CN214451420U - Passive shock-absorbing wheel leg combined type mechanical leg - Google Patents

Abstract

The utility model discloses a passive shock-absorbing wheel-leg composite mechanical leg. The crotch component is located above the thigh component, the calf foot component is located below the thigh component, and the inner and outer thigh plates are connected to the thigh component. The crotch component is fixedly connected and is located on the side of the crotch component, the calf steering gear is located inside the inner and outer plates of the thigh, the steering gear seat is located below the calf steering gear, and the guide rail It is fixedly connected with the inner and outer thigh plates and is located on the inner side walls of the inner and outer thigh plates. The sliding block is fixedly connected with the steering gear seat and is located below the steering gear seat, and the sliding block is connected to the steering gear seat. The guide rails are matched, and the number of the shock-absorbing springs is two, and each of the shock-absorbing springs is fixedly connected to the steering gear seat respectively, and all are located on the side of the steering gear seat. Through the above structural design , the wheel-leg composite mechanical leg with passive shock absorption can effectively avoid shocks in real time when encountering relatively rough road surfaces.

Description

Passive shock-absorbing wheel leg combined type mechanical leg

Technical Field

The utility model relates to a machinery leg technical field especially relates to a passive wheel leg combined type machinery leg of moving away to avoid possible earthquakes.

Background

At present, the control method of the four-footed robot in the electromechanical industry is researched more fiercely, and various four-footed bionic robots have been proposed or are being tested by many colleges and universities and research institutions. However, most of the existing quadruped robots only can walk on four feet, and the movement speed of the quadruped robots is generally slow. Few quadruped robots can run at a high speed, but the problems of extremely complex control algorithm and high component cost can be met. In contrast, some research institutions have designed wheel-leg composite robots, which can switch to wheel-type driving mode for high-speed movement on flat roads, but mostly use wheels as their foot ends directly or are mounted at the joints of the upper and lower legs directly. The problems of uneven wear of wheels and continuous impact on a motor rotating shaft exist in a four-foot walking mode, and the mechanical legs cannot effectively avoid shock in real time when encountering rugged road surfaces.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a passive wheel leg combined type mechanical leg of moving away to avoid possible earthquakes can effectively move away to avoid possible earthquakes in real time when meetting more rugged road surface.

In order to achieve the above object, the present invention provides a passive shock-absorbing wheel-leg combined mechanical leg, which comprises a crotch assembly, a thigh assembly and a shank assembly, wherein the crotch assembly is fixedly connected with the thigh assembly and located above the thigh assembly, the shank assembly is fixedly connected with the thigh assembly and located below the thigh assembly, the thigh assembly comprises a thigh inner plate, a shank steering engine, a rudder mount, a guide rail, a slider and a shock-absorbing spring, the thigh inner plate is fixedly connected with the crotch assembly and located at the side of the crotch assembly, the shank steering engine is fixedly connected with a thigh inner plate and a thigh outer plate and located inside the thigh inner plate, the rudder mount is fixedly connected with the thigh inner plate and the thigh outer plate and located below the shank steering engine, the guide rail is fixedly connected with the thigh inner plate and the thigh outer plate, and the slide block is fixedly connected with the steering engine base and is positioned below the steering engine base, the slide block is matched with the guide rail, the number of the shock-proof springs is two, and each shock-proof spring is fixedly connected with the steering engine base and is positioned on the side edge of the steering engine base.

The thigh component further comprises a cushion pad, wherein the cushion pad is fixedly connected with the steering engine base and is positioned on the side edge of the steering engine base.

The crotch component comprises a side-swinging steering engine, a thigh steering engine and a steering engine frame, the side-swinging steering engine is fixedly connected with the thigh steering engine and is positioned above the thigh steering engine, and the steering engine frame is movably connected with the thigh steering engine and is positioned below the thigh steering engine.

