阅读说明：本技术 一种基于仿生设计的机器人腿部机构 (Robot leg mechanism based on bionic design ) 是由 罗仕鉴 姚奕弛 于 2020-04-28 设计创作，主要内容包括：本发明涉及基于仿生设计的机器人腿部机构技术领域,且公开了一种基于仿生设计的机器人腿部机构,包括金属片,所述金属片的正面固定连接有第一底座,所述第一底座的正面固定连接有第一螺丝,所述第一底座的内部固定连接有第一电动机,所述第一电动机的输出轴通过联轴器固定连接有第一转动轴。本发明通过缓冲层、工作室、缓冲杆、第二缓冲磁体和活塞的相互配合,可以达到活塞和第二缓冲磁体异性相吸的效果,从而达到给缓冲杆向上的力的效果,进而达到缓冲的作用,通过活塞、第一弹性件、第一缓冲磁体和连接件的相互配合,可以达到活塞和第一缓冲磁体同性相斥的效果,从而达到给缓冲杆向上的力的效果,进而达到缓冲的作用,避免硬着陆。(The invention relates to the technical field of robot leg mechanisms based on bionic design, and discloses a robot leg mechanism based on bionic design. According to the invention, through the mutual matching of the buffer layer, the working chamber, the buffer rod, the second buffer magnet and the piston, the effect of opposite attraction of the piston and the second buffer magnet can be achieved, so that the effect of upward force on the buffer rod is achieved, and further the buffer effect is achieved.)

1. The utility model provides a robot leg mechanism based on bionical design, includes sheetmetal (1), its characterized in that: the front of the metal sheet (1) is fixedly connected with a first base (3), the front of the first base (3) is fixedly connected with a first screw (2), the inside of the first base (3) is fixedly connected with a first motor (20), an output shaft of the first motor (20) is fixedly connected with a first rotating shaft (15) through a coupler, the outer wall of the first rotating shaft (15) is fixedly connected with a turntable (14), the outer wall of the turntable (14) is movably connected with a rope (16), the bottom of the first base (3) is provided with a second base (4) fixedly connected with the front of the metal sheet (1), the front of the second base (4) is fixedly connected with a second screw (17), the inside of the second base (4) is fixedly connected with a second motor (21), the output shaft of the second motor (21) is fixedly connected with a second rotating shaft (19) through a coupler, a rotating rod (18) is fixedly connected to the outer wall of the second rotating shaft (19), a first movable arm (5) fixedly connected to the outer wall of the second rotating shaft (19) is arranged on the front side of the rotating shaft (18), a second movable arm (8) is movably connected to the front side of the first movable arm (5), a first bolt (7) is fixedly connected to the front side of the second movable arm (8), a third movable arm (10) is movably connected to the back side of the second movable arm (8), a second bolt (9) is fixedly connected to the front side of the third movable arm (10), a fixed column (6) fixedly connected to the front side of the first movable arm (5) is arranged on one side of the second movable arm (8), a telescopic rod (13) is fixedly connected to the bottom of the fixed column (6), a spring (12) is fixedly connected to the outer wall of the telescopic rod (13), and a toe (11) is movably connected to the outer wall of the third movable arm (10), the utility model discloses a buffering device for the sole of a foot, including the inside fixedly connected with buffer layer (27) of toe (11), the outer diapire fixedly connected with buffer rod (22) of third digging arm (10), the outer wall fixedly connected with second elastic component (28) of buffer rod (22), the one end fixedly connected with piston (23) of buffer rod (22), the inner diapire fixedly connected with connecting piece (26) of buffer layer (27), the outer diapire fixedly connected with studio (30) of connecting piece (26), the first buffering magnet (24) of inner diapire fixedly connected with of studio (30), the first elastic component (25) of top fixedly connected with of first buffering magnet (24), the inside wall fixedly connected with second buffering magnet (29) of studio (30).

2. The robot leg mechanism based on bionic design as claimed in claim 1, characterized in that: the first base (3) is a PA66 base, and the material of the second base (4) is the same as that of the first base (3).

