CN207029356U - A kind of leg mechanism of quadruped robot - Google Patents
A kind of leg mechanism of quadruped robot Download PDFInfo
- Publication number
- CN207029356U CN207029356U CN201720933650.0U CN201720933650U CN207029356U CN 207029356 U CN207029356 U CN 207029356U CN 201720933650 U CN201720933650 U CN 201720933650U CN 207029356 U CN207029356 U CN 207029356U
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- China
- Prior art keywords
- leg
- quadrangle
- twin shaft
- sole
- digital rudder
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Abstract
The utility model discloses a kind of leg mechanism of quadruped robot, including quadrangle drive mechanism, adaptive vola mechanism, the quadrangle drive mechanism includes parallel-crank mechanism, the second twin shaft digital rudder controller and the first twin shaft digital rudder controller, the rear end of the parallel-crank mechanism and the output shaft drive connection of the second twin shaft digital rudder controller, the housing of the second twin shaft digital rudder controller pass through connecting bracket and the output shaft drive connection of the first twin shaft digital rudder controller；Shown adaptive vola mechanism from top to bottom includes the upper sole and sole of connection row quadrangular mechanism end, it is connected between the upper sole and sole by some equally distributed first hexagon socket head cap screws, damping spring is cased with every first hexagon socket head cap screw；Every first hexagon socket head cap screw is flexibly connected by plain radial bearing with the upper sole.The utility model is advantageous to the adjustment of robot pose, improves robot to the adaptability of complicated ground and the life-span of robot component.
Description
Technical field
The utility model quadruped robot field, more particularly to a kind of leg mechanism of quadruped robot.
Background technology
The design of quadruped robot leg has become a vital task of quadruped robot design, its 26S Proteasome Structure and Function shadow
Ring kinetic stability and the flexibility of robot, and the adaptability to complex environment.Traditional method is typically to be designed
For rigid body, robot is without any buffer unit and directly and ground shock.This design will reduce robot component
It is life-span, irregular to shake the control device that also damage robot.In addition, current most of legged type robot leg designs are numerous
It is trivial, it is faced with the problems such as joint quality is big, range of movement is small, driving force is insufficient.So it is strong to design a kind of adaptive ability,
Stability is high, and quality is smaller, easy to adjust quick, portable good, and the elastic leg mechanism for being easy to safeguard is necessary.
Utility model content
The leg mechanism of quadruped robot of the present utility model aims to overcome that the deficiencies in the prior art, carries
There are two frees degree for one kind, using parallel-crank mechanism and the leg machine of the quadruped robot of adaptive vola mechanism
Structure, stability poor, quality big the problem of poor to solve the leg mechanism adaptive ability of quadruped robot.
New technical scheme is realized in used by above-mentioned technical problem to be solved in the utility model：
A kind of leg mechanism of quadruped robot, including quadrangle drive mechanism, it is fixed on quadrangle drive mechanism end
Adaptive vola mechanism,
Described quadrangle drive mechanism includes parallel-crank mechanism, the horizontally disposed second twin shaft numeral rudder of output shaft
The first twin shaft digital rudder controller that machine and output shaft are vertically arranged, the rear end of the parallel-crank mechanism and the second twin shaft numeral rudder
The output shaft drive connection of machine, the housing of the second twin shaft digital rudder controller pass through connecting bracket and the first twin shaft digital rudder controller
Output shaft drive connection；
The adaptive vola mechanism from top to bottom includes the upper sole and sole of connection row quadrangular mechanism end, institute
State and be connected between sole and sole by some equally distributed first hexagon socket head cap screws, every first hexagon socket head cap screw
On be cased with damping spring between upper sole and sole；Every first hexagon socket head cap screw passes through plain radial bearing
It is flexibly connected with the upper sole.
