CN107398890A - A kind of folding landing leg for robot - Google Patents

A kind of folding landing leg for robot Download PDF

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Publication number
CN107398890A
CN107398890A CN201710635071.2A CN201710635071A CN107398890A CN 107398890 A CN107398890 A CN 107398890A CN 201710635071 A CN201710635071 A CN 201710635071A CN 107398890 A CN107398890 A CN 107398890A
Authority
CN
China
Prior art keywords
frame
complex wrapping
slide opening
landing leg
robot
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.)
Withdrawn
Application number
CN201710635071.2A
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Chinese (zh)
Inventor
陈园平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Yuan Xun Electronic Technology Co Ltd
Original Assignee
Suzhou Yuan Xun Electronic Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Yuan Xun Electronic Technology Co Ltd filed Critical Suzhou Yuan Xun Electronic Technology Co Ltd
Priority to CN201710635071.2A priority Critical patent/CN107398890A/en
Publication of CN107398890A publication Critical patent/CN107398890A/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a kind of folding landing leg for robot, including the complex wrapping frame formed, the V-arrangement gangbar with topmost an X-frame is connected in complex wrapping frame, the drive link, mounting rod and the support feet being arranged on below complex wrapping frame that are connected with V-arrangement gangbar center of rotation are combined by multiple X-frames；Support feet is provided with horizontal-extending kidney-shaped slide opening, two frame plates of a bottom X-frame in complex wrapping frame, the bottom of one of frame plate and support feet are rotatedly connected, and the bottom of another frame plate is provided with level to bearing pin is rolled, and the roller bolt axle position is in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, roll bearing pin and slided along kidney-shaped slide opening.Folding degree of the present invention is larger, is easy to carry about with one.