3. The robot leg mechanism based on bionic design as claimed in claim 1, characterized in that: the number of the first screws (2) is four, and the outer top wall of the toe (11) is provided with a through hole.

4. The robot leg mechanism based on bionic design as claimed in claim 1, characterized in that: the first buffer magnet (24) and the piston (23) are magnetically repulsive, and the second buffer magnet (29) and the piston (23) are magnetically attractive.

5. The robot leg mechanism based on bionic design as claimed in claim 1, characterized in that: the first elastic pieces (25) are compression springs, and the two first elastic pieces (25) are symmetrically arranged by taking the vertical central line of the working chamber (30) as a symmetry axis.

6. The robot leg mechanism based on bionic design as claimed in claim 1, characterized in that: the shaft diameter of the first rotating shaft (15) is three centimeters, and the first rotating shaft (15) is made of high-carbon steel.

7. The robot leg mechanism based on bionic design as claimed in claim 1, characterized in that: the thickness of the metal sheet (1) is one point and five centimeters, and the metal sheet (1) is an alloy steel metal sheet.

8. The robot leg mechanism based on bionic design as claimed in claim 1, characterized in that: the diameter of the fixing column (6) is three centimeters, and the fixing column (6) is a medium carbon steel fixing column.

Technical Field

The invention relates to the technical field of robots, in particular to a robot leg mechanism based on bionic design.

Background

The robot is now becoming an increasingly indispensable tool in people's life and industrial production, and the bionic robot is one of modern intelligent robots. Inside can be provided with a lot of machinery and electronic and electrical equipment usually of bionic robot, too big mechanical oscillation can be to these equipment in some damage, influence the precision, can cause permanent damage even, and current educational robot leg structure is rigid structure mostly, and buffering effect is relatively poor for current bionic robot still has certain space of improving.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a robot leg mechanism based on bionic design, which solves the problem of poor leg buffering effect.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: a robot leg mechanism based on bionic design comprises a metal sheet, wherein a first base is fixedly connected to the front of the metal sheet, a first screw is fixedly connected to the front of the first base, a first motor is fixedly connected to the inside of the first base, an output shaft of the first motor is fixedly connected with a first rotating shaft through a coupler, a rotating disc is fixedly connected to the outer wall of the first rotating shaft, a rope is movably connected to the outer wall of the rotating disc, a second base fixedly connected to the front of the metal sheet is arranged at the bottom of the first base, a second screw is fixedly connected to the front of the second base, a second motor is fixedly connected to the inside of the second base, a second rotating shaft is fixedly connected to the output shaft of the second motor through a coupler, a rotating rod is fixedly connected to the outer wall of the second rotating shaft, and a first movable arm fixedly connected to the outer wall of the second rotating shaft is arranged on the front of the rotating shaft, the front of the first movable arm is movably connected with a second movable arm, the front of the second movable arm is fixedly connected with a first bolt, the back of the second movable arm is movably connected with a third movable arm, the front of the third movable arm is fixedly connected with a second bolt, one side of the second movable arm is provided with a fixed column fixedly connected with the front of the first movable arm, the bottom of the fixed column is fixedly connected with a telescopic rod, the outer wall of the telescopic rod is fixedly connected with a spring, the outer wall of the third movable arm is movably connected with a toe, the inner part of the toe is fixedly connected with a buffer layer, the outer bottom wall of the third movable arm is fixedly connected with a buffer rod, the outer wall of the buffer rod is fixedly connected with a second elastic piece, one end of the buffer rod is fixedly connected with a piston, the inner bottom wall of the buffer layer is fixedly connected with a connecting piece, and the outer top wall of the connecting piece, the inner bottom wall of studio fixedly connected with first buffering magnet, the top fixedly connected with first elastic component of first buffering magnet, the inside wall fixedly connected with second buffering magnet of studio.

Preferably, the first base is a PA66 base, and the material of the second base is the same as the material of the first base.

Preferably, the number of the first screws is four, and the outer top wall of the toe is provided with a through hole.