Further, the quadrangular mechanism includes two leg bars, four quadrangle bars, some copper posts, the quadrangle
Bar is parallel two-by-two, is parallel to each other between two leg bars and is connected by bilateral copper post, the top and bottom difference of two leg bars
It is movably hinged with one end of each quadrangle bar, wherein, it is hinged on the other end and the company of two quadrangle bars of two leg bar upper ends
Connect support to be movably hinged, middle part is then connected by bilateral copper post；It is hinged the another of two quadrangle bars of two leg bar lower ends
End and the second twin shaft digital rudder controller output shaft drive connection, middle part is then connected by bilateral copper post.
Further, described connecting bracket includes small U supports, short U supports, side cover support, U-bracket, the short U
Support one end and the first twin shaft digital rudder controller output shaft drive connection, described U-bracket and side cover support are each attached to described
The short U supports other end, wherein, the U-bracket with respectively with being hinged on two quadrangle bar moveable hinges of two leg bar upper ends
Connect, the side cover support is fixedly connected with the housing of the second twin shaft digital rudder controller, small U supports and the first twin shaft numeral
The housing of steering wheel is connected.
Further, the first described twin shaft digital rudder controller, the output shaft of the second twin shaft digital rudder controller are by provided with spiral shell
The disk of nail respectively by with short U supports and quadrangle bar drive connection.
Further, the leg bar passes through flange bearing, the second hexagon socket head cap screw, the second stop nut and each quadrangle bar
It is movably hinged；Described quadrangle bar is movably hinged by outer ring and roll assembly, axle sleeve and the second stop nut and U-bracket.
Further, the U-bracket is fixed on short U supports by the second hexagon socket head cap screw and the second stop nut；
Bilateral copper post described in every is fixedly connected with quadrangle bar and leg bar with axle sleeve by two pair of second hexagon socket head cap screw.
Further, the sole is installed on first hexagon socket head cap screw by variable-diameter block, in the variable-diameter block
Under be fixed with the first stop nut being engaged with first hexagon socket head cap screw.
Further, the bottom surface of described sole is evenly arranged with some replaceable slip-proofing devices, and described is anti-skidding
Part includes the slipmat of three pieces of columns, and the slipmat is uniformly distributed in triangle.
Further, described slipmat is using rubber antiskid pad, PVC slipmat, PU slipmat, AB glue slipmat, silicon
Glue slipmat or magic power glue slipmat.
Further, the hollow-out parts for mitigating deadweight are provided with described upper sole and sole.
Compared with prior art, the utility model can be by using parallelogram drive mechanism and adaptive vola mechanism
It is poor to solve the leg mechanism adaptive ability of general quadruped robot, the problem of stability is poor, and quality is big, be advantageous to robot
The adjustment of posture, robot is improved to the adaptability of complicated ground and the life-span of robot component.Adaptive ability is strong, regulation
It is convenient and swift, it is portable good, it is simple in construction easily to realize and be easy to safeguard.
Brief description of the drawings
Fig. 1 is the adaptive vola structural scheme of mechanism of the utility model embodiment.
Fig. 2 is the adaptive vola structural scheme of mechanism of the utility model embodiment.
Fig. 3 is the quadrangular mechanism schematic diagram of the utility model embodiment.
Fig. 4 is the overall structure diagram of the utility model embodiment.
The label declaration of parts in schematic diagram：
1- damping springs, the stop nuts of 2- first, 3- soles, 4- slipmat, 5- variable-diameter blocks, 6- plain radial bearings,
The upper soles of 7-, the hexagon socket head cap screws of 8- first, 9- quadrangle bars, 10- bilateral copper posts, 11- flange bearings, 12- leg bars, 13- second
Hexagon socket head cap screw, 14- outer ring and roll assemblies, 15- disks, 16- the first twin shaft digital rudder controllers, the small U supports of 17-, the short U supports of 18-,
19- side cover supports, 20-U shape supports, the stop nuts of 21- second, 22- axle sleeves, 23- the second twin shaft digital rudder controllers.
Embodiment
Below in conjunction with the accompanying drawings, the technical solution of the utility model is described further.
