CN220114717U - Buffering leg structure of crawling robot - Google Patents
Buffering leg structure of crawling robot Download PDFInfo
- Publication number
- CN220114717U CN220114717U CN202222692421.8U CN202222692421U CN220114717U CN 220114717 U CN220114717 U CN 220114717U CN 202222692421 U CN202222692421 U CN 202222692421U CN 220114717 U CN220114717 U CN 220114717U
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- Prior art keywords
- fixed
- sleeve
- spring
- leg structure
- guide post
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- 230000009193 crawling Effects 0.000 title claims abstract description 16
- 230000003139 buffering effect Effects 0.000 title claims description 9
- 238000013016 damping Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 239000012634 fragment Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000282472 Canis lupus familiaris Species 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000001930 leg bone Anatomy 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000004021 metal welding Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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- Vibration Dampers (AREA)
Abstract
The utility model discloses a buffer leg structure of a crawling robot, which comprises a connecting base plate and is characterized in that: the ball groove center of the universal joint is fixedly connected with the lower side center shaft of the connecting base plate, one end of the first spring is fixed on the lower side of the ball groove of the universal joint, the other end of the first spring is fixedly connected with the supporting ring, the end part of the cross rod is fixed in the supporting ring, the first sleeve is fixed on the center of the cross rod, the center of the lower side of the ball body of the universal joint is fixed on the upper end of the first sleeve, the first guide post is arranged in the first sleeve, the lower end of the first guide post is fixedly connected with the connecting block, and the upper center of the ground contact block is fixed on the connecting block. The utility model relates to the field of robot equipment, in particular to a buffer leg structure of a crawling robot. The device can conveniently buffer and protect the legs of the crawling robot.
Description
Technical Field
The utility model relates to the field of robot equipment, in particular to a buffer leg structure of a crawling robot.
Background
Robots are commonly known as automatic control machines (robots), which include all machines that simulate human behavior or ideas and simulate other living things (e.g., robot dogs, robot cats, etc.), because robots are all made of metal materials, and the legs of the robots are the main walking support structures, an excessively heavy Robot can cause very difficult walking if it is not matched with a buffer structure.
Through retrieving, chinese patent application with application number CN201920858058.8 discloses a robot shank buffer structure, including buffer spring, base plate, foot's shell and damping spring, the top welding of base plate has the barrel, the internally mounted of barrel has buffer spring, the barrel inside movable mounting of buffer spring top has the metal pole, the upper end welding of metal pole has robot leg bone, the mounting groove has been seted up to the inside of foot's shell, damping spring is installed to the inside welding of mounting groove, damping plate is installed to damping spring's bottom, rubber slipmat has been bonded to damping plate's bottom, first arc shell fragment and second arc shell fragment are installed at foot's shell's top. The utility model relates to a damping structure which is realized by surrounding a central spring assembly by a plurality of groups of spring assemblies which are circumferentially arranged and matched with universal joints.
Disclosure of Invention
The utility model aims to solve the technical problem of providing a buffering leg structure of a crawling robot, which is convenient for buffering and protecting the legs of the crawling robot.
The utility model adopts the following technical scheme to realize the aim of the utility model:
buffering leg structure of robot crawls, including connecting the backing plate, characterized by: the central shaft at the lower side of the connecting base plate is fixedly connected with the center of a ball groove of the universal joint, one end of a first spring is fixed at the lower side of the ball groove of the universal joint, and the other end of the first spring is fixedly connected with a supporting ring;
the end part of a cross rod is fixed in the supporting ring, the center of the cross rod is fixed with a sleeve I, and the upper end of the sleeve I is fixed with the center of the lower side of the ball body of the universal joint;
the sleeve is internally provided with a first guide column, the lower end of the first guide column is fixedly connected with a connecting block, and the connecting block is fixedly connected with the center of the upper side of the ground contact block.
As a further limitation of the technical scheme, the upper end of the second spring is fixed at the lower side of the first sleeve, the second spring is sleeved on the first guide post, the lower end of the second spring is fixed with a limiting ring, and the limiting ring is fixed at the middle lower part of the first guide post.
As a further limitation of the present solution, the first guide post is matched with the first sleeve.
As a further limitation of the technical scheme, a group of inverted U-shaped connecting blocks with evenly distributed circumferences are fixed on the lower side of the supporting ring, each inverted U-shaped connecting block is hinged with a connecting block respectively, each connecting block is fixed on the upper end of a sleeve barrel respectively, a guide post II is arranged in each sleeve barrel II, round blocks are fixed on the lower ends of the guide posts II respectively, the round blocks are fixed on the upper ends of swinging rods respectively, the lower ends of the swinging rods are hinged with U-shaped blocks respectively, and all the U-shaped blocks are fixed on the connecting blocks.
