CN101618549A - Novel flexible foot system of human-imitated robot - Google Patents
Novel flexible foot system of human-imitated robot Download PDFInfo
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- CN101618549A CN101618549A CN200910089138A CN200910089138A CN101618549A CN 101618549 A CN101618549 A CN 101618549A CN 200910089138 A CN200910089138 A CN 200910089138A CN 200910089138 A CN200910089138 A CN 200910089138A CN 101618549 A CN101618549 A CN 101618549A
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Abstract
The invention discloses a flexible foot system of a human-imitated robot, mainly comprising four small foot bottom plates, a support main shaft and a micro-motor driving system. The flexible foot system is characterized in that each novel flexible foot comprises the four small foot bottom plates which can independently pitch up and down, and is connected with the support main shaft by a rotation pair and is provided with a torsional spring, so that the feet can ensure a certain starting pose and a certain starting force; a pair of spring damping fasteners are arranged below each foot bottom plate and is driven through a flexible rope by a miniature motor, and a front end grounding slide block connected with a spring is pulled to move back and forth so as to realize the adjustment of a contact position according to the concave and convex status of the ground; four designed flexible feet pitch around a Y shaft, the other four designed flexible feet move along an X shaft, the designed flexible feet totally have eight degrees of freedom, thereby ensuring the four-point contact between the feet and the concave and convex ground; and the invention successfully solves the problem that the foot bodies of the human-imitated robot and a ground environment uncertain model are not matched, and can enable the human-imitated robot to adapt to more uncertain environments.
Description
One. technical field
The present invention relates to the anthropomorphic robot technical field, be specifically related to a kind of novel flexible foot system of human-imitated robot.
Two. background technology
Anthropomorphic robot is on the real letter or narrow sense " robot ", and the most advanced level of robotics has been represented in its research and development.The environment of modern society and various instrument all design for the mankind itself, motion for non-anthropomorphic robots such as wheeled mobile robots, barrier needs to remove, narrow aisle need be widened or the like, these all need extra cost, therefore have only when robot and have people's shape and when can be as the people movable, just do not need to change human environment for robot.The exploitation anthropomorphic robot seems more economical reasonable than revising entire environment and change instrument.
The stabilized walking of anthropomorphic robot on ground grading has not been a difficult problem, but realize place that anthropomorphic robot is gone at any time to be needed, can independently finish the work that sets in advance, only walk surely to mind how you go its immeasurable effect of competence exertion on any three-dimensional out-of-flatness ground.Three-dimensional on a large scale out-of-flatness ground mostly is rough irregular status and scrambling the unknown, as people, carriageway, plan is carried out Gobi desert, the mountain area of mineral exploration, the moon, martian surface etc., will realize stable walking fast on such ground, what at first will overcome is exactly the not mismatch problem between the perception model of humanoid robot foot section body and ground environment.
Tradition anthropomorphic robot research based on foot's configuration almost be dull and stereotyped rigid planar structure, do not have the characteristic and the function of the concavo-convex variation of any automatic adaptation face of land pattern.For example:
Chinese patent CN101143606A, walking robot foot sole supporting structure has the double-layer bumper and absorbing shock feature, and 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.Structure more complicated, and the flexibility of beater mechanism be difficult for to regulate, do not have flexible, adapt to the characteristic and the function on out-of-flatness ground automatically.
Chinese patent CN101108146A, a kind of foot of anthropomorphic robot, introduce a kind of method for 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 processing system and instep.This invention mainly is the impulsive force when relying on the Rubber foot bottom to absorb pin to land, do not have flexible, adapt to the characteristic and the function on out-of-flatness ground automatically.
Three. summary of the invention
The objective of the invention is defective, a kind of more effectively anthropomorphic robot flexible foot system is provided, solve the matching problem on foot mechanism and out-of-flatness ground, realize adapting to automatically the characteristic and the function of concavo-convex variation face of land pattern at above-mentioned prior art.
The technical scheme that the present invention to achieve these goals takes: a kind of anthropomorphic robot flexible foot system comprises sole, supports main shaft, micro machine drive system.
Described sole can be realized independently elevating movement up and down for there being four.Be connected with described supports main shaft by revolute pair between before and after the described sole, about occur with symmetric form.
The upper surface of described sole is provided with top board, and the leading flank of described sole is provided with side plate.
Be provided with slide block below the described sole, described slide block is four, and described four slide blocks are positioned at the chute of sole, and realizes the spacing of slide block by top board and side plate.