The shank foot assembly comprises a shank inner plate, a shank outer plate, a direct-current brushless speed reduction motor and wheels, wherein the shank inner plate is movably connected with the steering engine frame and is positioned below the steering engine frame, the direct-current brushless speed reduction motor is fixedly connected with the shank inner plate and the shank outer plate and is positioned on an extension line of the hinge joint of the shank inner plate and the shank inner plate, and the output end of the direct-current brushless speed reduction motor is fixedly connected with the wheels and is positioned on the side edge of the shank inner plate.

Wherein the shank foot component also comprises a foot end cushion pad which is fixedly connected with the shank inner and outer plates and is positioned below the shank inner and outer plates

The passive shock-absorbing wheel-leg composite mechanical leg further comprises a mounting bolt, and the mounting bolt is fixedly connected with the inner and outer plates of the shank and is positioned on the side edge of the inner and outer plates of the shank.

The beneficial effects of the utility model are embodied in: the trunk of the robot is connected through the crotch component, the crotch component can move the trunk of the robot through the thigh component and the shank component which are fixedly connected with the crotch component, the thigh component is arranged below the crotch component, the shank component is arranged below the thigh component, the steering engine of the shank component firstly rotates to the wheel contact with the ground after receiving the instruction of a single chip microcomputer, then the shank component controls the steering engine to continuously rotate to the limit position, meanwhile, the shank steering engine of the thigh component correspondingly rotates, so that the gravity center of the robot is stable, the robot enters a wheel type driving mode, the switching between the leg mode and the wheel mode can be carried out, and when a mechanical leg meets sudden impact caused by the rise and fall of the road surface in the wheel type driving mode, the wheel is positioned on the extension line of the hinged part of the shank inner plate and the thigh inner plate, the outer plate has the trend of rotating around big or small leg juncture in the shank, the outer plate extension line end passes through the connecting rod with this impact force transmission and lies in the thigh the outer plate on the shank steering wheel, the outer plate in the thigh the side of rudder frame is connected with two the spring of moving away receives compression deformation behind this impact force, plays the effect of absorbing the impact force, with rudder frame below fixed connection the slider just along with its looks adaptation the slide rail removes, drives the shank steering wheel removes the walking, and the road surface reduces, when the spring of moving away kick-backs, the blotter below the steering wheel seat just plays the buffering effect, can effectively move away to avoid possible earthquakes in real time.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a passive shock-absorbing wheel-leg combined mechanical leg of the present invention.

Fig. 2 is a schematic structural view of the hinge of the inner and outer plates of the shank and the inner and outer plates of the thigh.

Fig. 3 is a schematic structural view of the thigh assembly of the present invention.

Fig. 4 is a schematic structural diagram of the steering engine of the present invention.

1-crotch component, 11-side pendulum steering engine, 12-thigh steering engine, 13-rudder rack, 2-thigh component, 21-thigh inner and outer plates, 22-shank steering engine, 23-rudder base, 24-guide rail, 25-slide block, 26-shock absorbing spring, 3-shank foot component, 31-shank inner and outer plates, 32-DC brushless speed reducing motor, 33-wheel, 4-cushion pad, 5-foot end cushion pad and 6-mounting bolt.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 to 4, the present invention provides a passive shock-absorbing wheel-leg combined mechanical leg, which includes a crotch assembly 1, a thigh assembly 2 and a shank assembly 3, wherein the crotch assembly 1 is fixedly connected to the thigh assembly 2 and located above the thigh assembly 2, the shank assembly 3 is fixedly connected to the thigh assembly 2 and located below the thigh assembly 2, the thigh assembly 2 includes a thigh inner plate 21, a shank steering engine 22, a steering engine seat 23, a guide rail 24, a slider 25 and a shock-absorbing spring 26, the thigh inner plate 21 is fixedly connected to the crotch assembly 1 and located at a side of the crotch assembly 1, the shank steering engine 22 is fixedly connected to the thigh inner plate 21 and located inside the thigh inner plate 21, the steering engine seat 23 is fixedly connected to the thigh inner plate 21 and located below the shank steering engine seat 22, the guide rail 24 with planking 21 fixed connection in the thigh, and be located planking 21's inside lateral wall in the thigh, slider 25 with rudder frame 23 fixed connection, and be located the below of rudder frame 23, just slider 25 with guide rail 24 cooperatees, the quantity of antivibration spring 26 is two, every antivibration spring 26 respectively with rudder frame 23 fixed connection, and all be located the side of rudder frame 23.

