CN109333515A - A kind of robot ambulation limb - Google Patents
A kind of robot ambulation limb Download PDFInfo
- Publication number
- CN109333515A CN109333515A CN201811508177.7A CN201811508177A CN109333515A CN 109333515 A CN109333515 A CN 109333515A CN 201811508177 A CN201811508177 A CN 201811508177A CN 109333515 A CN109333515 A CN 109333515A
- Authority
- CN
- China
- Prior art keywords
- mounting
- mounting plate
- robot ambulation
- limb
- plate
- 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.)
- Pending
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Classifications
-
- 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
-
- 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
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot ambulation limbs, including the first mounting plate and the second mounting plate and installation gap, install and are equipped with drive shaft at the top of gap, the one end of mounting blocks is fixed with mounting rod；Installation is mounted with loading plate in gap, and the one end of loading plate is equipped with testing agency, and the bottom of loading plate is equipped with cylinder, and the one end of cylinder is equipped with firm portion；There is controller in the side in firm portion.The present invention can detect that the distance change on the ground that loading plate distance is trampled is excessive or when apart from change dramatically in testing agency, controller can control cylinder and the firm portion of one end is driven to apply reaction force to the ground trampled, keep the stability of walking limb, the damage because of robot ambulation limb caused by cannot keep stabilization is avoided, maintenance and maintenance cost are reduced；Spring can be fixed between the first installing port and the second mounting hole, adapt to the ground of fluctuations, enhanced convenience.
Description
Technical field
The present invention relates to a kind of walking mechanism of robot, in particular to a kind of robot ambulation limb.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work；The executing agency of robot, that is, robot sheet
Body, arm generally use space open chain connecting rod mechanism, and kinematic pair (revolute pair or prismatic pair) therein is frequently referred to joint, joint
Number is usually the number of degrees of freedom, of robot.According to the difference of joint configuration and motion coordinates form, robot is executed
Mechanism can be divided into the types such as Cartesian coordinate type, cylindrical coordinate type, polar coordinates type and joint coordinate type.For the sake of personification,
The related position of robot body is often referred to as pedestal, waist, arm, wrist, hand (clamper or end effector)
With running part (for mobile robot) etc..
Machine man-based development is very rapid at present, and various robots all interview one after another, but existing machine
The walking limb of people especially robot can generate the unstable situation of walking under some specific environment, more especially need face
To the robot of complex environment, walking limb often causes walking unstable because of complex environment and the situation of burst, no
But it will lead to greatly security risk, and often the walking limb of especially robot of robot damaged, be unfavorable for
Reuse to robot, and improve the maintenance and maintenance cost of robot.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the defects of the prior art, provide a kind of robot ambulation limb.
In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:
A kind of robot ambulation limb of the present invention, including the first mounting plate and the second mounting plate and affiliated first mounting plate with
The installation gap formed between second mounting plate is equipped with drive shaft at the top of the installation gap, the drive shaft
Both ends are distinguished in the top of first mounting plate and second mounting plate, and the drive shaft is fixed with mounting plate, the peace
The one end of loading board is fixed with interconnecting piece, and an avris on the interconnecting piece top is equipped with mounting blocks, one end of the mounting blocks
Portion is fixed with mounting rod；Loading plate is mounted in the installation gap, the one end of the loading plate is equipped with detection machine
Structure, the bottom of the loading plate are equipped with cylinder, and the one end of the cylinder is equipped with firm portion；The side in the firm portion has
Controller.
As a preferred technical solution of the present invention, the first mounting base is installed in the installation gap, described first
Inside in mounting base for the first mounting hole and first mounting hole is equipped with spring；The side of first mounting base is the
Two mounting bases, the interior inside for the second mounting hole and second mounting hole of second mounting base are equipped with electric telescopic rod.
As a preferred technical solution of the present invention, an avris of the mounting rod is provided with the first installing port and second
Installing port.
As a preferred technical solution of the present invention, the bottom of first mounting plate and second mounting plate is fixed
There is support portion；Mounting portion installing port is installed at the top of the interconnecting piece.
As a preferred technical solution of the present invention, the testing agency is distance-sensor.
As a preferred technical solution of the present invention, the testing agency is electrically connected the controller, the control
Device is electrically connected the cylinder.
