The invention provides a two-degree-of-freedom base joint structure of a foot type robot, and aims to solve the current situation that the base joint of an existing foot type robot is poor in stress condition and improve the flexibility of the robot at the same time. The structure structurally consists of a bottom plate, a flange shaft, a transmission shaft, a bearing seat, a turntable, a sleeve, a hydraulic oscillating cylinder, a double-row tapered roller bearing, a thrust ball bearing and a bestriding type connecting piece. The bottom plate is connected with the hydraulic oscillating cylinder and the bearing seat through bolts; the flange shaft is connected with the hydraulic oscillating cylinder through six through holes; a double-row tapered roller bearing and a thrust ball bearing are assembled in the bearing seat; the transmission shaft penetrates through the double-row tapered roller bearing, a rectangular groove of the transmission shaft is matched with the protruding feature of the flange shaft, the square-section shaft section at the other end of the transmission shaft is matched with a rotary disc, and the end face of the rotary disc is tightly attached to the thrust ball bearing. The hydraulic oscillating cylinder is fixed on the turntable through the bolts; the bestriding type connecting piece and the hydraulic oscillating cylinder are locked through the six through holes in the vertical direction. A novel base joint structure is provided, and the application value is high.

    本发明提供了一种足式机器人双自由度基节结构,目的在于解决现有的足式机器人基节处受力情况差的现状,同时提升机器人的灵活性。其结构由底板、法兰轴、传动轴、轴承座、转盘、套筒、液压摆动缸、双列圆锥滚子轴承、推力球轴承、跨骑式连接件组成。底板通过螺栓与液压摆动缸和轴承座连接;法兰轴通过六个通孔与液压摆动缸连接;轴承座中装配双列圆锥滚子轴承、推力球轴承;传动轴从双列圆锥滚子轴承中穿过,其矩形凹槽与法兰轴凸起特征进行配合,另一端的正方形截面轴段与转盘配合,转盘端面与推力球轴承紧贴;螺栓将液压摆动缸固定于转盘;跨骑式连接件与液压摆动缸通过上下六个通孔锁紧;提供了一种新的基节结构,有较高的应用价值。


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    Title :

    Two-degree-of-freedom base joint structure of foot type robot


    Additional title:

    一种足式机器人双自由度基节结构


    Contributors:
    JIANG GANG (author) / HAO XING'AN (author) / ZHOU WEI (author) / WANG YONG (author) / HU YIRAN (author) / HUANG YINSEN (author) / LI XIXUE (author) / LIU HONGMING (author)

    Publication date :

    2022-02-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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