CN100593001C - Foot shock absorption mechanims of human imitating robot - Google Patents
Foot shock absorption mechanims of human imitating robot Download PDFInfo
- Publication number
- CN100593001C CN100593001C CN200810224557A CN200810224557A CN100593001C CN 100593001 C CN100593001 C CN 100593001C CN 200810224557 A CN200810224557 A CN 200810224557A CN 200810224557 A CN200810224557 A CN 200810224557A CN 100593001 C CN100593001 C CN 100593001C
- Authority
- CN
- China
- Prior art keywords
- sole
- soles
- upper cover
- robot
- impact absorption
- Prior art date
- 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.)
- Active
Links
Images
Abstract
The invention discloses a food shock absorbing mechanism for an anthropomorphic robot, which comprises soles, wherein damping columns are arranged on the soles; upper surfaces of the damping columns are provided with upper pressure plates; force transducers and upper cover plates are arranged on the upper pressure plates; the upper cover plates are connected with the soles through four upper coverplate mounting holes; four groups of adjusting washers are arranged between the upper cover plates and the soles; the force transducers are connected with legs of the robot; the number of the dampingcolumns is four, and the four damping columns are connected with the soles through the four damping column mounting holes which are positioned on the soles; front ends of the soles are provided withfront sole bevels, and rear ends of the soles are provided with rear sole bevels; and non-skid mats are arranged below the soles. The invention designs the more compact and more effective shock absorbing mechanism, realizes continuous flexible adjustment of the shock absorbing mechanism, and can make the anthropomorphic robot easier to meet different operation requirements.
Description
Technical field
The present invention relates to a kind of anthropomorphic robot, be specifically related to a kind of humanoid robot foot section impact absorption mechanism.
Background technology
Anthropomorphic robot is and the immediate a kind of robot of the mankind, compare with traditional wheeled robot or caterpillar robot, anthropomorphic robot more can adapt to human daily life environment, be more convenient for simultaneously using and be human invention design-calculated various tool, therefore, anthropomorphic robot has vast potential for future development.
Anthropomorphic robot in the process of walking, when contacting with ground, foot can produce impact, impact can cause to a certain degree damage for parts such as the accurate speed reduction gearing of anthropomorphic robot in-to-in, servomotor, sophisticated sensors, in addition, impact and also may cause the robot lack of equilibrium, influence the control stiffness of anthropomorphic robot, eliminate these influences so must design impact absorption mechanism.When anthropomorphic robot bears a heavy burden different or under different surface conditions during operation, to having different requirements with the flexibility of impact absorption mechanism, this just requires the design-calculated impact absorption mechanism to accomplish that flexibility is adjustable and be easy to adjusting, so just can make the various operation situation of the easier adaptation of anthropomorphic robot.
Chinese patent CN101143606A, walking robot foot sole supporting structure with double-layer bumper and absorbing shock, provided a kind of walking robot foot sole supporting structure with double-layer bumper and absorbing shock, it mainly is the slipmat of the bonding preceding end, bottom surface of snubber block of the preceding end, the end face of snubber block of the preceding end is bonded on the snyed plate, bonding back, the bottom surface of snubber block of back end end slipmat, the end face of snubber block of the back end is bonded on the snyed plate, the bonding central snubber block of snyed plate central authorities' circumferencial direction, bonding central lower connecting plate on the end face of central authorities' snubber block, fix the work bottom surface of sextuple power and torque sensor on central authorities' lower connecting plate, after sextuple power and torque sensor pass centre hole on the instep plate, its end face is connected with central upper junction plate, central upper junction plate, front end panel, rear bearing sheet is separately fixed on the instep plate, and snyed plate is connected with the instep plate.This invention mainly is to utilize snubber block of the preceding end, back end snubber block and central snubber block to play the effect of bumper and absorbing shock.The structure more complicated, and the flexibility of beater mechanism is difficult for regulating.
Chinese patent CN101108146A, a kind of foot of anthropomorphic robot, provide a kind of method of designing of foot of anthropomorphic robot, comprised Rubber foot bottom, sole, six-dimension force sensor, upper flange, lower flange, obliquity sensor, tactile array pad, signal handling equipment and instep.Signal handling equipment is installed in the front portion of sole, and obliquity sensor is installed in the middle part, and six-dimension force sensor is installed in the heel place.When robot ambulation, the ground reaction force when pin contacts with the road surface in the process is walked by six-dimension force sensor detection machine People's Bank of China on the foot of anthropomorphic robot, obliquity sensor detects the angle of inclination of sole, the tactile array pad detects pin and information such as ground-surface contact position and contact condition, these information is gathered and handled to signal handling equipment in real time, ZMP track when the calculating robot walks, judge the state of pin, infer the walking road surface situation of robot, and send to the ROBOT CONTROL system, for robot's gait planning provides foundation, gait stability and naturality when improving the anthropomorphic robot walking.The lower surface that the Rubber foot bottom contacts with the road surface has anti-slip tank, and the Rubber foot bottom has elasticity, the impulsive force when being used to absorb foot of anthropomorphic robot and landing.This invention mainly is the impulsive force when relying on Rubber foot bottom absorption pin to land, and the effect of impact absorption is very limited.And if will change the flexibility of impact absorption mechanism, then must thicken or reduction processing whole Rubber foot bottom, practical operation is got up more loaded down with trivial details.