Be provided with the power sensor in the described slide block, the outside of described slide block is provided with gentle claim-reduction, an end of fixed gentle rope in the described gentle claim-reduction.Be provided with slipmat below the described slide block, described slipmat sticks at the lower surface of slide block for there being four.
Be provided with spring-damp system below the described sole, totally four of described spring-damp systems are provided with spring, and are fixed in the below of sole by described spring carrier arm.
Be provided with the bottom end cover of six-dimension force sensor above the described supports main shaft, be provided with shock structure above the described bottom end cover, described shock structure upper surface is provided with six-dimension force sensor, is provided with upper end cover above the described six-dimension force sensor.Described upper end cover links to each other with ankle-joint by the fixing hole that is positioned on the ankle-joint.
Described micro machine drive system is installed on the anthropomorphic robot shank for there being eight.
Described micro machine drive system is provided with micromachine, the external decelerator of the rotating shaft of described micromachine, the external hoist engine of the rotating shaft of described decelerator.
Described micromachine connects stationary housing, is fixed on the shank by being positioned at 16 installing holes of shank.
Described hoist engine is provided with centre bore, and described gentle rope passes centre bore, and after twining some circles on the hoist engine, its end is passed by two other hole respectively.
Be provided with fixed pulley and gentle rope hand-hole below the described sole, described gentle rope is walked around fixed pulley, is passed by the gentle rope hand-hole of sole, and the other end links to each other with the micro machine drive system.
The invention has the beneficial effects as follows: the present invention has designed a kind of flexible more, effective flexible foot mechanism.Novel flexible foot has 4 to move along X-axis around Y-axis pitching, 4, and totally 8 frees degree guarantee that each sole can both guarantee that at least the stable of a point contacts with concavo-convex ground.In addition, the slide block that contacts to earth of the front end under each sole can move forward and backward, and realizes that by " moving+pitching " motion the strong point regulates, the interference on avoid contacting to earth slide block and ground.Sole is according to the pitching of its kiss the earth situation, the mobile cooperation, guarantee that every foot system has at least four points and ground to become three-dimensional three dimensions to contact, and contact-making surface is big as far as possible: for the convex closure obstacle, can constitute as the parcel of the taper as the pyramid, and the gradient difference of each conical surface; For the pit obstacle, also can constitute as funnelform contact, successfully solved the not mismatch problem between the perception model of robot people foot body and ground environment.
Four. description of drawings
Fig. 1 is the structural representation of novel flexible foot system of human-imitated robot of the present invention;
Fig. 2 is the forward direction structural representation of sole among the present invention;
Fig. 3 is the plan structure schematic diagram of sole among the present invention;
Fig. 4 is the structural scheme of mechanism of supports main shaft among the present invention;
Fig. 5 is a micro machine driving system structure schematic diagram among the present invention;
Fig. 6 is a flexible cable structure schematic diagram among the present invention;
Among the figure: 1 fixed pulley, 2 power sensors, 3 slide blocks, 4 spring dampings system, 5 soles, 6 torsion springs, 7 soles, 8 supports main shaft, 9 micro machine drive systems, 10 gentle rope hand-holes, 11 gentle rope hand-holes, 12 soles, 13 soles, 14 gentle claim-reductions, 15 gentle claim-reductions, 16 gentle rope hand-holes, 17 fixed slide blocks, 18 stationary housings, 19 micrometer adjusting screws, 20 top boards, 21 spring dampings system, 22 revolute pairs, 23 fixed pulleys, 24 side plates, 25 slide blocks, 26 gentle ropes, 27 sextuple power sensing upper end covers, 28 six-dimension force sensors, 29 shock-absorbing posts, 30 bottom end covers, 31 gentle rope outlets, 32 gentle rope outlets, 33 hoist engine centre bores, 34 hoist engines, 35 fixed housings, 36 micromachines (having decelerator), 37 encoders, 38 gentle rope ends, 39 gentle rope ends
Five. 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 anthropomorphic robot flexible foot system comprises sole 5,7,12,13, supports main shaft 8, micro machine drive system 9.Gentle rope is passed by the micro machine drive system, is penetrated by hole 10,11, is consolidated in gentle claim- reduction 14,15 on the sole.Sole 5,7,12,13 front lower place respectively are provided with a slide block 3, and because of gentle Suo Bixu keeps certain force of strain, slide block 3 is 4 directly to link to each other by hook and spring damping, realizes single gentle rope type of drive.In addition be provided with power sensor 2 in slide block 3 inner chambers, slide block 3 can be realized moving forward and backward, and by power sensor feedback terrestrial information, seeks optimum and ground contact point.Referring to Figure 1A-A, gentle claim-reduction 15 is made up of stationary housing 18, fixed slide block 17.After gentle rope end 39 is consolidated in slide block 17, micrometer adjusting screw by screwed hole 19, is linked to each other fixed slide block 17 with stationary housing 18, micrometer adjusting screw can be regulated the tension force of gentle rope.