As a further limitation of the technical scheme, the lower end of each sleeve is respectively fixed with the upper end of a third spring, each third spring is respectively sleeved with the corresponding second guide post, and the lower end of each third spring is respectively fixed with the corresponding round block.
As a further limitation of the present technical solution, each guide post is respectively matched with the corresponding sleeve two.
As a further limitation of the technical scheme, the lower end edge of the ground contact block is subjected to fillet treatment.
As a further limitation of the technical scheme, a group of mounting holes which are circumferentially and uniformly distributed are formed in the connecting base plate.
Compared with the prior art, the utility model has the advantages and positive effects that:
(1) The buffer function is realized through the unloading forces of the guide column I, the sleeve I, the universal joint, the spring I, the spring II and the like;
(2) The force unloading effect is realized through the linkage between the sleeve II and the guide post II as well as the spring III, so that a better buffering function is realized;
(3) And the resilience force of the first spring, the second spring and the third spring can assist the crawling robot to walk, and the resilience force can accelerate the leg to lift up for the next stepping.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. It is evident that the drawings in the following description are only some embodiments of the present utility model and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
fig. 1 is a perspective view of the present utility model.
Fig. 2 is a perspective view of the second embodiment of the present utility model.
Fig. 3 is a perspective view of the present utility model.
In the figure: 1. the connecting base plate, 2, the mounting hole, 3, the universal joint, 4, the first spring, 5, the support ring, 6, the reverse U-shaped connecting block, 7, the connecting block, 8, the second sleeve, 9, the third spring, 10, the round block, 11, the ground contact block, 12, the connecting column, 13, the U-shaped block, 14, the first guide column, 15, the swinging rod, 16, the limiting ring, 17, the second guide column, 18, the second spring, 19, the first sleeve, 20 and the cross rod.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to fig. 1 to 3 in the embodiments of the present utility model, and it is obvious that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that, in the embodiments of the present utility model, terms such as left, right, up, down, front, and back are merely relative terms or references to a normal use state of a product, i.e. a traveling direction of the product, and should not be construed as limiting.
When an element is referred to as being "on" or "disposed on" another element, it can be on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
Embodiment one: the connecting base plate 1 is included, a central shaft at the lower side of the connecting base plate 1 is fixedly connected with the center of a ball groove of a universal joint 3, one end of a first spring 4 is fixed at the lower side of the ball groove of the universal joint 3, and the other end of the first spring 4 is fixedly connected with a supporting ring 5;
the end part of a cross rod 20 is fixed in the support ring 5, the center of the cross rod 20 is fixed with a sleeve I19, and the upper end of the sleeve I19 is fixed with the center of the lower side of the sphere of the universal joint 3;
the guide post I14 is arranged in the sleeve I19, the connecting block 12 is fixed at the lower end of the guide post I14, and the connecting block 12 is fixed at the upper center of the ground contact block 11.
The upper end of a second spring 18 is fixed on the lower side of the first sleeve 19, the second spring 18 is sleeved on the first guide post 14, a limiting ring 16 is fixed on the lower end of the second spring 18, and the limiting ring 16 is fixed on the middle lower portion of the first guide post 14.
The first guide post 14 is matched to the first sleeve 19.
The connecting base plate 1 of this device is all installed to every leg lower extreme of robot crawls, when the robot walks, the ground contact piece 11 touches the ground, universal joint 3 and spring 4 play the supporting role to supporting ring 5, and spring 4 plays buffering and unloads the power effect, ground contact piece 11 contacts the ground, the relative displacement is produced between connecting block 12, guide post one 14 and sleeve one 19, sleeve one 19 moves along guide post one 14, spring two 18 are compressed, unload the power through guide post one 14, sleeve one 19, universal joint 3, spring one 4 and spring two 18 etc. realizes the buffer function.
Embodiment two: the lower side of the support ring 5 is fixed with a group of reverse U-shaped connecting blocks 6 with evenly distributed circumferences, each reverse U-shaped connecting block 6 is hinged with a connecting block 7 respectively, each connecting block 7 is fixed at the upper end of a sleeve II 8 respectively, each sleeve II 8 is respectively provided with a guide post II 17, the lower end of each guide post II 17 is respectively fixed with a round block 10, each round block 10 is respectively fixed with the upper end of a swinging rod 15, the lower end of each swinging rod 15 is hinged with a U-shaped block 13 respectively, and all U-shaped blocks 13 are fixed with the connecting blocks 12.