Summary of the invention
The objective of the invention is defective at above-mentioned prior art, a kind of compact more, actv. humanoid robot foot section impact absorption mechanism is provided, realized the adjustable continuously of impact absorption mechanism flexibility, can make the different operation situation requirement of the easier adaptation of anthropomorphic robot.
The technical scheme taked of the present invention is to achieve these goals: a kind of humanoid robot foot section impact absorption mechanism, comprise sole, be provided with shock structure above the described sole, described shock structure upper surface is provided with top board, be provided with force gauge and upper cover plate above the described top board, described upper cover plate links to each other with sole by adjusting disk, and described force gauge links to each other with the robot shank.
Described shock structure is four, and described four shock structures link to each other with sole by four shock structure mounting holes that are positioned at sole.
The front end of described sole is provided with sole leading edge inclined-plane, and its rear end is provided with sole trailing edge inclined-plane.
Described upper cover plate links to each other with sole by four upper cover plate mounting holes, is provided with four groups of adjusting disks between upper cover plate and sole.
Be provided with slipmat below the described sole.
Described slipmat sticks at four jiaos of sole for there being four, and extends on sole leading edge inclined-plane and the sole trailing edge inclined-plane.
The invention has the beneficial effects as follows: the present invention has designed a kind of compact more, actv. impact absorption mechanism, and has realized the adjustable continuously of impact absorption mechanism flexibility, can make the different operation situation requirement of the easier adaptation of anthropomorphic robot.Shock structure can actv. absorbs the foot impulsive force that lands, thus infringement that the impulsive force of avoiding landing causes physical construction and the influence that the robot control stiffness is brought.By regulating the thickness of four groups of adjusting disks (7), can change the thrust of shock structure (8), thus the flexibility of more convenient change impact absorption mechanism.Sole has designed sole leading edge inclined-plane and sole trailing edge inclined-plane, is used for the walking manner of better realization " heelstrike---tiptoe is liftoff ".
Description of drawings
Fig. 1 is the structural representation of humanoid robot foot section impact absorption mechanism of the present invention;
Fig. 2 is the structural representation of sole of the present invention;
Fig. 3 is the B-B section-drawing of Fig. 2;
Fig. 4 is the scheme drawing of foot plate surface of the present invention.
Among the figure: 1 slipmat, 2 soles, 3 instep shells, 4 top boards, 5 upper cover plates, 6 sensors, 7 adjusting disks, 8 shock structures, 9 shock structure mounting holes, 10 upper cover plate mounting holes, 11 sole leading edge inclined-planes, 12 sole trailing edge inclined-planes.
The specific embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Referring to Fig. 1, a kind of humanoid robot foot section impact absorption mechanism, comprise sole 2, the upper surface of sole 2 links to each other with shock structure 8 lower surfaces, and shock structure 8 upper surfaces link to each other with top board 4, and upper cover plate 5 is positioned at the top of top board 4, upper cover plate 5 links to each other with sole 2 by adjusting disk 7, the middle part of top board 4 links to each other with the robot shank by the force gauge 6 of anthropomorphic robot ankle-joint, and instep shell 3 links to each other with sole 2, and slipmat 1 links to each other with sole 2 lower surfaces.
Referring to Fig. 2 and Fig. 3, described shock structure 8 is four, and four shock structures 8 link to each other with the mode of sole 2 with elastic compression by four shock structure mounting holes 9 that are positioned at sole 2.Upper cover plate 5 links to each other with sole 2 by four upper cover plate mounting holes 10, is provided with four groups of adjusting disks 7 between upper cover plate 3 and sole 2.The front end of sole 2 is provided with sole leading edge inclined-plane 11, and its rear end is provided with sole trailing edge inclined-plane 12.
Referring to Fig. 4, be provided with slipmat 1 below the sole 2, described slipmat 1 sticks at four jiaos of sole 2 for there being four, and extends on sole leading edge inclined-plane 11 and the sole trailing edge inclined-plane 12.
When humanoid robot foot section landed, sole 2 contacted by slipmat 1 with ground, and ground reaction force is delivered to top board 4 by shock structure 8, and then by being delivered to the robot shank with force gauge 6 that top board 4 directly links to each other.In this transmittance process, shock structure can actv. absorbs the foot impulsive force that lands, thus infringement that the impulsive force of avoiding landing causes physical construction and the influence that the robot control stiffness is brought.By regulating the thickness of four groups of adjusting disks 7, can change the thrust of shock structure 8, thus the flexibility of more convenient change impact absorption mechanism.Sole 2 has designed sole leading edge inclined-plane 11 and sole trailing edge inclined-plane 12, thereby can better realize the walking manner of " heelstrike---tiptoe is liftoff ".