Referring to Fig. 2 and Fig. 3, described sole 5,7,12,13, upper surface links to each other with top cover 20 by installing hole, the side links to each other with side plate 24 by installing hole, link to each other with supports main shaft 8 by revolute pair 23, about occur with symmetric form.Flexible foot sole 5,7,12,13, the scope of elevating movement are to adjust in real time according to the current concaveconvex shape of kiss the earth, need and can remain unchanged in the support phase.But when gentle Suo Lali is excessive, sole 5 before and after may causing, 7,12,13, between angle undergo mutation, so the spacing key that becomes mechanism design of elevating movement is provided with torsion spring 17 between revolute pair among the present invention, to produce the power that balances each other with gentle rope, keep small pieces foot static balancing, contact thereby the realization touchdown point is firm with ground, stable.
Participate in Fig. 4, described main shaft support is made up of six-dimension force sensor 28, upper end cover 27, bottom end cover 30.The upper surface of bottom end cover 30 and sextuple power sensing lower surface are fixed by installing hole, are not subjected to the influence of foot and ground contact impact for protecting six-dimension force sensor, are evenly equipped with three shock-absorbing posts 29 at bottom end cover 30 and 29 of six-dimension force sensors.
Referring to Fig. 5, described micro machine drive system, adopt " micromachine+hoist engine+gentle rope " drive pattern, and realize the elevating movement of sole and moving forward and backward of slide block by the length that changes the gentle rope in hoist engine two ends, mainly by micromachine (having decelerator) 36, encoder 37, hoist engine 34 is formed, micromachine 36 is fixed in fixed housing 35 by installing hole, fixed housing 35 links to each other with the robot shank by installing hole, to alleviate the weight of foot body, reduce the complexity of foot machinery.
Referring to Fig. 6, described gentle rope is sticked in respectively on two cylinders by the two ends of the gentle rope 26 of certain-length and constitutes, and is gentle rope end 38,39.
Sole occurs with symmetric form, and existing is example with described sole 13, the operation principle of narration sole elevating movement:
The external hoist engine 34 of the rotating shaft of micromachine 36, the rope that will soften passes hoist engine centre bore 33, and after twining some circles on the hoist engine 34, its end 38,39 is passed by hole 31,32 respectively;
With slide block 3 is example, the operation principle that slide block seesaws among narration the present invention:
Be equipped with a slide block 3 below the described sole 5, this slide block nail links to each other with micro machine drive system 9 by gentle rope., and the auxiliary spring damping of all connecting of slide block 3 rear ends is 3, is used for keeping in real time gentle rope to be in extended state, when gentle Suo Fangsong the rubber nail discharged rapidly to the front end of sole, and makes gentle rope remain pretightning force to exist.
Claims (7)
1. a novel flexible foot system of human-imitated robot mainly comprises sole, supports main shaft, micro machine drive system.Described sole totally four fritters, it is characterized in that: every novel flexible foot by four small pieces can be independently up and down the sole of pitching forms, link to each other with supports main shaft and be provided with torsion spring by revolute pair, enable certain initial attitude and the starting force of foot assurance.Described supports main shaft is characterized in that: front and back link to each other with ankle-joint with sole respectively, and are provided with the ground reaction force when foot contacts with ground in the six-dimension force sensor detection machine people process.Described micro machine drive system mainly comprises micromachine, decelerator, and encoder, hoist engine is characterized in that: the displacement that the rotation of micromachine is converted into gentle rope.
2. a kind of novel flexible foot system of human-imitated robot as claimed in claim 1, it is characterized in that: all have auxiliary spring damping system below each sole, by gentle rope, drive by micromachine, the front end that pulling links to each other with the spring slide block that contacts to earth moves forward and backward, to realize suitably regulating contact position according to the concavo-convex attitude in ground.
3. a kind of novel flexible foot system of human-imitated robot as claimed in claim 1, it is characterized in that: the preceding front lower place that upward reaches of each sole is equipped with gentle claim-reduction, and gentle rope behind some circles, is fixed in described gentle claim-reduction through hoist engine, when motor rotates, make foot elevating movement up and down.
4. a kind of novel flexible foot system of human-imitated robot as claimed in claim 1, it is characterized in that: the micro machine drive system adopts the type of drive of " micromachine (having decelerator)+hoist engine+gentle rope ", and it is swollen that all micro machine drive systems all are contained in shank, to alleviate the weight of foot body, reduce the foot mechanical complexity.