The beneficial effects obtained by the present invention are as follows being: the present invention can detect the ground that loading plate distance is trampled in testing agency
The distance change in face is excessive or when apart from change dramatically, and controller can control cylinder and drive the firm portion of one end to trampling
Ground applies reaction force, keeps the stability of walking limb, avoids because of robot ambulation limb caused by cannot keep stabilization
Damage, reduces maintenance and maintenance cost；Spring can be fixed between the first installing port and the second mounting hole, adapt to rise and fall
The ground of variation, enhanced convenience.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is one of structural schematic diagram of the invention；
Fig. 2 is second structural representation of the invention；
Fig. 3 is the structural schematic diagram of mounting rod of the invention；
In figure: 1, the first mounting plate；2, the second mounting plate；12, gap is installed；1201, drive shaft；1202, support portion；3,
Mounting plate；4, interconnecting piece；401, mounting portion installing port；5, mounting blocks；6, mounting rod；601, the first installing port；602, the second peace
Fill mouth 7, the first mounting base；701, the first mounting hole；702, spring；8, the second mounting base；801, the second mounting hole；802, electronic
Telescopic rod；9, loading plate；901, testing agency；902, cylinder；903, portion is consolidated；904, controller.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
As shown in Figure 1-3, the present invention provides a kind of robot ambulation limb, including the first mounting plate 1 and the second mounting plate 2 with
And the installation gap 12 formed between affiliated first mounting plate 1 and the second mounting plate 2, the top in installation gap 12 are equipped with driving
The both ends of axis 1201, drive shaft 1201 are distinguished in the top of the first mounting plate 1 and the second mounting plate 2, and drive shaft 1201 is fixed with
Mounting plate 3, the one end of mounting plate 3 are fixed with interconnecting piece 4, and an avris on 4 top of interconnecting piece is equipped with mounting blocks 5, mounting blocks 5
One end be fixed with mounting rod 6；Installation is mounted with loading plate 9 in gap 12, and the one end of loading plate 9 is equipped with detection
Mechanism 901, the bottom of loading plate 9 are equipped with cylinder 902, and the one end of cylinder 902 is equipped with firm portion 903；Firm portion 903
There is controller 904 in side.
Further, install in gap 12 and first mounting base 7 be installed, in the first mounting base 7 for the first mounting hole 701 and
The inside of first mounting hole 701 is equipped with spring 702, spring 702 can be fixed on the first installing port and the second mounting hole it
Between, adapt to the ground of fluctuations, enhanced convenience；The side of first mounting base 7 is the second mounting base 8, in the second mounting base 8
Inside for the second mounting hole 801 and the second mounting hole 801 is equipped with electric telescopic rod 802, can be with 602 phase of the second installing port
Connection, when needed, keeps the stability of walking limb, avoids waiting fortuitous events caused by can not standing.
One avris of mounting rod 6 is provided with the first installing port 601 and the second installing port 602, spring 702 can be fixed on
Between first installing port and the second mounting hole, the ground of fluctuations, enhanced convenience are adapted to；It is second in second mounting base 8
The inside of mounting hole 801 and the second mounting hole 801 is equipped with electric telescopic rod 802, can be connected with the second installing port 602,
When needed, the stability for keeping walking limb avoids waiting fortuitous events caused by can not standing.
The bottom of first mounting plate 1 and the second mounting plate 2 is fixed with support portion 1202, facilitates the walking of walking limb；Connection
The top in portion 4 is equipped with mounting portion installing port 401, in order to which the components such as the main body of robot are connected to a fixed.
Testing agency 901 be distance-sensor, testing agency 901 detect the ground that 9 distance of loading plate is trampled away from
From change it is excessive or with a distance from change dramatically when, controller 904 can control cylinder 902 and drive the firm portion 903 of one end to stepping on
The ground stepped on applies reaction force, keeps the stability of walking limb.
Testing agency 901 is electrically connected controller 904, and controller 904 is electrically connected cylinder 902, examines in testing agency 901
The distance change for measuring the ground that 9 distance of loading plate is trampled is excessive or when apart from change dramatically, and controller 904 can control gas
Cylinder 902 drives the firm portion 903 of one end to apply reaction force to the ground trampled, and keeps the stability of walking limb.
Specifically, can testing agency 901 detect the ground that 9 distance of loading plate is trampled distance change it is excessive or away from
When from change dramatically, controller 904 can control cylinder 902 and the firm portion 903 of one end is driven to apply instead to the ground trampled
Active force keeps the stability of walking limb, avoids the damage because of robot ambulation limb caused by cannot keep stabilization, reduces
Maintenance and maintenance cost；Spring 702 can be fixed between the first installing port and the second mounting hole, adapt to the ground of fluctuations
Face, enhanced convenience；Electric expansion is installed for the inside of the second mounting hole 801 and the second mounting hole 801 in second mounting base 8
Bar 802 can be connected with the second installing port 602, when needed, keep the stability of walking limb, avoid not standing
Caused equal fortuitous events.
The present invention can testing agency 901 detect the ground that 9 distance of loading plate is trampled distance change it is excessive or away from
When from change dramatically, controller 904 can control cylinder 902 and the firm portion 903 of one end is driven to apply instead to the ground trampled
Active force keeps the stability of walking limb, avoids the damage because of robot ambulation limb caused by cannot keep stabilization, reduces
Maintenance and maintenance cost；Spring 702 can be fixed between the first installing port and the second mounting hole, adapt to the ground of fluctuations
Face, enhanced convenience.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. a kind of robot ambulation limb, which is characterized in that including the first mounting plate (1) and the second mounting plate (2) and affiliated
The installation gap (12) formed between one mounting plate (1) and second mounting plate (2), the top peace of installation gap (12)
Equipped with drive shaft (1201), first mounting plate (1) and second mounting plate are distinguished in the both ends of the drive shaft (1201)
(2) in top, the drive shaft (1201) is fixed with mounting plate (3), and the one end of the mounting plate (3) is fixed with interconnecting piece
(4), an avris on interconnecting piece (4) top is equipped with mounting blocks (5), and the one end of the mounting blocks (5) is fixed with installation
Bar (6)；It is mounted with loading plate (9) in the installation gap (12), the one end of the loading plate (9) is equipped with detection machine
The bottom of structure (901), the loading plate (9) is equipped with cylinder (902), and the one end of the cylinder (902) is equipped with firm portion
(903)；The side of the firm portion (903) has controller (904)；The first mounting base is installed in the installation gap (12)
(7), spring is installed for the inside of the first mounting hole (701) and first mounting hole (701) in first mounting base (7)
(702)；The side of first mounting base (7) is the second mounting base (8).
2. a kind of robot ambulation limb according to claim 1, which is characterized in that be the in second mounting base (8)
The inside of two mounting holes (801) and second mounting hole (801) is equipped with electric telescopic rod (802).
3. a kind of robot ambulation limb according to claim 1, which is characterized in that an avris of the mounting rod (6) is set
It is equipped with the first installing port (601) and the second installing port (602).
4. a kind of robot ambulation limb according to claim 1, which is characterized in that install at the top of the interconnecting piece (4)
There are mounting portion installing port (401).
5. a kind of robot ambulation limb according to claim 1, which is characterized in that the testing agency (901) is distance
Inductor.
6. a kind of robot ambulation limb according to claim 1, which is characterized in that the testing agency (901) electrically connects
Connect the controller (904).
7. a kind of robot ambulation limb according to claim 1, which is characterized in that the controller (904) is electrically connected
The cylinder (902).
8. a kind of robot ambulation limb according to claim 1, which is characterized in that first mounting plate (1) and described
The bottom of second mounting plate (2) is fixed with support portion (1202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508177.7A CN109333515A (en) | 2018-12-11 | 2018-12-11 | A kind of robot ambulation limb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508177.7A CN109333515A (en) | 2018-12-11 | 2018-12-11 | A kind of robot ambulation limb |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109333515A true CN109333515A (en) | 2019-02-15 |
Family
ID=65303732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811508177.7A Pending CN109333515A (en) | 2018-12-11 | 2018-12-11 | A kind of robot ambulation limb |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333515A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101244729A (en) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | Structure of robot simulating leg jump of kangaroo |
| EP2491911A2 (en) * | 2011-02-28 | 2012-08-29 | Jaroslaw Andrzej Frydel | Movement system of a device to support motion and rehabilitation, in particular for the rehabilitation of people with difficulty walking |
| CN103465989A (en) * | 2013-09-17 | 2013-12-25 | 哈尔滨工程大学 | Mechanism for simulating jumping of frog rear legs |
| CN104401419A (en) * | 2014-11-25 | 2015-03-11 | 北京工业大学 | Novel biped humanoid robot system based on pneumatic artificial muscles |
| CN105619403A (en) * | 2016-03-28 | 2016-06-01 | 汤志强 | Bionic mechanical arm |
| CN207595101U (en) * | 2017-12-03 | 2018-07-10 | 纪兰英 | A kind of robot leg firm organization |
| CN207843102U (en) * | 2018-01-24 | 2018-09-11 | 淮阴师范学院 | A kind of apery biped robot |
-
2018
- 2018-12-11 CN CN201811508177.7A patent/CN109333515A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101244729A (en) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | Structure of robot simulating leg jump of kangaroo |
| EP2491911A2 (en) * | 2011-02-28 | 2012-08-29 | Jaroslaw Andrzej Frydel | Movement system of a device to support motion and rehabilitation, in particular for the rehabilitation of people with difficulty walking |
| CN103465989A (en) * | 2013-09-17 | 2013-12-25 | 哈尔滨工程大学 | Mechanism for simulating jumping of frog rear legs |
| CN104401419A (en) * | 2014-11-25 | 2015-03-11 | 北京工业大学 | Novel biped humanoid robot system based on pneumatic artificial muscles |
| CN105619403A (en) * | 2016-03-28 | 2016-06-01 | 汤志强 | Bionic mechanical arm |
| CN207595101U (en) * | 2017-12-03 | 2018-07-10 | 纪兰英 | A kind of robot leg firm organization |
| CN207843102U (en) * | 2018-01-24 | 2018-09-11 | 淮阴师范学院 | A kind of apery biped robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190215 |