CN201423657Y - robot leg mechanism - Google Patents
robot leg mechanism Download PDFInfo
- Publication number
- CN201423657Y CN201423657Y CN2009201196644U CN200920119664U CN201423657Y CN 201423657 Y CN201423657 Y CN 201423657Y CN 2009201196644 U CN2009201196644 U CN 2009201196644U CN 200920119664 U CN200920119664 U CN 200920119664U CN 201423657 Y CN201423657 Y CN 201423657Y
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- CN
- China
- Prior art keywords
- hinged
- motion platform
- rods
- motor
- robot leg
- 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.)
- Expired - Lifetime
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 210000002414 leg Anatomy 0.000 description 11
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Abstract
A robot leg mechanism comprises a base and a motion platform. The base is connected with the motion platform through a transmission mechanism which comprises a motor fixed on the base and a motion unit connected with the motor; the motion unit comprises a first motion unit which can lead the robot leg mechanism to swing backwards and a second motion mechanism which can press down or lift up the motion platform; the first motion unit comprises a supporting rod with the top end fixed on the base, a first screw rod mechanism connected with a first motor and a first constant length rod hinged withthe motion platform; the first constant length rod comprises a straight rod part and a projection part protruding outwards, the supporting rod is hinged with the straight rod part, and the first screw rod mechanism is hinged with the projection part; the second unit comprises a second screw rod mechanism connected with the second motor and a second constant length rod hinged with the motion platform, and the second screw rod mechanism is hinged with the second constant length rod. The robot leg mechanism has the advantages of simple structure, strong load-bearing capacity, smaller volume, andgood processing and assembly manufacturability.
Description
Technical field
The utility model relates to a kind of leg structure of anthropomorphic robot.
Background technology
The most serial mechanisms that adopt of anthropomorphic robot, have that working space is big, motion flexibly and control advantages such as easy, but part also comes with some shortcomings: 1, the quality of subordinate's driver has become the load of higher level's driver, thereby increases motional inertia, has reduced driving force; 2, to many revolute pairs joint such as shoulder joint, hip joint etc., its motor function is only worked as at 3 specific directions (actuator axis) and physiognomy, and obvious micromotion appears on all the other directions, its flexibility, accuracy and stability have sizable gap with the people; 3, the many revolute pairs series connection joint size that takes up room is big and rigidity is little; 4, limb function is incomplete, adopt single revolute pair series connection as waist joint, compare different fully with people's waist joint, the motion that can only partly finish between upper limbs and lower limb is regulated, to reasonable compensating motion, regulate the robot balance, finish posture changing and guarantee that the functions such as stable operation of robot are all undesirable.Therefore, be difficult to adapt to the environment road surface of non-structure.
The utility model content
For overcoming the above-mentioned shortcoming of prior art, it is simple in structure that the utility model provides, and bearing capacity is strong, and volume is less, processing and the good robot leg mechanism of assembly process process.
Robot leg mechanism comprises pedestal and motion platform, and described pedestal is connected with described motion platform by transmission mechanism; Described transmission mechanism comprises motor that is fixed on the pedestal and the moving cell that is connected with described motor;
It is characterized in that: described moving cell comprise can make first moving cell that described robot leg mechanism swings backward and described motion platform is pressed down or on second moving cell carried;
Described first moving cell comprises that a top is fixed on the support bar on the described pedestal, is connected first screw body and one and the first hinged connecting-rods with constant lengh of described motion platform with described first motor; Described first connecting-rods with constant lengh comprises straight bar part and the projection part of outwards protruding, described support bar hinged with described straight bar part, and described first screw body and described projection part are hinged;
Described Unit second comprises second screw body that is connected with second motor and second connecting-rods with constant lengh hinged with described motion platform, and described second screw body and described second connecting-rods with constant lengh are hinged.
Further, be fixed with slide block on the described screw body, described slide block cooperates with the guide rail that is fixed on the screw body both sides, and described slide block is hinged with corresponding connecting-rods with constant lengh.
