CN221068275U - Bionic walking leg suitable for heavy-load foot type robot - Google Patents
Bionic walking leg suitable for heavy-load foot type robot Download PDFInfo
- Publication number
- CN221068275U CN221068275U CN202322930879.7U CN202322930879U CN221068275U CN 221068275 U CN221068275 U CN 221068275U CN 202322930879 U CN202322930879 U CN 202322930879U CN 221068275 U CN221068275 U CN 221068275U
- Authority
- CN
- China
- Prior art keywords
- thigh
- driving
- shank
- heavy
- cylinder barrel
- 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.)
- Active
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 20
- 210000000689 upper leg Anatomy 0.000 claims abstract description 76
- 210000002414 leg Anatomy 0.000 claims abstract description 43
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000003592 biomimetic effect Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the technical field of walking of heavy foot type bionic equipment, and discloses a bionic walking leg suitable for a heavy foot type robot, which comprises the following components: an integrated bidirectional output hydraulic cylinder body (3); the integrated bidirectional output hydraulic cylinder body (3) comprises a left cylinder barrel, a right cylinder barrel and a left cylinder barrel, wherein the opening directions of the left cylinder barrel and the right cylinder barrel are opposite, and the thigh driving piston (4), the thigh driving piston rod (5), the thigh driving cylinder end cover (6) and the thigh driving guide device (7) are sequentially arranged in the left cylinder barrel, and the shank driving piston (9), the shank driving piston rod (10) and the shank driving cylinder end cover (11) are sequentially arranged on the left cylinder barrel. According to the utility model, the cylinder body of the driving actuator is used as the thigh of the leg walking mechanism, and the driving executing component is integrated in the thigh, so that the leg walking mechanism and the driving actuator are highly fused, and the problems of large space size and high weight ratio caused by stacking of the functional components of the traditional heavy-load bionic walking leg are effectively solved.
Description
Technical Field
The utility model belongs to the technical field of walking of heavy foot type bionic equipment, and particularly relates to a bionic walking leg suitable for a heavy-duty foot type robot.
Background
The walking leg of the traditional heavy-load foot robot mainly comprises a leg walking mechanism and a driving part stacked on the leg walking mechanism, and the walking mechanism and the driving part are mutually independent in structure. The heavy-load foot type robot has high requirements on the carrying capacity, the structural rigidity, the driving force and the like of the walking legs due to the limitation of heavy-load use characteristics. On the one hand, the leg walking mechanism ensures that the walking leg has higher structural rigidity under the heavy load condition, and the space size of the leg walking mechanism is generally larger; on the other hand, the space size of the driving actuator is larger due to the limitation of the driving force demand, and the leg walking mechanism needs an additional fixing structure to provide enough attachment points for fixing the driving actuator; therefore, the conventional walking leg mostly adopts a leg walking mechanism with a large structural size.
In order to meet the requirements of structural rigidity and driving force, the prior heavy-load foot-type robot bionic walking leg is stacked with a driving actuator and a leg walking mechanism, so that the space size and the weight ratio of the driving actuator and the leg walking mechanism are large. The design not only brings difficulty to the design of the heavy-load foot type robot in space dimension, light weight and other dimensions, but also is unfavorable for improving the bearing capacity of the heavy-load foot type robot, and limits the application range of the heavy-load foot type robot.
Disclosure of utility model
The utility model aims to provide a bionic walking leg suitable for a heavy-duty foot robot, which aims to solve the technical problems that the space size and the weight ratio of the existing bionic walking leg of the heavy-duty foot robot are large due to the fact that a driving actuator and a leg travelling mechanism are stacked to meet the requirements of structural rigidity and driving force.