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, the common variation that those skilled in the art carries out in the technical solution of the present invention scope and replacing all should be included in protection scope of the present invention.
Claims (6)
1. humanoid robot foot section impact absorption mechanism, comprise sole, it is characterized in that: be provided with shock structure above the described sole, described shock structure upper surface is provided with top board, be provided with force gauge and upper cover plate above the described top board, described upper cover plate links to each other with sole by adjusting disk, and described force gauge links to each other with the robot shank.
2. a kind of humanoid robot foot section impact absorption mechanism according to claim 1 is characterized in that: described shock structure is four, and four described shock structures link to each other with sole by four shock structure mounting holes that are positioned at sole.
3. a kind of humanoid robot foot section impact absorption mechanism according to claim 1 is characterized in that: the front end of described sole is provided with sole leading edge inclined-plane, and the rear end of described sole is provided with sole trailing edge inclined-plane.
4. a kind of humanoid robot foot section impact absorption mechanism according to claim 1 is characterized in that: described upper cover plate links to each other with sole by four upper cover plate mounting holes, is provided with four groups of adjusting disks between upper cover plate and sole.
5. a kind of humanoid robot foot section impact absorption mechanism according to claim 1 is characterized in that: be provided with slipmat below the described sole.
6. a kind of humanoid robot foot section impact absorption mechanism according to claim 5 is characterized in that: described slipmat is four, sticks at four jiaos of sole, and extends on sole leading edge inclined-plane and the sole trailing edge inclined-plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810224557A CN100593001C (en) | 2008-10-20 | 2008-10-20 | Foot shock absorption mechanims of human imitating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810224557A CN100593001C (en) | 2008-10-20 | 2008-10-20 | Foot shock absorption mechanims of human imitating robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101402380A CN101402380A (en) | 2009-04-08 |
| CN100593001C true CN100593001C (en) | 2010-03-03 |
Family
ID=40536571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810224557A Active CN100593001C (en) | 2008-10-20 | 2008-10-20 | Foot shock absorption mechanims of human imitating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100593001C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101823517B (en) * | 2010-05-11 | 2011-09-28 | 浙江大学 | Flexible foot mechanism of humanoid robot |
| CN102079095A (en) * | 2010-11-30 | 2011-06-01 | 南京航空航天大学 | Robot foot imitating locust sole |
| CN102180206B (en) * | 2011-04-24 | 2012-07-04 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
| CN102700648B (en) * | 2012-06-14 | 2013-11-27 | 西北工业大学 | Adaptive deformation foot of kangaroo-simulated hopping robot |
| CN104627264B (en) * | 2014-12-04 | 2017-01-25 | 河海大学常州校区 | Flexible bionic robot foot |
| WO2019041075A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Walking robot |
| CN109533081B (en) * | 2018-12-29 | 2021-01-08 | 深圳市优必选科技有限公司 | Robot and foot structure thereof |
-
2008
- 2008-10-20 CN CN200810224557A patent/CN100593001C/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN101402380A (en) | 2009-04-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100593001C (en) | Foot shock absorption mechanims of human imitating robot | |
| CN102180206B (en) | Robot foot mechanism with flexible joint | |
| CN203946189U (en) | A kind of foot module for walking robot | |
| CN111267992B (en) | Biped robot sole structure with quick shock absorption and pavement adaptability | |
| CN102556199B (en) | Multi-degree-of-freedom flexible foot plate for humanoid robot | |
| CN102730095B (en) | Flexibly landed foot mechanism of humanoid robot | |
| CN104802876B (en) | A kind of bionical foot of anthropomorphic robot | |
| CN109606500B (en) | Run and jump biped robot ankle foot mechanism | |
| CN201980318U (en) | Robot foot mechanism with flexible joint | |
| CN100548242C (en) | A kind of foot of anthropomorphic robot | |
| CN101554894B (en) | Foot plate structure of humanoid robot capable of perceiving ground counterforces | |
| CN101823517B (en) | Flexible foot mechanism of humanoid robot | |
| CN101618549B (en) | Novel flexible foot system of human-imitated robot | |
| CN109262595B (en) | Segmented foot structure of lower limb assistance exoskeleton | |
| CN1860001A (en) | Leg type moving robot | |
| CN102514649A (en) | Humanoid robot foot plate mechanism with multiple degrees of freedom | |
| CN109648541B (en) | Foot wearing device applied to exoskeleton robot | |
| CN202624435U (en) | Flexible-landing humanoid robot foot mechanism | |
| CN101329206A (en) | Force-measuring shoes for measuring human body zero moment point | |
| CN112644600B (en) | Bionic foot system of biped robot with active terrain perception capability | |
| CN107741290B (en) | Robot foot device with plantar pressure detection function | |
| CN101143606A (en) | Walking robot foot sole supporting structure with double-layer bumper and absorbing shock | |
| CN116176728A (en) | Two-section type foot end and biped robot | |
| CN1513647A (en) | Human Shaped robot foot and foot force information detecting method | |
| CN207197716U (en) | A kind of robot foot part device with plantar pressure detection function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |