CN208306791U - A kind of flexible robot's joint structure - Google Patents
A kind of flexible robot's joint structure Download PDFInfo
- Publication number
- CN208306791U CN208306791U CN201820883607.2U CN201820883607U CN208306791U CN 208306791 U CN208306791 U CN 208306791U CN 201820883607 U CN201820883607 U CN 201820883607U CN 208306791 U CN208306791 U CN 208306791U
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- China
- Prior art keywords
- support bar
- pedal
- welded
- fixed block
- joint structure
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- 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 - Fee Related
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Abstract
The utility model discloses a kind of flexible robot's joint structures, including pedal, the top side of the pedal is bonded with supporting block, the top of the pedal is welded with the first fixed block far from the side of supporting block, first fixed block offers the first mounting groove close to the side of supporting block, the supporting block and the first fixed block side close to each other are equipped with the first support bar being rotatablely connected with the top of pedal, the middle position of first support bar is welded with the second fixed block, the bottom of second fixed block offers the second mounting groove, the internal activity of first mounting groove and the second mounting groove is socketed with buffer substrate tablet, the both ends of buffer substrate tablet are connected with the first spring far from the side of first support bar.The utility model structure is simple, novel design can not only make device have good antiskid effect, but also be that device has good shock-absorbing function, reduce robot when moving with ground rigid contact and the vibration bring that generates influences, be appropriate for marketing.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of flexible robot's joint structures.
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 application of robot is very wide, and its type is also varied, and the pedipulator of existing robot is being walked
When, it is directly to cause the damping effect of robot poor without buffer structure with ground face contact, and do not have preferable anti-skidding
Effect, we have proposed a kind of flexible robot's joint structures thus.
Utility model content
Purpose of the utility model is to solve disadvantages existing in the prior art, and a kind of flexible robot proposed
Joint structure.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of flexible robot's joint structure, including pedal, the top side of the pedal is bonded with supporting block, described to step on
The top of plate is welded with the first fixed block far from the side of supporting block, and first fixed block is offered close to the side of supporting block
First mounting groove, the supporting block and the first fixed block side close to each other are equipped with first be rotatablely connected with the top of pedal
Support rod, the middle position of the first support bar are welded with the second fixed block, and the bottom of second fixed block offers
The internal activity of two mounting grooves, first mounting groove and the second mounting groove is socketed with buffer substrate tablet, and the both ends of the buffer substrate tablet are remote
Side from first support bar is connected with the first spring, and the top of the first support bar is rotatably connected to second support bar, institute
The inside for stating second support bar offers placing groove, and the top inner wall of the placing groove is connected with second spring, second bullet
The bottom end of spring is connected with link block, and the link block is hinged with connecting rod far from the side of second spring, and the connecting rod is separate
One end of link block and the second fixed block are hinged, the bottom of the pedal open up along its length it is fluted, the groove
Internal activity is socketed with movable plate, and the top of the movable plate is welded with the fixed link hinged with the bottom of buffer substrate tablet.
Preferably, the first support bar and second support bar one end close to each other are welded with the first annulus, described
The internal activity of first annulus is socketed with first rotating shaft, and the both ends of the first rotating shaft are welded with the first limit plate, and first
The outer diameter of limit plate is greater than the internal diameter of the first annulus.
Preferably, the top of the pedal is welded with two mounting blocks, the side weldering close to each other of two mounting blocks
It is connected to horizontally disposed second shaft, the outer ring movable sleeve of second shaft is connected to the second annulus, and the outer ring of the second annulus
It is welded with the bottom end of first support bar.
Preferably, the bottom of the second support bar offers connecting hole along its length, and connecting rod is through connection
Hole.
Preferably, the material of the supporting block is elastic rubber material, and the material of the buffer substrate tablet is elastic sheet metal.
Preferably, through-hole is offered at the top of the pedal, and fixed link runs through through-hole.
Preferably, the bottom uniform welding of the movable plate has multiple anti-slop serrations.