Description

A kind of folding landing leg for robot
Technical field
The invention belongs to robotic technology field, and in particular to a kind of folding landing leg for robot.
Background technology
The supporting leg of existing robot, it is essentially all on direct assembling body, it is not foldable, or fold degree and have Limit, space-consuming change is little, therefore is inconvenient to carry.
The content of the invention
It is an object of the invention to provide the folding for robot that a kind of folding degree is larger, and space-consuming changes greatly Supporting leg.
Realizing the technical scheme of the object of the invention is：A kind of folding landing leg for robot, including by multiple X-frame groups Close the complex wrapping frame of formation, turn with the V-arrangement gangbar and V-arrangement gangbar that topmost an X-frame is connected in complex wrapping frame Dynamic center connected drive link, mounting rod and the support feet being arranged on below complex wrapping frame；Each X-frame is by two frame plates Be hinged and connected to be formed by respective middle part, in adjacent two X-frames, above an X-frame two frame plates bottom and The top of two frame plates of an X-frame is rotatedly connected below；Each uppermost X-frame of complex wrapping frame passes through a pin Nail is rotatably arranged on a corresponding mounting rod；V-arrangement gangbar is to be rotatedly connected to combine by the abutting end of two frame plates to be formed, I.e. the abutting end of two frame plates of V-arrangement gangbar forms hinged end；Two framves of one X-frame in the top in each complex wrapping frame The bottom of two frame plates in the top and V-arrangement gangbar of plate is rotatedly connected；The bottom of drive link and a corresponding V-arrangement gangbar Hinged end be rotatedly connected；Support feet is provided with horizontal-extending kidney-shaped slide opening, a bottom X-frame in complex wrapping frame Two frame plates, the bottom of one of frame plate and support feet are rotatedly connected, and the bottom of another frame plate is provided with level to roller bolt Axle, the roller bolt axle position is in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, bearing pin is rolled along kidney-shaped Slide opening slides.
In such scheme, each mounting rod is horizontal sliding bar；Drive link is set along plumb line direction.
In such scheme, the bottom of two frame plates and a corresponding drive link is realized with a bearing pin in V-arrangement gangbar Be hinged and connected；
In such scheme, pin is arranged at the outer end center of a corresponding mounting rod, and two frame plates of the X-frame are around the pin Rotate.
The present invention has positive effect：It is relatively reasonable in structure compact, it can realize and largely fold, be easy to take Band.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram that the present invention is in folded state；
Fig. 2 is a kind of dimensional structure diagram that folding landing leg shown in Fig. 1 is in extended configuration；
Fig. 3 is in a kind of dimensional structure diagram in folded state using the made robot of folding landing leg shown in Fig. 1；
Fig. 4 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 3；
Fig. 5 is a kind of explosive view of robot shown in Fig. 3；
Fig. 6 is a kind of half section structure diagram of robot shown in Fig. 3；
Fig. 7 is a kind of dimensional structure diagram that robot shown in Fig. 3 is in extended configuration.
Reference is：Housing 1, hemispherical observation window 11, horizontal slide opening 12, vertical sleeve pipe 13, vertical slide opening 131, rolling Axle 132, photographing module 2, cradle head mechanism 21, part 211 is rotated horizontally, rotate horizontally motor 212, vertical rotary part 213, hang down Straight rotary drive motor 214, camera 22, folding landing leg 3, frame plate 30, complex wrapping frame 31, X-frame 311, V-arrangement gangbar 32, drive link 33, mounting rod 34, horizontal screw 341, support feet 35, kidney-shaped slide opening 351, bearing pin 352 is rolled, strengthen connection rod set Part 36, first connecting rod 361, second connecting rod 363, traveller portion 364, drive mechanism 4 is stretched, stretch motor 41, drive shaft 411, drive output shaft 412, transmission component 5, drive bevel gear 51, driving tooth wheel portion 511, horizontal stud portion 512, from mantle tooth Wheel 52, driven tooth wheel portion 521, installation portion 522, vertical stud portion 523, vertical slide bar 53, vertical screw 531, connecting portion 532, Horizontal drive bar assembly 54, main drive rod 541, slip projection 542, secondary drive rod 543, center slide opening 544.
Embodiment
（Embodiment 1, folding landing leg）
The present embodiment is a kind of folding landing leg 3 for robot, is combined as shown in Fig. 1 to Fig. 2, including by multiple X-frames 311 The complex wrapping frame 31 of formation, with complex wrapping frame topmost an X-frame 311 be connected V-arrangement gangbar 32, with V-arrangement connection Lever center of rotation connected drive link 33, mounting rod 34 and the support feet 35 being arranged on below complex wrapping frame；
Each X-frame 311 is to be hinged and connected to be formed by respective middle part by two frame plates 30, in adjacent two X-frames, above The top of two frame plates of the bottom of two frame plates of one X-frame and a following X-frame is rotatedly connected；
Each mounting rod 34 is horizontal sliding bar；Each uppermost X-frame of complex wrapping frame is arranged on by a pin rotation On a corresponding mounting rod, in the present embodiment, the pin is arranged at the outer end center of a corresponding mounting rod, the X-frame Two frame plates are around the pin rotation.
V-arrangement gangbar is to be rotatedly connected to combine by the abutting end of two frame plates 30 to be formed, namely two framves of V-arrangement gangbar The abutting end of plate forms hinged end；The top of two frame plates of one X-frame in the top and V-arrangement gangbar in each complex wrapping frame In the bottoms of two frame plates be rotatedly connected；