Further, first slide block of first moving cell is connected with described first connecting-rods with constant lengh by an interlock plate, and the top of described first slide block and interlock plate is hinged, and the bottom of described interlock plate and described projection part are hinged.
Further, described pedestal is connected with described motion platform by two group of second moving cell.
Further, described connecting-rods with constant lengh is connected with described motion platform by universal joint.
Further, the screw mandrel in the described screw body is connected with the output shaft of described motor, and the nut in the described screw body is connected with described slide block.
Further, described motor is a servomotor.
Technical conceive of the present utility model is: when described robot leg mechanism is swung backward, first servomotor just changes, drive first slide block and move downward, thereby the projection that drives first connecting-rods with constant lengh partly clockwise rotates, the straight bar part of first connecting-rods with constant lengh is swung backward; When the leg mechanism of swinging is backward resetted, make the counter-rotating of first servomotor, drive first slide block and move upward, thereby the projection that drives first connecting-rods with constant lengh partly rotates counterclockwise, the straight bar part of first connecting-rods with constant lengh is swung forward and is resetted.
When one end of motion platform was pressed down, second slide block of second moving cell moved downward under the effect of second servomotor, by second connecting-rods with constant lengh motion platform one end is pressed down; Make when carrying on the end of motion platform, second slide block of second moving cell moves upward under the effect of second servomotor, makes on motion platform one end by second connecting-rods with constant lengh and carries.
The utlity model has simple in structurely, bearing capacity is strong, and volume is less, processing and the good advantage of assembly process process.
Description of drawings
Fig. 1 is a schematic diagram of the present utility model
The specific embodiment
With reference to accompanying drawing, further specify the utility model:
Robot leg mechanism comprises pedestal 1 and motion platform 2, and described pedestal 1 is connected with described motion platform 2 by transmission mechanism; Described transmission mechanism comprises motor 41,42 that is fixed on the pedestal 1 and the moving cell that is connected with described motor 41,42;
Described moving cell comprise can make first moving cell that described robot leg mechanism swings backward and described motion platform is pressed down or on second moving cell carried;
Described first moving cell comprises that a top is fixed on the support bar 311 on the described pedestal 1, is connected first screw body 312 and one and the first hinged connecting-rods with constant lengh 313 of described motion platform 2 with described first motor 41; Described first connecting-rods with constant lengh 313 comprises straight bar part 3131 and the projection part of outwards protruding 3132, described support bar 311 hinged with described straight bar part 3131, and described first screw body 312 is hinged with described projection part 3132;
Described Unit second comprises second screw body 321 that is connected with second motor 42 and second connecting-rods with constant lengh 322 hinged with described motion platform 2, and described second screw body 321 is hinged with described second connecting-rods with constant lengh 322.
Be fixed with slide block on the described screw body, described slide block cooperates with the guide rail that is fixed on the screw body both sides, and described slide block is hinged with corresponding connecting-rods with constant lengh.
Described pedestal 1 is connected with described motion platform 2 by two group of second moving cell.
Described connecting-rods with constant lengh 313,322 is connected with described motion platform 2 by universal joint.
Screw mandrel in the described screw body is connected with the output shaft of described motor, and the nut in the described screw body is connected with described slide block.
Described motor is a servomotor.
Technical conceive of the present utility model is: when described robot leg mechanism is swung backward, first servomotor 41 is just changeing, driving first slide block 314 moves downward, thereby the projection part 3132 that drives first connecting-rods with constant lengh 313 clockwise rotates, and the straight bar part 3131 of first connecting-rods with constant lengh 313 is swung backward; When the leg mechanism of swinging is backward resetted, make 41 counter-rotatings of first servomotor, drive first slide block 314 and move upward, thereby the projection part 3132 that drives first connecting-rods with constant lengh 313 rotates counterclockwise, the straight bar part 3131 of first connecting-rods with constant lengh 313 is swung forward and is resetted.