As shown in Figures 1 to 4, a kind of leg mechanism of quadruped robot, including quadrangle drive mechanism, it is fixed on four sides
The adaptive vola mechanism of shape drive mechanism end,
Described quadrangle drive mechanism includes parallel-crank mechanism, the horizontally disposed second twin shaft numeral rudder of output shaft
The first twin shaft digital rudder controller 16 that machine 23 and output shaft are vertically arranged, the rear end of the parallel-crank mechanism and the second twin shaft number
The output shaft drive connection of word steering wheel 23, the housing of the second twin shaft digital rudder controller 23 pass through connecting bracket and the first twin shaft number
The output shaft drive connection of word steering wheel 16；
The adaptive vola mechanism from top to bottom includes upper sole 7 and the sole 3 of circular plate-like shape structure, the upper pin
It is connected between plate 7 and sole 3 by three equally distributed first hexagon socket head cap screws 8, on every first hexagon socket head cap screw 8
The damping spring 1 being cased between upper sole 7 and sole 3；Every first hexagon socket head cap screw 8 passes through centripetal joint shaft
6 are held to be flexibly connected with the upper sole 7.
Specifically, the quadrangular mechanism includes two leg bars, four quadrangle bars, some copper posts, the quadrangle
Bar is parallel two-by-two, is parallel to each other between two leg bars and is connected by bilateral copper post, the top and bottom difference of two leg bars
It is movably hinged with one end of each quadrangle bar, wherein, it is hinged on the other end and the company of two quadrangle bars of two leg bar upper ends
Connect support to be movably hinged, middle part is then connected by bilateral copper post；It is hinged the another of two quadrangle bars of two leg bar lower ends
End and the output shaft drive connection of the second twin shaft digital rudder controller 23, middle part is then connected by bilateral copper post.Described adaptive foot
Bottom mechanism and described quadrangular mechanism are combined by two described leg bars.
Specifically, described connecting bracket includes small U supports 17, short U supports 18, side cover support 19, U-bracket 20,
Described short one end of U supports 18 and the output shaft drive connection of the first twin shaft digital rudder controller 16, described U-bracket 20 and side cover support
19 are each attached to the short other end of U supports 18, wherein, the U-bracket 20 with respectively with being hinged on two leg bar upper ends
Two quadrangle bars are movably hinged, and the side cover support 19 is fixedly connected with the housing of the second twin shaft digital rudder controller 23, institute
The housing that small U supports 17 are stated with the first twin shaft digital rudder controller 16 is connected, for by the first twin shaft digital rudder controller 16 and other machines
Device people's part is connected, such as the fuselage of robot.
Specifically, the first described twin shaft digital rudder controller 16, the output shaft of the second twin shaft digital rudder controller 23 are by setting
Have the disk of screw respectively by with short U supports 18 and quadrangle bar drive connection.
The leg bar 12 passes through flange bearing 11, the second hexagon socket head cap screw 13, the second stop nut 21 and each quadrangle bar 9
It is movably hinged；Described quadrangle bar 9 passes through outer ring and roll assembly 14, the stop nut 21 of axle sleeve 22 and second and U-bracket 20
It is movably hinged.The U-bracket 20 is fixed on short U supports 18 by the second hexagon socket head cap screw 13 and the second stop nut 21；
Bilateral copper post 10 described in every is fixedly connected with quadrangle bar 9 and leg bar by two pair of second hexagon socket head cap screw 13 with axle sleeve 22
12。
The sole 3 is installed on first hexagon socket head cap screw 8 by variable-diameter block 5, and the variable-diameter block is fixed about 5
There is the first stop nut 2 being engaged with first hexagon socket head cap screw 8, also effectively prevent from loosening after screwing.
The bottom surface of described sole 3 is evenly arranged with the slipmat 4 of three pieces of replaceable columns, for increase and road surface
Frictional force, the slipmat 4 is uniformly distributed in triangle, anti-skidding using rubber antiskid pad, PVC slipmat, PU slipmat, AB glue
Pad, silica-gel antiskid pad or magic power glue slipmat.
In addition, being provided with hollow-out parts on described upper sole 7 and sole 3, while mechanical strength is not influenceed, subtract
Light dead-weight.