In order to achieve the above purpose, the specific technical scheme of the bionic walking leg suitable for the heavy-duty foot robot is as follows:
A biomimetic walking leg suitable for use with a heavy-duty foot robot, comprising: the device comprises a body fixed shaft 1, a thigh cam 2, an integrated bidirectional output hydraulic cylinder body 3, a thigh driving piston 4, a thigh driving piston rod 5, a thigh driving cylinder end cover 6, a thigh driving guide device 7, a thigh crank arm 8, a shank driving piston 9, a shank driving piston rod 10, a shank driving cylinder end cover 11, a shank driving guide device 12, a shank crank arm 13 and a shank 14; the integrated bidirectional output hydraulic cylinder body 3 comprises a left cylinder barrel and a right cylinder barrel with opposite opening directions, the thigh driving piston 4, the thigh driving piston rod 5, the thigh driving cylinder end cover 6 and the thigh driving guide device 7 are sequentially arranged in the left cylinder barrel, and the shank driving piston 9, the shank driving piston rod 10, the shank driving cylinder end cover 11 and the shank driving guide device are sequentially arranged in the right cylinder barrel; the two ends of the thigh driving piston rod 5 are respectively fixedly connected with the thigh driving piston 4 and the thigh driving guiding device 7, and the two ends of the shank driving piston rod 10 are respectively fixedly connected with the shank driving piston 9 and the shank driving guiding device 12; the machine body fixing shaft 1 is arranged at the upper end of a cylinder barrel on the right side of the integrated bidirectional output hydraulic cylinder body 3, and one end of the machine body fixing shaft is fixedly connected with the robot machine body; one end of the thigh cam 2 is fixed with the machine body fixing shaft 1, and the other end is hinged with the upper end of the thigh crank arm 8; the lower end of the thigh crank arm 8 is hinged with a thigh driving guide device 7 in a cylinder barrel at the left side of the integrated bidirectional output hydraulic cylinder body 3 through a pin shaft; one end of the lower leg 14 is hinged with the lower end of the left cylinder barrel, the middle position of the lower leg 14 is hinged with the lower end of the lower leg crank arm 13, and the upper end of the lower leg crank arm 13 is hinged with the lower leg driving guide device 12 in the right cylinder barrel of the integrated bidirectional output hydraulic cylinder body 3.
The cylinder barrels on the left side and the right side of the integrated bidirectional output hydraulic cylinder body 3 are respectively provided with oil circulation holes at the upper end and the lower end in the movement range of the cylinder barrels.
Further, the thigh cam 2 is fixedly connected with the body fixing shaft 1 through a built-in spline.
Further, one end of the machine body fixing shaft is provided with a flange fixed with the robot body.
Further, the left cylinder tube is opened upwards.
Further, the right cylinder tube is opened downward.
The bionic walking leg suitable for the heavy-duty foot robot has the following advantages: the cylinder body of the driving actuator is used as the thigh of the leg walking mechanism, and the driving executing component is integrated in the thigh, so that the high fusion of the leg walking mechanism and the driving actuator is realized, and the problems of large space size and high weight ratio caused by stacking of the functional components of the traditional heavy-load bionic walking leg are effectively solved.
Drawings
FIG. 1 is a schematic diagram of a simulated walking leg of the present utility model adapted for use with a heavy-duty foot robot;
FIG. 2 is a side view of a simulated walking leg of the present utility model suitable for use with a heavy-duty foot robot;
Fig. 3 is a sectional view of a bionic walking leg suitable for a heavy-duty foot robot according to the present utility model.
Detailed Description
In order to better understand the purpose, structure and function of the present utility model, a bionic walking leg suitable for a heavy-duty robot will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the bionic walking leg suitable for the heavy-duty foot robot of the present utility model comprises: the device comprises a body fixing shaft 1, a thigh cam 2, an integrated bidirectional output hydraulic cylinder body 3, a thigh driving piston 4, a thigh driving piston rod 5, a thigh driving cylinder end cover 6, a thigh driving guide device 7, a thigh crank arm 8, a shank driving piston 9, a shank driving piston rod 10, a shank driving cylinder end cover 11, a shank driving guide device 12, a shank crank arm 13 and a shank 14.
The thigh driving piston 4, the thigh driving piston rod 5, the thigh driving cylinder end cover 6, the thigh driving guide device 7, the shank driving piston 9, the shank driving piston rod 10, the shank driving cylinder end cover 11 and the shank driving guide device 12 are respectively arranged in cylinders at two sides of the integrated bidirectional output hydraulic cylinder body 3 along the illustrated sequence to form a hydraulic cylinder driving actuator for respectively driving the thigh and the shank. Wherein, both ends of thigh drive piston rod 5 are respectively with thigh drive piston 4, thigh drive guider 7 fixedly allies oneself with, and both ends of shank drive piston rod 10 are respectively with shank drive piston 9 and shank drive guider 12 fixedly allies oneself with.
The cylinder barrels on the left side and the right side of the integrated bidirectional output hydraulic cylinder body 3 are respectively provided with oil fluid circulation holes at the upper end and the lower end in the movement range of the cylinder barrels, and the oil fluid circulation holes are used for realizing bidirectional driving of thigh hydraulic cylinders and shank hydraulic cylinders.