Compared with prior art, the beneficial effects of the utility model are:
1, the utility model by be equipped with first support bar, second support bar, connecting rod, the first spring, second spring,
The structures such as buffer substrate tablet, the first fixed block and the second fixed block, wherein buffer substrate tablet is inserted between the first fixed block and the second fixed block,
Simultaneous buffering on piece is also connected with the first spring, when first support bar is mobile and bending, can by buffer substrate tablet and the first spring into
Row damping, buffering, and second support bar bending makes, and will drive connecting rod movement, connecting rod will drive second spring and elongate or press
Contracting, to carry out damping, buffering by second spring；
2, the utility model is by structures such as installation pedal, fixed link, movable plate and buffer substrate tablets, and wherein first support bar turns
Dynamic to press buffer substrate tablet, buffer substrate tablet drives fixed link mobile again, and fixed link drives movable plate to move up and down again, anti-on movable plate
Shield tooth will increase road holding, to improve the antiskid effect of device；
In conclusion the apparatus structure is simple, and it is novel in design, it can not only make device that there is good antiskid effect, and
And still device has good shock-absorbing function, reduce robot when moving with ground rigid contact and the vibration that generates is brought
Influence, be appropriate for marketing.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of flexible robot's joint structure positive structure diagram；
Fig. 2 be the utility model proposes a kind of flexible robot's joint structure second support bar facing structure signal
Figure；
Fig. 3 be the utility model proposes a kind of flexible robot's joint structure pedal overlooking structure diagram.
In figure: 1 pedal, 2 supporting blocks, 3 first fixed blocks, 4 first mounting grooves, 5 first support bars, 6 second fixed blocks, 7
Second mounting groove, 8 buffer substrate tablets, 9 first springs, 10 second support bars, 11 placing grooves, 12 second springs, 13 link blocks, 14 connections
Bar, 15 connecting holes, 16 grooves, 16 fixed links, 18 movable plates.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-3, a kind of flexible robot's joint structure, including pedal 1, the top side of pedal 1 are bonded with support
The top of block 2, pedal 1 is welded with the first fixed block 3 far from the side of supporting block 2, and the first fixed block 3 is close to the one of supporting block 2
Side offers the first mounting groove 4, supporting block 2 and the first fixed block 3 side close to each other is equipped with and the top of pedal 1 rotates and connects
The first support bar 5 connect, the middle position of first support bar 5 are welded with the second fixed block 6, and the bottom of the second fixed block 6 opens up
There is the second mounting groove 7, the internal activity of the first mounting groove 4 and the second mounting groove 7 is socketed with buffer substrate tablet 8, and the both ends of buffer substrate tablet 8 are remote
Side from first support bar 5 is connected with the first spring 9, and the top of first support bar 5 is rotatably connected to second support bar 10, the
The inside of two support rods 10 offers placing groove 11, and the top inner wall of placing groove 11 is connected with second spring 12, second spring 12
Bottom end be connected with link block 13, link block 13 is hinged with connecting rod 14 far from the side of second spring 12, and connecting rod 14 is separate
One end of link block 13 and the second fixed block 6 are hinged, and the bottom of pedal 1 opens up fluted 16 along its length, groove 16
Internal activity is socketed with movable plate 18, and the top of movable plate 18 is welded with the fixed link 17 hinged with the bottom of buffer substrate tablet 8.
First support bar 5 and the one end close to each other of second support bar 10 are welded with the first annulus, the first annulus it is interior
Portion's movable sleeve is connected to first rotating shaft, and the both ends of first rotating shaft are welded with the first limit plate, and the outer diameter of the first limit plate is greater than
The internal diameter of first annulus, the top of pedal 1 are welded with two mounting blocks, and two mounting blocks sides close to each other are welded with level
The second shaft being arranged, the outer ring movable sleeve of the second shaft are connected to the second annulus, and the outer ring of the second annulus and first support bar 5
Bottom end welding, the bottom of second support bar 10 offers connecting hole 15 along its length, and connecting rod 14 runs through connecting hole,
The material of supporting block 2 is elastic rubber material, and the material of buffer substrate tablet 8 is elastic sheet metal, and the top of pedal 1 offers through-hole,
And fixed link 17 runs through through-hole, the bottom uniform welding of movable plate 18 has multiple anti-slop serrations.
In the present embodiment, firstly, buffer substrate tablet 8 is inserted between the first fixed block 4 and the second fixed block 6, on simultaneous buffering piece 8
It is also connected with the first spring 9, in the movement of first support bar 5 and bending, damping can be carried out by buffer substrate tablet 8 and the first spring 9 and delayed
Punching, and when the bending of second support bar 10, it will drive the movement of connecting rod 14, connecting rod 14 will drive second spring 12 and elongate or press
Contracting, to carry out damping, buffering by second spring 12, the rotation of first support bar 5 can press buffer substrate tablet 8, and buffer substrate tablet 8 drives solid again
Fixed pole 17 is mobile, and fixed link 17 drives movable plate 18 to move up and down again, and the protection tooth on movable plate 18 will increase road holding, thus
Improve the antiskid effect of device.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (7)
1. a kind of flexible robot's joint structure, including pedal (1), which is characterized in that the top side of the pedal (1) is bonded
Having supporting block (2), the top of the pedal (1) is welded with the first fixed block (3) far from the side of supporting block (2), and described first
Fixed block (3) offers the first mounting groove (4) close to the side of supporting block (2), the supporting block (2) and the first fixed block (3)
Side close to each other is equipped with the first support bar (5) being rotatablely connected with the top of pedal (1), the first support bar (5)
Middle position is welded with the second fixed block (6), and the bottom of second fixed block (6) offers the second mounting groove (7), and described
The internal activity of one mounting groove (4) and the second mounting groove (7) is socketed with buffer substrate tablet (8), and the both ends of the buffer substrate tablet (8) are far from
The side of one support rod (5) is connected with the first spring (9), and the top of the first support bar (5) is rotatably connected to the second support
The inside of bar (10), the second support bar (10) offers placing groove (11), the top inner wall connection of the placing groove (11)
Have second spring (12), the bottom end of the second spring (12) is connected with link block (13), and the link block (13) is far from second
The side of spring (12) is hinged with connecting rod (14), the connecting rod (14) one end and the second fixed block far from link block (13)
(6) hingedly, the bottom of the pedal (1) opens up fluted (16) along its length, the internal activity set of the groove (16)
It is connected to movable plate (18), the top of the movable plate (18) is welded with and the hinged fixed link (17) in the bottom of buffer substrate tablet (8).
2. a kind of flexible robot's joint structure according to claim 1, which is characterized in that the first support bar (5)
One end close to each other is welded with the first annulus with second support bar (10), and the internal activity of first annulus is socketed with
One shaft, the both ends of the first rotating shaft are welded with the first limit plate, and the outer diameter of the first limit plate is greater than the first annulus
Internal diameter.
3. a kind of flexible robot's joint structure according to claim 1, which is characterized in that the top of the pedal (1)
It is welded with two mounting blocks, two mounting blocks sides close to each other are welded with horizontally disposed second shaft, and described
The outer ring movable sleeve of two shafts is connected to the second annulus, and the bottom end of the outer ring of the second annulus and first support bar (5) is welded.
4. a kind of flexible robot's joint structure according to claim 1, which is characterized in that the second support bar (10)
Bottom offer along its length connecting hole (15), and connecting rod (14) run through connecting hole.
5. a kind of flexible robot's joint structure according to claim 1, which is characterized in that the material of the supporting block (2)
Material is elastic rubber material, and the material of the buffer substrate tablet (8) is elastic sheet metal.
6. a kind of flexible robot's joint structure according to claim 1, which is characterized in that the top of the pedal (1)
Through-hole is offered, and fixed link (17) runs through through-hole.
7. a kind of flexible robot's joint structure according to claim 1, which is characterized in that the bottom of the movable plate (18)
Portion's uniform welding has multiple anti-slop serrations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820883607.2U CN208306791U (en) | 2018-06-08 | 2018-06-08 | A kind of flexible robot's joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820883607.2U CN208306791U (en) | 2018-06-08 | 2018-06-08 | A kind of flexible robot's joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208306791U true CN208306791U (en) | 2019-01-01 |
Family
ID=64709118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820883607.2U Expired - Fee Related CN208306791U (en) | 2018-06-08 | 2018-06-08 | A kind of flexible robot's joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208306791U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409734A (en) * | 2020-05-15 | 2020-07-14 | 合肥卓科智能技术有限公司 | Hydraulic drive's four-footed bionic robot |
-
2018
- 2018-06-08 CN CN201820883607.2U patent/CN208306791U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409734A (en) * | 2020-05-15 | 2020-07-14 | 合肥卓科智能技术有限公司 | Hydraulic drive's four-footed bionic 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: 20190101 Termination date: 20190608 |
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| CF01 | Termination of patent right due to non-payment of annual fee |