Drive link is set along plumb line direction；The bottom of drive link and the hinged end of a corresponding V-arrangement gangbar are rotatedly connected, this In embodiment, the bottom of two frame plates and a corresponding drive link is hinged and connected with what a bearing pin was realized in V-arrangement gangbar.
Support feet is provided with horizontal-extending kidney-shaped slide opening 351, two framves of a bottom X-frame in complex wrapping frame Plate, the bottom of one of frame plate and support feet are rotatedly connected, the bottom of another frame plate be provided with it is horizontal to rolling bearing pin 352, The rolling bearing pin 352 is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, bearing pin is rolled along kidney-shaped Slide opening slides.
When drive link is moved up or declined under external force, the V-arrangement gangbar of Foldable supporting leg, due to each folding landing leg The X-frame of the top one be arranged on mounting rod on, in specific application, the mounting rod keep level is highly constant, so whole Individual folding landing leg stretches or folded up with the stretching or compression of V-arrangement gangbar；When folding landing leg is folded, integrally account for It is smaller with space, it is easy to carry about with one.
（Application examples 1）
The application example is to use a kind of portable underwater robot made of above-described embodiment 1, as shown in Fig. 3 to Fig. 7, including this Body and supporting mechanism；Body includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes folding landing leg 3 and stretched Open up drive mechanism 4；The quantity of folding landing leg is two and is arranged on housing both sides, and each folding landing leg folds along plumb line direction to be stretched Exhibition；Drive mechanism is stretched while driving two folding landing legs along plumb line direction synchronous folding or stretching, extension, synchronous drive two Individual folding landing leg is closer to each other or remote.
The bottom of housing is provided with transparent hemispherical observation window 11；Photographing module, which includes being built in housing, has driving The cradle head mechanism 21 of motor 211, the camera 22 being arranged on cradle head mechanism and the illuminating lamp being arranged on cradle head mechanism（On figure It is not drawn into）.Camera 22 is fixedly installed on the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.
Each folding landing leg 3 includes being combined in the complex wrapping frame 31 formed and complex wrapping frame most by multiple X-frames 311 The connected V-arrangement gangbar 32 of an X-frame 311, the drive link 33, the mounting rod 34 that are connected with V-arrangement gangbar center of rotation above And it is arranged on the support feet 35 below complex wrapping frame；
Each X-frame 311 is to be hinged and connected to be formed by respective middle part by two frame plates 30, in adjacent two X-frames, above The top of two frame plates of the bottom of two frame plates of one X-frame and a following X-frame is rotatedly connected；
The wall body of housing opposite sides is provided with two horizontal slide openings 12, and each mounting rod 34 is to be slidably arranged in a corresponding level Housing is exposed in horizontal sliding bar in slide opening, the outer end of each mounting rod；Each uppermost X-frame of complex wrapping frame passes through one Pin rotation is arranged on a corresponding mounting rod, and in the application example, the pin is arranged in the outer end of a corresponding mounting rod At the heart, two frame plates of the X-frame are around the pin rotation.This structure causes each mounting rod can be in a corresponding horizontal slide opening Reciprocatingly slide in the horizontal direction.
V-arrangement gangbar is to be rotatedly connected to combine by the abutting end of two frame plates 30 to be formed, namely two framves of V-arrangement gangbar The abutting end of plate forms hinged end；The top of two frame plates of one X-frame in the top and V-arrangement gangbar in each complex wrapping frame In the bottoms of two frame plates be rotatedly connected；
Drive link is set along plumb line direction；The bottom of drive link and the hinged end of a corresponding V-arrangement gangbar are rotatedly connected, this In application examples, the bottom of two frame plates and a corresponding drive link is hinged and connected with what a bearing pin was realized in V-arrangement gangbar.
Support feet is provided with horizontal-extending kidney-shaped slide opening 351, two of a bottom X-frame in each complex wrapping frame Frame plate, the bottom of one of frame plate and support feet are rotatedly connected, and the bottom of another frame plate is provided with level to rolling bearing pin 352, the rolling bearing pin 352 is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, bearing pin edge is rolled Kidney-shaped slide opening slides.
In order to increase by the intensity and stability of two folding landing legs, two enhancing connection rod sets are additionally provided between two support feets Part 36.Each enhancing link assembly includes the first connecting rod 361 being fixedly installed in a support feet and is fixedly installed on another Second connecting rod 363 in support feet, first connecting rod are provided with slide opening portion, and second connecting rod is provided with traveller portion 364, the traveller of second connecting rod Portion is located in the slide opening portion of first connecting rod.When this structure causes two folding landing legs away from each other, the traveller portion of second connecting rod is still In the slide opening of first connecting rod, namely cause it is each enhancing link assembly in first connecting rod and second connecting rod formed it is telescopic Connection, to adapt to the away from each other and close of two folding landing legs.