In the present embodiment, described upper sole 7 and sole 3 are aluminum alloy materials, can further mitigate vola mechanism
Deadweight.
, can be by selecting the damping spring 1 of different coefficient of elasticity for different heavy burdens and pavement behavior, or pass through
First stop nut 2 suitably adjusts the distance of sole 7 and sole 3 to be adapted to, the concavo-convex ratio in larger or road surface of such as bearing a heavy burden
In more serious, the larger damping spring of coefficient of elasticity can be selected or make sole 7 and the spacing of sole 3 slightly larger, so as to effective
Absorb impulsive force.
1,3,4 operation principle and process for being expanded on further the present embodiment below in conjunction with the accompanying drawings：
Utility model is installed on to the fuselage of quadruped robot by small U supports 17, is using two twin shaft digital rudder controllers
Leg mechanism provides power, makes the motion of leg have two frees degree, leg is declined with swing and lifting.This reality
Quadrangular mechanism is used with new, 4 quadrangle bars 9 remain parallel two-by-two during leg exercise, add leg
The rigidity and stability in portion.The present embodiment uses adaptive vola, when the road surface of robot motion to out-of-flatness, sole 7
On three pieces of slipmat 4 can be that robot motion improves enough frictional force, and made by spring 1 and plain radial bearing 6
Relative motion between the upper hexagon socket head cap screw 8 of sole 7 and first, is adapted to various landform and can still be protected when running into small obstacle
It is parallel to hold fuselage.
Above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to embodiment of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.
All made within spirit of the present utility model and principle all any modification, equivalent and improvement etc., should be included in this reality
Within new scope of the claims.
Claims (10)
- A kind of 1. leg mechanism of quadruped robot, it is characterised in that：Including quadrangle drive mechanism, it is fixed on quadrangle driving The adaptive vola mechanism of mechanism end,Described quadrangle drive mechanism includes parallel-crank mechanism, the horizontally disposed second twin shaft digital rudder controller of output shaft And the first twin shaft digital rudder controller (16) for being vertically arranged of output shaft, the rear end of the parallel-crank mechanism and the second twin shaft (23) The output shaft drive connection of digital rudder controller (23), the housing of the second twin shaft digital rudder controller (23) pass through connecting bracket and first The output shaft drive connection of twin shaft digital rudder controller (16)；The adaptive vola mechanism from top to bottom includes the upper sole (7) and sole (3) of connection row quadrangular mechanism end, It is connected between the upper sole (7) and sole (3) by some equally distributed first hexagon socket head cap screws (8), every The damping spring (1) being cased with one hexagon socket head cap screw (8) between upper sole (7) and sole (3)；Six in every first Corner bolt (8) is flexibly connected by plain radial bearing (6) with the upper sole (7).
- 2. the leg mechanism of quadruped robot according to claim 1, it is characterised in that：The quadrangular mechanism includes two Root leg bar, four quadrangle bars, some copper posts, the quadrangle bar is parallel two-by-two, is parallel to each other and passes through between two leg bars Bilateral copper post is connected, and the one end of the top and bottom of two leg bars respectively with each quadrangle bar is movably hinged, wherein, it is hinged on The other end of two quadrangle bars of two leg bar upper ends is movably hinged with connecting bracket, and middle part is then connected by bilateral copper post Connect；The other end and the driving of second twin shaft digital rudder controller (23) output shaft for being hinged two quadrangle bars of two leg bar lower ends connect Connect, middle part is then connected by bilateral copper post.
- 3. the leg mechanism of quadruped robot according to claim 2, it is characterised in that：Described connecting bracket includes small U supports (17), short U supports (18), side cover support (19), U-bracket (20), described short U supports (18) one end and the first twin shaft Digital rudder controller (16) output shaft drive connection, described U-bracket (20) and side cover support (19) are each attached to the short U supports (18) other end, wherein, the U-bracket (20) with respectively with being hinged on two quadrangle bar moveable hinges of two leg bar upper ends Connect, the side cover support (19) is fixedly connected with the housing of the second twin shaft digital rudder controller (23), the small U supports (17) with The housing of first twin shaft digital rudder controller (16) is connected.