One end of the machine body fixing shaft 1 with the larger diameter is fixed with the robot body.
One end of the thigh cam 2 with an internal spline is arranged at the coaxial position of the rotation center of the inner space on the right side of the upper end of the integrated bidirectional output hydraulic cylinder body 3 and then inserted along one end with smaller diameter of the machine body fixing shaft 1, the other end of the thigh cam is hinged with the upper end of the thigh crank 8 through a pin shaft, and the lower end of the thigh crank 8 is hinged with the upper end of the thigh driving guide device 7 in the cylinder barrel on the left side of the upper end of the integrated bidirectional output hydraulic cylinder body 3 through a pin shaft. The thigh cam 2 is fixedly connected with the machine body fixing shaft 1 through a built-in spline, and the integrated bidirectional output hydraulic cylinder body 3 is hinged with the machine body fixing shaft 1;
The upper end of the lower leg 14 is hinged with the left side of the lower end of the two-way output hydraulic cylinder body 3 through a pin shaft, the middle position of the lower leg 14 is hinged with the lower end of the lower leg crank arm 13 through a pin shaft, and the upper end of the lower leg crank arm 13 is hinged with the upper end of the lower leg driving guide device 12 in the cylinder barrel on the right side of the lower end of the integrated two-way output hydraulic cylinder body 3 through a pin shaft.
In the walking process, when the thigh driving piston 4 is driven by oil to move upwards along the axis of the cylinder barrel on the left side of the integrated bidirectional output hydraulic cylinder body 3, the thigh cam 2 is fixed, and the movement transmission of the thigh driving piston 4, the thigh driving piston rod 5, the thigh driving guide device 7, the thigh crank arm 8 and the thigh cam 2 can be converted into the upward rotation of the integrated bidirectional output hydraulic cylinder body 3 along the axis of the machine body fixing shaft 1, so that the upward swinging movement of the thigh is realized; otherwise, the lower swing movement of the thigh can be realized.
When the shank driving piston 9 is driven by oil liquid to move upwards along the axis of the cylinder barrel on the right side of the integrated bidirectional output hydraulic cylinder body 3, the shank swinging movement can be realized through shank driving piston 9-shank driving piston rod 10-shank driving guide device 12-shank crank arm 13-thigh movement transmission; otherwise, the lower leg can swing downwards.
In summary, the execution of the walking motion of any leg can be realized by the cooperative control of the oil liquid on both sides of the integrated bidirectional output hydraulic cylinder body 3.
According to the utility model, the cylinder body of the driving actuator is used as the thigh of the leg walking mechanism, and the driving executing component is integrated in the thigh, so that the leg walking mechanism and the driving actuator are highly fused, and the problems of large space size and high weight ratio caused by stacking of the functional components of the traditional heavy-load bionic walking leg are effectively solved.
Although embodiments of the present utility model have been described in conjunction with the accompanying drawings, it will be apparent to those skilled in the art that several variations and modifications may be made without departing from the principles of the utility model, which are also considered to be within the scope of the utility model.
Claims (6)
1. A bionic walking leg suitable for a heavy-duty foot robot, comprising: the device comprises a body fixing shaft (1), a thigh cam (2), an integrated bidirectional output hydraulic cylinder body (3), a thigh driving piston (4), a thigh driving piston rod (5), a thigh driving cylinder end cover (6), a thigh driving guide device (7), a thigh crank arm (8), a shank driving piston (9), a shank driving piston rod (10), a shank driving cylinder end cover (11), a shank driving guide device (12), a shank crank arm (13) and a shank (14);
The integrated bidirectional output hydraulic cylinder body (3) comprises a left cylinder barrel and a right cylinder barrel with opposite opening directions, wherein the thigh driving piston (4), the thigh driving piston rod (5), the thigh driving cylinder end cover (6) and the thigh driving guide device (7) are sequentially arranged in the left cylinder barrel, and the shank driving piston (9), the shank driving piston rod (10), the shank driving cylinder end cover (11) and the shank driving guide device are sequentially arranged in the right cylinder barrel; two ends of a thigh driving piston rod (5) are respectively fixedly connected with a thigh driving piston (4) and a thigh driving guiding device (7), and two ends of a shank driving piston rod (10) are respectively fixedly connected with a shank driving piston (9) and a shank driving guiding device (12);
The machine body fixing shaft (1) is arranged at the upper end of a cylinder barrel on the right side of the integrated bidirectional output hydraulic cylinder body (3), and one end of the machine body fixing shaft is fixedly connected with the robot machine body;
one end of the thigh cam (2) is fixed with the machine body fixing shaft (1), and the other end is hinged with the upper end of the thigh crank arm (8); the lower end of the thigh crank arm (8) is hinged with a thigh driving guide device (7) in a cylinder barrel at the left side of the integrated bidirectional output hydraulic cylinder body (3) through a pin shaft;
one end of the lower leg (14) is hinged with the lower end of the left cylinder barrel, the middle position of the lower leg (14) is hinged with the lower end of the lower leg crank arm (13), and the upper end of the lower leg crank arm (13) is hinged with the lower leg driving guide device (12) in the right cylinder barrel of the integrated bidirectional output hydraulic cylinder body (3).