The lower end of each sleeve II 8 is respectively fixed with the upper end of a spring III 9, each spring III 9 is respectively sleeved with the corresponding guide post II 17, and the lower end of each spring III 9 is respectively fixed with the corresponding round block 10.
Each second guide post 17 is matched with the corresponding second sleeve 8.
The edge of the lower end of the ground contact block 11 is rounded, and the rounded corner can better buffer the ground.
The connecting base plate 1 is provided with a group of mounting holes 2 with uniformly distributed circumferences, and the mounting holes 2 facilitate the mounting and fixing of the connecting base plate 1.
The support ring 5 drives the inverted U-shaped connecting block 6, the connecting block 7 and the sleeve II 8 to move, the sleeve II 8 compresses the spring III 9, the sleeve II 8 moves along the guide post II 17, the force unloading effect is realized through linkage between the sleeve II 8, the guide post II 17 and the spring III 9, and a better buffering function is achieved.
The above disclosure is only one specific embodiment of the present utility model, but the present utility model is not limited thereto, and any changes that can be thought by those skilled in the art should fall within the protection scope of the present utility model.
Claims (8)
1. The utility model provides a buffering shank structure of robot crawls, includes connecting backing plate (1), characterized by: the center shaft at the lower side of the connecting base plate (1) is fixedly connected with the center of a ball groove of the universal joint (3), one end of a first spring (4) is fixed at the lower side of the ball groove of the universal joint (3), and the other end of the first spring (4) is fixedly connected with a supporting ring (5);
the end part of a cross-shaped rod (20) is fixed in the support ring (5), the center of the cross-shaped rod (20) is fixed with a sleeve I (19), and the upper end of the sleeve I (19) is fixed with the center of the lower side of the sphere of the universal joint (3);
a first guide column (14) is arranged in the first sleeve (19), a connecting block (12) is fixed at the lower end of the first guide column (14), and the connecting block (12) is used for fixing the upper center of the ground contact block (11).
2. The buffer leg structure of the crawling robot according to claim 1, characterized in that: the upper end of a second spring (18) is fixed at the lower side of the first sleeve (19), the second spring (18) is sleeved with the first guide column (14), a limiting ring (16) is fixed at the lower end of the second spring (18), and the limiting ring (16) is fixed at the middle lower part of the first guide column (14).
3. The buffer leg structure of the crawling robot according to claim 2, characterized in that: the first guide post (14) is matched with the first sleeve (19).
4. The buffer leg structure of the crawling robot according to claim 1, characterized in that: the lower side of supporting ring (5) is fixed with a set of circumference evenly arranged's inverted U-shaped connecting block (6), every inverted U-shaped connecting block (6) articulates respectively and connects piece (7), every link piece (7) to fix respectively in sleeve two (8) upper end, every be provided with guide post two (17) in sleeve two (8) respectively, every round block (10) are fixed respectively to the lower extreme of guide post two (17), every round block (10) are fixed respectively swinging arms (15) upper end, every the lower extreme of swinging arms (15) articulates U-shaped piece (13) respectively, all U-shaped piece (13) are all fixed connecting block (12).
5. The cushioning leg structure of a crawling robot of claim 4, wherein: the lower end of each sleeve II (8) is respectively fixed with the upper end of a spring III (9), each spring III (9) is respectively sleeved with the corresponding guide post II (17), and the lower end of each spring III (9) is respectively fixed with the corresponding round block (10).
6. The cushioning leg structure of a crawling robot of claim 5, characterized by: each guide post II (17) is matched with the corresponding sleeve II (8) respectively.
7. The buffer leg structure of the crawling robot according to claim 1, characterized in that: and the edge of the lower end of the ground contact block (11) is subjected to round corner treatment.
8. The buffer leg structure of the crawling robot according to claim 1, characterized in that: the connecting base plate (1) is provided with a group of mounting holes (2) which are uniformly distributed on the circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222692421.8U CN220114717U (en) | 2022-10-13 | 2022-10-13 | Buffering leg structure of crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222692421.8U CN220114717U (en) | 2022-10-13 | 2022-10-13 | Buffering leg structure of crawling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220114717U true CN220114717U (en) | 2023-12-01 |
Family
ID=88915664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222692421.8U Active CN220114717U (en) | 2022-10-13 | 2022-10-13 | Buffering leg structure of crawling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220114717U (en) |
-
2022
- 2022-10-13 CN CN202222692421.8U patent/CN220114717U/en active Active
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