Stretching drive mechanism 4 includes a stretching, extension motor 41 and two transmission components 5, and stretching, extension motor passes through two Individual two drive links 33 of transmission component synchronous drive move back and forth along plumb line direction, are folded so as to realize to fold or deploy two Supporting leg.
Stretching, extension motor 41 is a double shaft-protruding type motor, and the both ends of its drive shaft 411 are stretched out outside motor, so as to Form two driving output shafts 412.
Each transmission component 5 includes drive bevel gear 51, driven wheel of differential 52, vertical slide bar 53 and horizontal drive bar assembly 54；
Drive bevel gear includes driving tooth wheel portion 511 and horizontal stud portion 512, and driving tooth wheel portion is fixedly installed on a corresponding drive On dynamic output shaft, and the reciprocating rotation on vertical guide；One side of each mounting rod close to stretching, extension motor is provided with and horizontal spiral shell The horizontal screw 341 of post portion adaptation, horizontal stud portion is located in the horizontal screw of a corresponding mounting rod；It is main in the application example The driving tooth wheel portion of dynamic bevel gear and horizontal stud portion are made into integration, and both are synchronized with the movement；When drive bevel gear is extended driving During motor driven, horizontal stud portion drives a corresponding mounting rod reciprocating rotation by screw drive mode so that the mounting rod Moved back and forth along horizontal slide opening, realize that the both sides of two mounting rods towards housings elongate or shorten, so as to drive two folding landing legs It is located remotely from each other or approaches.
Case top is provided with two vertical sleeve pipes 13 with vertical slide opening 131, and the bottom of each vertical sleeve pipe is fixed with One roller bearing 132；Each driven wheel of differential includes driven tooth wheel portion 521, installation portion 522 and vertical stud portion 523；Driven tooth wheel portion exists Reciprocating rotation on horizontal plane, installation position is in the bottom in vertical stud portion and in a corresponding roller bearing；In the application example, Driven tooth wheel portion, installation portion and the vertical stud portion of each driven wheel of differential are made into integration.When each drive bevel gear rotates, phase is driven A driven wheel of differential is answered to rotate, namely the corresponding driven tooth wheel portion of synchronous drive and vertical stud portion synchronous axial system.
In the application example, the outboard end of each horizontal slide opening and vertical slide opening is equipped with waterproof seal ring, so as to prevent liquid Entered through slide opening in housing.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod both sides, main drive Lever and secondary drive rod are horizontally disposed, and the outboard end of each secondary drive rod passes through pin and a corresponding drive link phase Even；The two side ends of main drive rod are equipped with the sliding projection 542 of evagination, and a side of the main drive rod of adjoining of each secondary drive rod is set There is center slide opening 544, each sliding projection inserts a corresponding center slide opening and can reciprocatingly slided along the center slide opening.Namely main drive Lever and two secondary drive rods form telescopic connection.When the both sides of two mounting rods towards housings elongate or shorten, by It can be reciprocatingly slided in the sliding projection of main drive rod along the center slide opening of secondary drive rod, so that horizontal drive bar assembly is whole Body horizontal length also elongates or shortens therewith.In the application example, horizontal drive bar assembly is located at the surface of housing.
Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and place is provided with and vertical in the bottom of vertical slide bar The vertical screw 531 of stud portion adaptation, the top of vertical slide bar is provided with the connecting portion 532 being connected with main drive rod；The application example In, the connecting portion is the collar being set on main drive rod.When driven wheel of differential rotates, its vertical stud portion passes through spiral shell Line type of drive drives corresponding vertical slide bar reciprocating rotation so that the vertical slide bar moves back and forth along vertical slide opening, realizes Horizontal drive bar assembly is driven to rise or move down, and then the drive link 33 in Foldable supporting leg.
In the application example, the drive bevel gear of stretching, extension motor synchronous drive two and two driven wheel of differential synchronous axial systems, two Individual horizontal stud portion drives two mounting rods synchronously overhanging or inside contract along horizontal slide opening, and then passes through folding landing leg and drive two pairs Drive rod is overhanging or inside contracts so that the distance between two folding landing legs increased or decrease；When the spacing increase of two folding landing legs, It is overall relatively stable, it is not easy to rock；When the spacing of two folding landing legs reduces, overall space-consuming reduces, and is easy to carry.
Two vertical stud portions drive two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drive each folding Drive link in folded supporting leg is moved up or declined；When drive link is moved up or declined, the V-arrangement gangbar of Foldable supporting leg, due to each The X-frame of the top one of folding landing leg is arranged on mounting rod, thus whole folding landing leg with V-arrangement gangbar stretching or Compress and stretch or fold up；When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom, so as to by housing Support so that hemispherical observation window can be higher by underwater mud face；When folding landing leg is folded, overall space-consuming compared with It is small, it is easy to carry about with one.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.And these The obvious changes or variations that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.

Claims (4)

  1. A kind of 1. folding landing leg for robot, it is characterised in that：Including combining the complex wrapping formed by multiple X-frames Frame, the V-arrangement gangbar with topmost an X-frame is connected in complex wrapping frame, the transmission that is connected with V-arrangement gangbar center of rotation Bar, mounting rod and the support feet being arranged on below complex wrapping frame；
    Each X-frame is to be hinged and connected to be formed by respective middle part by two frame plates, in adjacent two X-frames, above an X The top of two frame plates of the bottom of two frame plates of shape frame and a following X-frame is rotatedly connected；
    Each uppermost X-frame of complex wrapping frame is arranged on a corresponding mounting rod by a pin rotation；
    V-arrangement gangbar is to be rotatedly connected to combine by the abutting end of two frame plates to be formed, namely the neighbour of two frame plates of V-arrangement gangbar Connect end and form hinged end；In each complex wrapping frame topmost an X-frame two frame plates top and V-arrangement gangbar in two The bottom of individual frame plate is rotatedly connected；
    The bottom of drive link and the hinged end of a corresponding V-arrangement gangbar are rotatedly connected；
    Support feet is provided with horizontal-extending kidney-shaped slide opening, two frame plates of a bottom X-frame in complex wrapping frame, wherein The bottom of one frame plate and support feet are rotatedly connected, and the bottom of another frame plate is provided with horizontal to rolling bearing pin, the rolling bearing pin In a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, roll bearing pin and slided along kidney-shaped slide opening.
  2. 2. the folding landing leg according to claim 1 for robot, it is characterised in that：Each mounting rod is horizontal sliding bar； Drive link is set along plumb line direction.
  3. 3. the folding landing leg according to claim 2 for robot, it is characterised in that：Two frame plates in V-arrangement gangbar Bottom with a corresponding drive link is hinged and connected with what a bearing pin was realized.
  4. 4. the folding landing leg according to claim 3 for robot, it is characterised in that：Pin is arranged on a corresponding peace At the outer end center for filling bar, two frame plates of the X-frame are around the pin rotation.
CN201710635071.2A 2017-07-30 2017-07-30 A kind of folding landing leg for robot Withdrawn CN107398890A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710635071.2A CN107398890A (en) 2017-07-30 2017-07-30 A kind of folding landing leg for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710635071.2A CN107398890A (en) 2017-07-30 2017-07-30 A kind of folding landing leg for robot

Publications (1)

Publication Number Publication Date
CN107398890A true CN107398890A (en) 2017-11-28

Family

ID=60402507

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710635071.2A Withdrawn CN107398890A (en) 2017-07-30 2017-07-30 A kind of folding landing leg for robot

Country Status (1)

Country Link
CN (1) CN107398890A (en)

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Application publication date: 20171128

WW01 Invention patent application withdrawn after publication