2. The bionic walking leg for heavy-duty robots of claim 1, wherein the cylinders on the left and right sides of the cylinder body of the integrated bidirectional output hydraulic cylinder are provided with oil fluid circulation holes at the upper and lower ends in the movement range.
3. The simulated walking leg suitable for use in a heavy-duty robot of claim 1 wherein said thigh cam is fixedly coupled to said body fixed shaft by means of internal splines.
4. The bionic walking leg for the heavy-duty robot according to claim 1, wherein one end of the body fixing shaft is provided with a flange fixed with the robot body.
5. The biomimetic walking leg suitable for use with a heavy-duty foot robot of claim 1 wherein said left side cylinder opening is upward.
6. The biomimetic walking leg suitable for use with a heavy-duty foot robot of claim 1, wherein said right side cylinder is open downward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322930879.7U CN221068275U (en) | 2023-10-31 | 2023-10-31 | Bionic walking leg suitable for heavy-load foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322930879.7U CN221068275U (en) | 2023-10-31 | 2023-10-31 | Bionic walking leg suitable for heavy-load foot type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221068275U true CN221068275U (en) | 2024-06-04 |
Family
ID=91267385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322930879.7U Active CN221068275U (en) | 2023-10-31 | 2023-10-31 | Bionic walking leg suitable for heavy-load foot type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221068275U (en) |
-
2023
- 2023-10-31 CN CN202322930879.7U patent/CN221068275U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107471197A (en) | A kind of apery both arms multiple degrees of freedom industrial robot | |
| CN106799742B (en) | Accurate flat folder adaptively with coupling adaptive pattern switching robot finger apparatus | |
| CN103963867B (en) | Biomimetic mechanical dinosaur | |
| CN203460172U (en) | High-speed six-freedom-degree parallel connection mechanical hand | |
| CN109664327A (en) | A kind of manipulator arm joint system | |
| CN221068275U (en) | Bionic walking leg suitable for heavy-load foot type robot | |
| CN102490177A (en) | Four-freedom-degree parallel-connection robot | |
| CN106378408A (en) | Novel energy-saving heavy-load forging robot | |
| CN103010327B (en) | Single-motor driven climbing jumping robot | |
| CN102350698A (en) | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain | |
| CN201172210Y (en) | Manipulator for assembling cam shaft | |
| CN210161159U (en) | Dual-drive four-connecting-rod moving and swinging manipulator | |
| CN201818758U (en) | Three-section electric telescopic device | |
| CN201560652U (en) | Quick opening-closing device for closed cabinet door | |
| CN206551011U (en) | A kind of six-freedom parallel device based on crawl parallel institution | |
| CN202428449U (en) | Three-degree-of-freedom series-parallel hybrid heavy load mechanical arm with redundant driving function | |
| CN202357164U (en) | Six-degree-of-freedom parallel mechanism including 5R closed loop sub-chains | |
| CN108639184A (en) | A kind of novel bionic joint pedipulator | |
| CN112319648B (en) | Leg mechanism of foot type robot with switchable degrees of freedom | |
| CN208503453U (en) | A kind of roller pulling fork driving device for electric servomechanism | |
| CN209551771U (en) | A kind of manipulator arm joint system | |
| CN201461940U (en) | Cylinder guide rod mechanism to vertically open cover body | |
| CN208715330U (en) | Integrated hydraulic system robot leg | |
| CN204917752U (en) | Born of same parents of change function nonlinearity input mechanism formula hoist has | |
| CN209551712U (en) | A kind of all-hydraulic cylinder driving scalable mechanical arm pedestal of five degree of freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |