, four air pumps, two branch pipes and a connecting pipe; the large steering engine is fixedly connected with the connecting frame and is located on one side of the connecting frame, the U-shaped frame is fixedly connected with an output shaft of the large steering engine and is located on one side of the large steering engine, the double-shaft steering engine is located on the inner side of the U-shaped frame, two output shafts of the double-shaft steering engine are respectively fixedly connected with the U-shaped frame, the frame is fixedly connected with the double-shaft steering engine and is sleeved on the double-shaft steering engine, the telescopic rod is fixedly connected with the frame and is located on one side of the frame, the upper mounting frame is fixedly connected with the telescopic rod and is located on one side of the telescopic rod and is far away from one side of the frame, the sucker is fixedly connected with the lower mounting frame and is located on one side of the lower mounting frame, the air pumps are respectively fixedly connected with the upper mounting frame and are respectively located on the inner side of the upper mounting frame, and each branch pipe is respectively communicated with the two air pumps and penetrates through the upper branch pipes and the two connecting pipes and the lower mounting frames and penetrates through the sucker.

The support assembly further comprises a filter screen, wherein the filter screen is fixedly connected with the connecting pipe and is positioned on one side of the connecting pipe.

The support assembly further comprises two supporting rods, two bearing seats and two bearings, wherein the two supporting rods are fixedly connected with the frame respectively and located on one side of the frame respectively, the two bearing seats are fixedly connected with the two supporting rods respectively and located on one side of the two supporting rods respectively, and the two bearings are fixedly connected with the two bearing seats respectively and located on the inner sides of the two bearing seats respectively.

The support assembly further comprises two small steering engines, two support frames, two motors and two wheels, wherein the two small steering engines are respectively fixedly connected with the lower mounting frame and are respectively located on the side edges of the lower mounting frame, the two support frames are respectively fixedly connected with the output shafts of the two small steering engines and are respectively located on one sides of the two small steering engines, the two motors are respectively fixedly connected with the two support frames and are respectively located inside the two support frames, and the two wheels are respectively fixedly connected with the output shafts of the motors and are respectively located on one sides of the two motors.

According to the combined mechanical leg, the large steering engine can drive the U-shaped frame to rotate to provide one degree of freedom, the double-shaft steering engine can drive the double-shaft steering engine and parts below the double-shaft steering engine to rotate, one degree of freedom is also provided, the frame is fixed on the double-shaft steering engine and used for installing the telescopic rod, the telescopic rod is of the prior art and does not need to be repeated, the telescopic rod can drive the upper installation frame to approach or keep away from the double-shaft steering engine, the effect of changing the length of the legs is achieved, the capability of crossing obstacles is improved, four air pumps are arranged in the upper installation frame, the lower installation frame is arranged below the upper installation frame and used for installing the sucker, the four air pumps are communicated with the connecting pipe through the two branch pipes, and the connecting pipe is communicated with the sucker, so that the sucker can form negative pressure to conveniently suck a wall, and the problem that the existing mechanical leg can only climb on the horizontal ground and can not walk.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

Fig. 1 is a schematic overall structure of a composite mechanical leg according to the present utility model.

Fig. 2 is an enlarged partial view of detail a of fig. 1.

Fig. 3 is a schematic structural view of another angle of the whole composite mechanical leg according to the present utility model.

101-connecting frame, 102-supporting component, 103-big steering engine, 104-U type frame, 105-biax steering engine, 106-frame, 107-telescopic link, 108-upper mounting frame, 109-lower mounting frame, 110-sucking disc, 111-air pump, 112-branch pipe, 113-connecting pipe, 114-filter screen, 115-branch, 116-bearing frame, 117-bearing, 118-little steering engine, 119-support frame, 120-motor, 121-wheel.

Detailed Description

Referring to fig. 1-3, fig. 1 is a schematic overall structure of a composite mechanical leg according to the present utility model, fig. 2 is a partially enlarged view of detail a of fig. 1, and fig. 3 is a schematic overall structure of another angle of the composite mechanical leg according to the present utility model.

The utility model provides a composite mechanical leg, which comprises: comprising a connecting frame 101 and a supporting component 102; the supporting component 102 comprises a large steering engine 103, a U-shaped frame 104, a double-shaft steering engine 105, a frame 106, a telescopic rod 107, an upper mounting frame 108, a lower mounting frame 109, a sucker 110, four air pumps 111, two branch pipes 112, a connecting pipe 113, a filter screen 114, two supporting rods 115, two bearing seats 116, two bearings 117, two small steering engines 118, two supporting frames 119, two motors 120 and two wheels 121. The problem that the existing mechanical legs can only walk on the horizontal ground generally and cannot climb the wall to walk is solved through the scheme.

For this embodiment, the connecting frame 101 is used for installing the large steering engine 103.

The large steering engine 103 is fixedly connected with the connecting frame 101 and is located on one side of the connecting frame 101, the U-shaped frame 104 is fixedly connected with an output shaft of the large steering engine 103 and is located on one side of the large steering engine 103, the double-shaft steering engine 105 is located on one side of the U-shaped frame 104, two output shafts of the double-shaft steering engine 105 are respectively fixedly connected with the U-shaped frame 104, the frame 106 is fixedly connected with the double-shaft steering engine 105 and is sleeved on the double-shaft steering engine 105, the telescopic rod 107 is fixedly connected with the frame 106 and is located on one side of the frame 106, the upper mounting frame 108 is fixedly connected with the telescopic rod 107 and is located on one side of the telescopic rod 107 and is far away from the frame 106, the lower mounting frame 109 is fixedly connected with the upper mounting frame 108 and is located on one side of the lower mounting frame 109, the four air pumps 111 are respectively fixedly connected with the upper mounting frame 108 and are respectively located on the two side of the lower mounting frame 108 and are respectively connected with the two air pumps 112 and are respectively connected with the upper mounting frame 108 and the two air pump frames 112 are respectively connected with the upper mounting frame 108 and the two air pump frames are respectively connected with the two air pump frames and the two air pump frames are respectively and respectively connected. The large steering engine 103 can drive the U-shaped frame 104 to rotate, a degree of freedom is provided, the double-shaft steering engine 105 can drive the double-shaft steering engine 105 and parts below the double-shaft steering engine 105 rotate, a degree of freedom is also provided, the frame 106 is fixed on the double-shaft steering engine 105 and used for installing the telescopic rod 107, the telescopic rod 107 is of the prior art and does not need to be repeated, the telescopic rod 107 can drive the upper mounting frame 108 to be close to or far away from the double-shaft steering engine 105, the effect of changing the length of legs is achieved, the capability of crossing obstacles is improved, four air pumps 111 are arranged inside the upper mounting frame 108, the lower mounting frame 109 is arranged below the upper mounting frame 108 and used for installing the suckers 110, the four air pumps 111 are communicated with the connecting pipes 113, and the connecting pipes 113 are communicated with the suckers 110, so that the suckers 110 can form negative pressure and are convenient to suck walls, and the existing mechanical legs can only walk on the ground horizontally, and the problem that the existing mechanical legs can not walk on the ground is solved.

Next, the filter screen 114 is fixedly connected to the connection pipe 113, and is located at one side of the connection pipe 113. The filter screen 114 is used to prevent foreign objects from entering the connection pipe 113 to cause blockage.

Simultaneously, the two supporting rods 115 are respectively and fixedly connected with the frame 106 and are respectively positioned at one side of the frame 106, the two bearing seats 116 are respectively and fixedly connected with the two supporting rods 115 and are respectively positioned at one side of the two supporting rods 115, and the two bearings 117 are respectively and fixedly connected with the two bearing seats 116 and are respectively positioned at the inner sides of the two bearing seats 116. One end of each supporting rod 115 is provided with one bearing seat 116, each bearing seat 116 is internally provided with one bearing 117, and each bearing 117 is just clamped in a sliding groove of the upper mounting frame 108, so that the bearing 117 and the upper mounting frame 108 form relative sliding, a guiding function is achieved, and the telescopic rod 107 is assisted to stretch and retract to change the whole length of the mechanical leg.