When one end of motion platform 2 was pressed down, second slide block 323 of second moving cell moved downward under the effect of second servomotor 42, by second connecting-rods with constant lengh 322 motion platform 2 one ends is pressed down; Make when carrying on the end of motion platform 2, second slide block 322 of second moving cell moves upward under the effect of second servomotor 42, makes on motion platform 2 one ends by second connecting-rods with constant lengh 322 and carries.
The described content of this specification embodiment only is enumerating the way of realization of utility model design; protection domain of the present utility model should not be regarded as only limiting to the concrete form that embodiment states, protection domain of the present utility model also reach in those skilled in the art according to the utility model design the equivalent technologies means that can expect.
Claims (7)
1, robot leg mechanism comprises pedestal and motion platform, and described pedestal is connected with described motion platform by transmission mechanism; Described transmission mechanism comprises motor that is fixed on the pedestal and the moving cell that is connected with described motor;
It is characterized in that: described moving cell comprise can make first moving cell that described robot leg mechanism swings backward and described motion platform is pressed down or on second moving cell carried;
Described first moving cell comprises that a top is fixed on the support bar on the described pedestal, is connected first screw body and one and the first hinged connecting-rods with constant lengh of described motion platform with described first motor; Described first connecting-rods with constant lengh comprises straight bar part and the projection part of outwards protruding, described support bar hinged with described straight bar part, and described first screw body and described projection part are hinged;
Described Unit second comprises second screw body that is connected with second motor and second connecting-rods with constant lengh hinged with described motion platform, and described second screw body and described second connecting-rods with constant lengh are hinged.
2, robot leg mechanism as claimed in claim 1 is characterized in that: be fixed with slide block on the described screw body, described slide block cooperates with the guide rail that is fixed on the screw body both sides, and described slide block is hinged with corresponding connecting-rods with constant lengh.
3, robot leg mechanism as claimed in claim 2, it is characterized in that: first slide block of first moving cell is connected with described first connecting-rods with constant lengh by an interlock plate, the top of described first slide block and interlock plate is hinged, and the bottom of described interlock plate and described projection part are hinged.
4, robot leg mechanism as claimed in claim 3 is characterized in that: described pedestal is connected with described motion platform by two group of second moving cell.
5, as the described robot leg mechanism of one of claim 1-4, it is characterized in that: described connecting-rods with constant lengh is connected with described motion platform by universal joint.
6, robot leg mechanism as claimed in claim 5 is characterized in that: the screw mandrel in the described screw body is connected with the output shaft of described motor, and the nut in the described screw body is connected with described slide block.
7, robot leg mechanism as claimed in claim 6 is characterized in that: described motor is a servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201196644U CN201423657Y (en) | 2009-05-08 | 2009-05-08 | robot leg mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201196644U CN201423657Y (en) | 2009-05-08 | 2009-05-08 | robot leg mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201423657Y true CN201423657Y (en) | 2010-03-17 |
Family
ID=42023093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201196644U Expired - Lifetime CN201423657Y (en) | 2009-05-08 | 2009-05-08 | robot leg mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201423657Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101554893B (en) * | 2009-05-08 | 2011-04-06 | 浙江工业大学 | Robot leg mechanism |
| CN108818527A (en) * | 2018-06-06 | 2018-11-16 | 华强方特（深圳）科技有限公司 | A kind of emulated robot leg device |
-
2009
- 2009-05-08 CN CN2009201196644U patent/CN201423657Y/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101554893B (en) * | 2009-05-08 | 2011-04-06 | 浙江工业大学 | Robot leg mechanism |
| CN108818527A (en) * | 2018-06-06 | 2018-11-16 | 华强方特（深圳）科技有限公司 | A kind of emulated robot leg device |
| CN108818527B (en) * | 2018-06-06 | 2020-08-21 | 华强方特（深圳）科技有限公司 | Leg device of simulation robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100317 Effective date of abandoning: 20090508 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20100317 Effective date of abandoning: 20090508 |