Preferably, the first damping magnet and the piston are magnetically repulsive, and the second damping magnet and the piston are magnetically attractive.

Preferably, the first elastic members are compression springs, and the two first elastic members are symmetrically arranged with a vertical center line of the working chamber as a symmetry axis.

Preferably, the first rotating shaft has an axial diameter of three centimeters and is a high-carbon steel first rotating shaft.

Preferably, the thickness of the metal sheet is one point five centimeters, and the metal sheet is an alloy steel metal sheet.

Preferably, the diameter of the fixing column is three centimeters, and the fixing column is a medium carbon steel fixing column.

(III) advantageous effects

The invention provides a robot leg mechanism based on bionic design, which has the following beneficial effects:

(1) according to the invention, through the mutual matching of the buffer layer, the working chamber, the buffer rod, the second buffer magnet and the piston, the effect of opposite attraction of the piston and the second buffer magnet can be achieved, so that the effect of upward force on the buffer rod is achieved, and further the buffer effect is achieved.

(2) According to the invention, through the mutual matching of the first motor, the first base, the first rotating shaft, the rotating disc, the rope and the third movable arm, the effect that the third movable arm is rotated by the rotating first motor through the rope can be achieved, through the mutual matching of the fixed column, the telescopic rod and the spring, the effect that the third movable arm is rotated by the spring when the first motor rotates reversely can be achieved, through the mutual matching of the second motor, the second rotating shaft and the first movable arm, the effect that the first movable arm is rotated by the rotating second motor can be achieved, and through the mutual matching of the first base, the first screw, the second base, the second screw and the metal sheet, the effect of convenient disassembly and assembly can be achieved.

Drawings

FIG. 1 is a schematic front sectional view of the present invention;

FIG. 2 is a schematic structural diagram of a first base according to the present invention;

FIG. 3 is a schematic structural diagram of a second base according to the present invention;

FIG. 4 is a schematic diagram of the structure of the toe of the present invention;

fig. 5 is an enlarged schematic view of the structure at a in fig. 1 according to the present invention.

In the figure: the device comprises a metal sheet 1, a first screw 2, a first base 3, a second base 4, a first movable arm 5, a fixed column 6, a first bolt 7, a second movable arm 8, a second bolt 9, a third movable arm 10, a toe 11, a spring 12, a telescopic rod 13, a rotary disk 14, a first rotating shaft 15, a rope 16, a second screw 17, a rotating rod 18, a second rotating shaft 19, a first motor 20, a second motor 21, a buffer rod 22, a piston 23, a first buffer magnet 24, a first elastic element 25, a connecting element 26, a buffer layer 27, a second elastic element 28, a second buffer magnet 29 and a working chamber 30.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, which is a leg mechanism of a robot based on bionic design, the present invention provides a technical solution: a robot leg mechanism based on bionic design comprises a metal sheet 1, wherein a first base 3 is fixedly connected to the front of the metal sheet 1, a first screw 2 is fixedly connected to the front of the first base 3, a first motor 20 is fixedly connected to the inside of the first base 3, an output shaft of the first motor 20 is fixedly connected with a first rotating shaft 15 through a coupler, a turntable 14 is fixedly connected to the outer wall of the first rotating shaft 15, a rope 16 is movably connected to the outer wall of the turntable 14, a second base 4 fixedly connected to the front of the metal sheet 1 is arranged at the bottom of the first base 3, a second screw 17 is fixedly connected to the front of the second base 4, a second motor 21 is fixedly connected to the inside of the second base 4, a second rotating shaft 19 is fixedly connected to the output shaft of the second motor 21 through a coupler, a rotating shaft 18 is fixedly connected to the outer wall of the second rotating shaft 19, a first movable arm 5 fixedly connected to the outer wall of a second rotating shaft 19 is arranged on the front side of the rotating shaft 18, a second movable arm 8 is movably connected to the front side of the first movable arm 5, a first bolt 7 is fixedly connected to the front side of the second movable arm 8, a third movable arm 10 is movably connected to the back side of the second movable arm 8, a second bolt 9 is fixedly connected to the front side of the third movable arm 10, a fixed column 6 fixedly connected to the front side of the first movable arm 5 is arranged on one side of the second movable arm 8, a telescopic rod 13 is fixedly connected to the bottom of the fixed column 6, a spring 12 is fixedly connected to the outer wall of the telescopic rod 13, a toe 11 is movably connected to the outer wall of the third movable arm 10, a buffer layer 27 is fixedly connected to the inner portion of the toe 11, a buffer rod 22 is fixedly connected to the outer bottom wall of the third movable arm 10, and a second elastic member 28 is fixedly connected to the outer wall, the one end fixedly connected with piston 23 of buffer rod 22, the interior diapire fixedly connected with connecting piece 26 of buffer layer 27, the outer top wall fixedly connected with studio 30 of connecting piece 26, the first buffering magnet 24 of interior diapire fixedly connected with of studio 30, the first elastic component 25 of top fixedly connected with of first buffering magnet 24, the inside wall fixedly connected with second buffering magnet 29 of studio 30.