In this embodiment, the crotch component 1 is connected to the trunk of the robot, the crotch component 1 can move the trunk of the robot through the thigh component 2 and the shank foot component 3 fixedly connected to the crotch component 1, the thigh component 2 is arranged below the crotch component 1, the shank foot component 3 is arranged below the thigh component 2, the steering engine of the shank foot component 3 receives the instruction of the single chip microcomputer and then rotates to the position where the wheels 33 contact the ground, the shank foot component 3 controls the steering engine to continue rotating to the limit position, and the shank steering engine 22 of the thigh component 2 rotates correspondingly, so that the center of gravity of the robot is stable, the robot enters a wheel driving mode, and can switch between a leg mode and a wheel mode, and when a mechanical leg encounters a sudden impact caused by the undulation of a road surface in the wheel driving mode, because wheel 33 is located planking 31 in the shank with on the extension line of the articulated department of planking 21 in the thigh, planking 31 has the trend of rotating around big and small leg juncture in the shank, 31 extension line end is passed through the connecting rod with this impact force and is transmitted to lieing in the thigh planking 21 in the shank on the shank steering wheel 22, planking 21 in the thigh the side of rudder frame 23 is connected with two damping spring 26 receives this impact force after compression deformation, plays the effect of absorbing the impact force, with rudder frame 23 below fixed connection slider 25 just along with its looks adaptation guide rail 24 removes, drives shank steering wheel 22 removes the walking, and the road surface reduces, when damping spring 26 kick-backs, rudder frame 23 below blotter 4 just plays the cushioning effect.

Further, the thigh assembly 2 further comprises a cushion pad 4, and the cushion pad 4 is fixedly connected with the rudder base 23 and is located on the side of the rudder base 23.

In this embodiment, the cushion pad 4 is disposed on the side of the rudder mount 23, and when the road surface is lowered, the suspension spring 26 rebounds, and the cushion pad 4 below the rudder mount 23 has a certain cushion effect.

Further, the crotch component 1 comprises a side pendulum steering engine 11, a thigh steering engine 12 and a steering engine frame 13, wherein the side pendulum steering engine 11 is fixedly connected with the thigh steering engine 12 and is positioned above the thigh steering engine 12, and the steering engine frame 13 is movably connected with the thigh steering engine 12 and is positioned below the thigh steering engine 12.

In this embodiment, the crotch assembly 1 is connected to the trunk of the robot, the side-swing steering engine 11 of the crotch assembly 1 is disposed above the thigh steering engine 12, the rudder frame 13 is disposed below the thigh steering engine 12, and the thigh steering engine 12 can operate by controlling the rudder frame 13 through the side-swing steering engine 11.

Further, the calf foot assembly 3 comprises a calf inner and outer plate 31, a brushless DC speed-reducing motor 32 and wheels 33, the calf inner and outer plate 31 is movably connected with the rudder frame 13 and is located below the rudder frame 13, the brushless DC speed-reducing motor 32 is fixedly connected with the calf inner and outer plate 31 and is located on an extension line of a hinge joint of the calf inner and outer plate 31 and the thigh inner and outer plate 21, and an output end of the brushless DC speed-reducing motor 32 is fixedly connected with the wheels 33 and is located on a side edge of the calf inner and outer plate 31.

In the present embodiment, the shank inner and outer plate 31 of the shank foot assembly 3 is disposed below the rudder frame 13, the dc brushless deceleration motor 32 is disposed on an extension line of a hinge joint between the shank inner and outer plate 31 and the thigh inner and outer plate 21, and an output end of the dc brushless deceleration motor 32 is fixedly connected to the wheel 33, so that the wheel 33 fixedly connected thereto can be driven by starting the dc brushless deceleration motor 32, thereby enabling the robot to travel.