In addition, two little steering engine 118 respectively with lower mounting frame 109 fixed connection, and be located respectively lower mounting frame 109 side, two support frame 119 respectively with two little steering engine 118's output shaft fixed connection, and be located respectively two little steering engine 118 one side, two motor 120 respectively with two support frame 119 fixed connection, and be located respectively inside two support frame 119, two wheel 121 respectively with two motor 120's output shaft fixed connection, and be located respectively two motor 120 one side. The small steering engine 118 can drive the support 119 to rotate, when the sucker 110 is used for walking, the small steering engine 118 drives the support 119 to be far away from the sucker 110, so that the wheel 121 is far away from the sucker 110, when the wheel 121 is required to be used for walking, the connecting frame 101 can be controlled to rotate to a proper position, the large steering engine 103 is controlled to drive the U-shaped frame 104 and parts below the U-shaped frame 104 to rotate to a proper position, and the small steering engine 118 is controlled to drive the support 119 to rotate to a proper position, so that the wheel 121 is contacted with the ground, and the motor 120 is used for driving the wheel to rotate, so that the whole leg is changed into a wheel-type leg.

According to the combined mechanical leg, when a wall climbing walking is required, the small steering engine 118 drives the supporting frame 119 to be far away from the sucker 110, so that the wheels 121 are far away from the sucker 110, the four air pumps 111 are started, negative pressure is formed inside the sucker 110, the wall surface walking can be sucked, when a wheel type walking is required, the connecting frame 101 is controlled to rotate to a proper position, the large steering engine 103 is controlled to drive the U-shaped frame 104 and parts below the U-shaped frame 104 to rotate to a proper position, the small steering engine 118 is controlled to drive the supporting frame 119 to rotate to a proper position, the wheels 121 are contacted with the ground, and the whole leg is changed into a wheel type leg by driving rotation of the motor 120.

The foregoing disclosure is only illustrative of one or more preferred embodiments of the present application and is not intended to limit the scope of the claims hereof, as it is to be understood by those skilled in the art that all or part of the process of implementing the described embodiment may be practiced otherwise than as specifically described and illustrated by the appended claims.

Claims

1. A composite mechanical leg comprises a connecting frame and is characterized in that,

the device also comprises a support component;

the support assembly comprises a large steering engine, a U-shaped frame, a double-shaft steering engine, a frame, a telescopic rod, an upper mounting frame, a lower mounting frame, a sucker, four air pumps, two branch pipes and a connecting pipe;

the large steering engine is fixedly connected with the connecting frame and is located on one side of the connecting frame, the U-shaped frame is fixedly connected with an output shaft of the large steering engine and is located on one side of the large steering engine, the double-shaft steering engine is located on the inner side of the U-shaped frame, two output shafts of the double-shaft steering engine are respectively fixedly connected with the U-shaped frame, the frame is fixedly connected with the double-shaft steering engine and is sleeved on the double-shaft steering engine, the telescopic rod is fixedly connected with the frame and is located on one side of the frame, the upper mounting frame is fixedly connected with the telescopic rod and is located on one side of the telescopic rod and is far away from one side of the frame, the sucker is fixedly connected with the lower mounting frame and is located on one side of the lower mounting frame, the air pumps are respectively fixedly connected with the upper mounting frame and are respectively located on the inner side of the upper mounting frame, and each branch pipe is respectively communicated with the two air pumps and penetrates through the upper branch pipes and the two connecting pipes and the lower mounting frames and penetrates through the sucker.

2. A composite mechanical leg according to claim 1 wherein,

3. A composite mechanical leg according to claim 2, wherein,

the support assembly further comprises two supporting rods, two bearing seats and two bearings, wherein the two supporting rods are fixedly connected with the frame respectively and are located on one side of the frame respectively, the two bearing seats are fixedly connected with the two supporting rods respectively and are located on one side of the two supporting rods respectively, and the two bearings are fixedly connected with the two bearing seats respectively and are located on the inner sides of the two bearing seats respectively.

4. A composite mechanical leg according to claim 3 wherein,

the support assembly further comprises two small steering engines, two support frames, two motors and two wheels, wherein the two small steering engines are respectively fixedly connected with the lower mounting frame and are respectively located on the side edges of the lower mounting frame, the two support frames are respectively fixedly connected with the output shafts of the two small steering engines and are respectively located on one sides of the two small steering engines, the two motors are respectively fixedly connected with the two support frames and are respectively located inside the two support frames, and the two wheels are respectively fixedly connected with the output shafts of the two motors and are respectively located on one sides of the two motors.