- 4. the leg mechanism of quadruped robot according to claim 3, it is characterised in that：Described the first twin shaft digital rudder controller (16), the output shaft of the second twin shaft digital rudder controller (23) pass through the circle provided with screw Disk respectively by with short U supports (18) and quadrangle bar drive connection.
- 5. the leg mechanism of quadruped robot according to claim 3, it is characterised in that：The leg bar (12) passes through flange Bearing (11), the second hexagon socket head cap screw (13), the second stop nut (21) and each quadrangle bar (9) are movably hinged；Described four Side shape bar (9) passes through outer ring and roll assembly (14), axle sleeve (22) and the second stop nut (21) and U-bracket (20) moveable hinge Connect.
- 6. the leg mechanism of quadruped robot according to claim 3, it is characterised in that：The U-bracket (20) passes through Second hexagon socket head cap screw (13) and the second stop nut (21) are fixed on short U supports (18)；Bilateral copper post described in every (10) quadrangle bar (9) and leg bar (12) are fixedly connected with axle sleeve (22) by two pair of second hexagon socket head cap screw (13).
- 7. the leg mechanism of quadruped robot according to claim 1, it is characterised in that：The sole (3) passes through change Footpath block (5) is installed on first hexagon socket head cap screw (8), the variable-diameter block (5) up and down be fixed with described first in hexagonal The first stop nut (2) that bolt (8) is engaged.
- 8. the leg mechanism of quadruped robot according to claim 1, it is characterised in that：The bottom of described sole (3) Face is evenly arranged with some replaceable slip-proofing devices, and described slip-proofing device includes the slipmat (4) of three pieces of columns, described anti- Skidding (4) is uniformly distributed in triangle.
- 9. the leg mechanism of quadruped robot according to claim 8, it is characterised in that：Described slipmat (4) uses Rubber antiskid pad, PVC slipmat, PU slipmat, AB glue slipmat, silica-gel antiskid pad or magic power glue slipmat.
- 10. the leg mechanism of quadruped robot according to claim 1, it is characterised in that：Described upper sole (7) and pin The hollow-out parts for mitigating deadweight are provided with bottom plate (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720933650.0U CN207029356U (en) | 2017-07-29 | 2017-07-29 | A kind of leg mechanism of quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720933650.0U CN207029356U (en) | 2017-07-29 | 2017-07-29 | A kind of leg mechanism of quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207029356U true CN207029356U (en) | 2018-02-23 |
Family
ID=61463458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720933650.0U Expired - Fee Related CN207029356U (en) | 2017-07-29 | 2017-07-29 | A kind of leg mechanism of quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207029356U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685786A (en) * | 2017-07-29 | 2018-02-13 | 华南理工大学 | A kind of leg mechanism of quadruped robot |
| CN108545123A (en) * | 2018-03-29 | 2018-09-18 | 苏州大学 | A kind of lower limb structure of legged type robot |
| CN112809735A (en) * | 2021-03-23 | 2021-05-18 | 沈阳航空航天大学 | Compound joint mechanism that deflects of robot |
-
2017
- 2017-07-29 CN CN201720933650.0U patent/CN207029356U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685786A (en) * | 2017-07-29 | 2018-02-13 | 华南理工大学 | A kind of leg mechanism of quadruped robot |
| CN107685786B (en) * | 2017-07-29 | 2023-12-01 | 华南理工大学 | Leg mechanism of four-legged robot |
| CN108545123A (en) * | 2018-03-29 | 2018-09-18 | 苏州大学 | A kind of lower limb structure of legged type robot |
| CN108545123B (en) * | 2018-03-29 | 2020-07-03 | 苏州大学 | Lower limb structure of foot type robot |
| CN112809735A (en) * | 2021-03-23 | 2021-05-18 | 沈阳航空航天大学 | Compound joint mechanism that deflects of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180223 Termination date: 20190729 |
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| CF01 | Termination of patent right due to non-payment of annual fee |