Furthermore, the calf foot assembly 3 further comprises a foot end cushion pad 5, and the foot end cushion pad 5 is fixedly connected with the calf inner and outer plate 31 and is positioned below the calf inner and outer plate 31.

In the present embodiment, the foot end cushion 5 is provided below the lower leg inner and outer panels 31, and can protect the lower leg inner and outer panels 31 and reduce the vibration effect generated during traveling.

Further, the passive shock-absorbing wheel-leg composite mechanical leg further comprises a mounting bolt 6, wherein the mounting bolt 6 is fixedly connected with the lower leg inner and outer plate 31 and is positioned on the side edge of the lower leg inner and outer plate 31.

In the present embodiment, the mounting bolt 6 is provided on the side of the calf inner/outer panel 31, and can fix the calf inner/outer panel 31 and the thigh inner/outer panel 21, thereby enhancing the fixing effect of the calf inner/outer panel 31 and the thigh inner/outer panel 21 and prolonging the service life thereof.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (6)

1. a wheel-leg composite mechanical leg of passive shock absorption, is characterized in that, Including a crotch component, a thigh component and a calf foot component, the crotch component is fixedly connected with the thigh component, and is located above the thigh component, and the calf foot component is fixedly connected with the thigh component and is located at the Below the thigh assembly, the thigh assembly includes an inner and outer thigh plate, a calf steering gear, a steering gear seat, a guide rail, a slider and a shock-absorbing spring, and the inner and outer thigh plate is fixedly connected with the crotch assembly, and is located in the On the side of the crotch assembly, the calf steering gear is fixedly connected with the inner and outer thigh plates, and is located inside the inner and outer thigh plates, and the steering gear base is fixedly connected with the inner and outer thigh plates, and is located in the lower leg Below the steering gear, the guide rail is fixedly connected with the inner and outer thigh plates, and is located on the inner sidewall of the inner and outer thigh plates, and the sliding block is fixedly connected with the steering gear base and is located on the inner side of the steering gear base. Below, and the slider is matched with the guide rail, the number of the shock-absorbing springs is two, and each of the shock-absorbing springs is fixedly connected to the steering gear base respectively, and is located in the steering gear base. side. 2. The wheel-leg composite mechanical leg of passive shock absorption according to claim 1, wherein, The thigh assembly further includes a buffer pad, which is fixedly connected to the steering gear base and located on the side of the steering gear base. 3. The wheel-leg compound mechanical leg of passive shock absorption according to claim 1, wherein, The crotch assembly includes a side swing steering gear, a thigh steering gear and a steering frame, the side swing steering gear is fixedly connected to the thigh steering gear, and is located above the thigh steering gear, and the steering frame is connected to the thigh steering gear. The thigh steering gear is movably connected and located below the thigh steering gear. 4. The wheel-leg composite mechanical leg of passive shock absorption according to claim 3, characterized in that, The lower leg foot assembly includes inner and outer plates of the lower leg, a DC brushless deceleration motor and wheels, the inner and outer plates of the lower leg are movably connected with the rudder frame, and are located below the rudder frame, and the DC brushless deceleration motor is connected to the rudder frame. The inner and outer plates of the calf are fixedly connected and located on the extension line of the hinged joint between the inner and outer plates of the calf and the inner and outer thigh plates. The sides of the inner and outer panels of the calf. 5. The wheel-leg composite mechanical leg of passive shock absorption according to claim 4, characterized in that, The calf foot assembly further includes a foot end cushion, which is fixedly connected to the inner and outer plates of the lower leg and is located below the inner and outer plates of the lower leg. 6. The wheel-leg composite mechanical leg of passive shock absorption according to claim 4, characterized in that, The passive shock-absorbing wheel-leg composite mechanical leg further includes mounting bolts, the mounting bolts are fixedly connected with the inner and outer plates of the calf and are located on the sides of the inner and outer plates of the calf.

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