Further, the first base 3 is a PA66 base, and the material of the second base 4 is the same as that of the first base 3.

Furthermore, the number of the first screws 2 is four, and a through hole is formed in the outer top wall of the toe 11.

Further, the first buffer magnet 24 and the piston 23 are magnetically repulsive, and the second buffer magnet 29 and the piston 23 are magnetically attractive.

Further, the first elastic members 25 are compression springs, and the two first elastic members 25 are symmetrically disposed about the vertical center line of the working chamber 30.

According to the invention, through the mutual matching of the buffer layer 27, the working chamber 30, the buffer rod 22, the second buffer magnet 29 and the piston 23, the effect of opposite attraction of the piston 23 and the second buffer magnet 29 can be achieved, so that the effect of upward force on the buffer rod 22 is achieved, and further the buffering effect is achieved, through the mutual matching of the piston 23, the first elastic piece 25, the first buffer magnet 24 and the connecting piece 26, the effect of repelling the same polarity of the piston 23 and the first buffer magnet 24 can be achieved, so that the effect of upward force on the buffer rod 22 is achieved, further the buffering effect is achieved, and hard landing is avoided.

Further, the shaft diameter of the first rotating shaft 15 is three centimeters, and the first rotating shaft 15 is a high-carbon steel first rotating shaft.

Further, the thickness of the metal sheet 1 is one point five centimeters, and the metal sheet 1 is an alloy steel metal sheet.

Furthermore, the diameter of the fixing column 6 is three centimeters, and the fixing column 6 is a medium carbon steel fixing column.

According to the invention, through the mutual matching of the first motor 20, the first base 3, the first rotating shaft 15, the turntable 14, the rope 16 and the third movable arm 10, the effect that the third movable arm 10 is rotated by the rotating first motor 20 through the rope 16 can be achieved, through the mutual matching of the fixed column 6, the telescopic rod 13 and the spring 12, the effect that the third movable arm 10 is rotated by the spring 12 when the first motor 20 rotates reversely can be achieved, through the mutual matching of the second motor 21, the second rotating shaft 19 and the first movable arm 5, the effect that the first movable arm 5 is rotated by the rotating second motor 21 can be achieved, and through the mutual matching of the first base 3, the first screw 2, the second base 4, the second screw 17 and the metal sheet 1, the effect of convenient disassembly and installation can be achieved.

In conclusion, the working process of the invention is as follows: when the toe 11 falls to the ground, the third movable arm 10 moves downwards, the buffer rod 22 moves downwards, the second elastic element 28 is compressed and rebounded to apply an upward force to the buffer rod 22, the piston 23 and the first buffer magnet 24 magnetically repel each other, the buffer rod 22 applies an upward force to the buffer rod 22, the piston 23 and the second buffer magnet 29 magnetically attract each other, and the buffer rod 22 is applied with an upward force to avoid hard landing.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.