5. a kind of novel flexible foot system of human-imitated robot as claimed in claim 1, it is characterized in that: designed flexible foot has 4 to move along X-axis around Y-axis pitching, 4, totally 8 frees degree guarantee that sole can both guarantee that at least the stable of a point contacts with concavo-convex ground.
6. a kind of novel flexible foot system of human-imitated robot as claimed in claim 1, it is characterized in that: 4 slide blocks that contact to earth in vola are worked in coordination, form 4 ground contacts in space of stereoscopic three-dimensional, and it is big as far as possible to follow 4 projected areas at horizontal plane in space, is within the ZMP stability region to guarantee the anthropomorphic robot center of gravity.
7. a kind of novel flexible foot system of human-imitated robot as claimed in claim 1, it is characterized in that: each free degree motion is by a micromachine drive, avoided the coupled relation between the free degree, though number of motors increases, but because reduced mechanical transmission component, add that motor volume is very little, reduced the complexity of machinery and control generally.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100891382A CN101618549B (en) | 2009-07-31 | 2009-07-31 | Novel flexible foot system of human-imitated robot |
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| CN2009100891382A CN101618549B (en) | 2009-07-31 | 2009-07-31 | Novel flexible foot system of human-imitated robot |
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| CN101618549A true CN101618549A (en) | 2010-01-06 |
| CN101618549B CN101618549B (en) | 2011-12-07 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101780765A (en) * | 2010-03-12 | 2010-07-21 | 杭州电子科技大学 | Driving mechanism of omnidirectional mobile robot |
| CN101934525A (en) * | 2010-09-15 | 2011-01-05 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
| CN102001370A (en) * | 2010-11-10 | 2011-04-06 | 哈尔滨工业大学 | Foot mechanism of torobot |
| CN102514649A (en) * | 2011-12-29 | 2012-06-27 | 北京航空航天大学 | Humanoid robot foot plate mechanism with multiple degrees of freedom |
| CN105944264A (en) * | 2016-02-19 | 2016-09-21 | 青岛克路德机器人有限公司 | Ground-touch determination method of auxiliary support apparatus of robot and the robot |
| CN108357582A (en) * | 2018-04-11 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of Bionic flexible pawl thorn |
| WO2019041075A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Walking robot |
| CN112647736A (en) * | 2020-12-11 | 2021-04-13 | 中国核工业第二二建设有限公司 | Winter-period construction discharging point assembled heat preservation shed and assembling method thereof |
| CN113443043A (en) * | 2021-07-16 | 2021-09-28 | 浙江大学 | Foot structure of biped robot adaptable to uneven road surface |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100499143B1 (en) * | 2003-02-27 | 2005-07-04 | 삼성전자주식회사 | Ground reaction force detection module for walking robot and robot foot structure adopting the same |
| CN100384598C (en) * | 2006-06-22 | 2008-04-30 | 上海交通大学 | Foot mechanism with toe freedom for two-foot walking robot |
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2009
- 2009-07-31 CN CN2009100891382A patent/CN101618549B/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101780765A (en) * | 2010-03-12 | 2010-07-21 | 杭州电子科技大学 | Driving mechanism of omnidirectional mobile robot |
| CN101780765B (en) * | 2010-03-12 | 2011-11-02 | 杭州电子科技大学 | Driving mechanism of omnidirectional mobile robot |
| CN101934525B (en) * | 2010-09-15 | 2012-07-25 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
| CN101934525A (en) * | 2010-09-15 | 2011-01-05 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
| CN102001370B (en) * | 2010-11-10 | 2013-03-27 | 哈尔滨工业大学 | Foot mechanism of torobot |
| CN102001370A (en) * | 2010-11-10 | 2011-04-06 | 哈尔滨工业大学 | Foot mechanism of torobot |
| CN102514649A (en) * | 2011-12-29 | 2012-06-27 | 北京航空航天大学 | Humanoid robot foot plate mechanism with multiple degrees of freedom |
| CN105944264A (en) * | 2016-02-19 | 2016-09-21 | 青岛克路德机器人有限公司 | Ground-touch determination method of auxiliary support apparatus of robot and the robot |
| WO2019041075A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Walking robot |
| CN108357582A (en) * | 2018-04-11 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of Bionic flexible pawl thorn |
| CN108357582B (en) * | 2018-04-11 | 2023-10-13 | 中国科学院合肥物质科学研究院 | Bionic flexible claw thorn foot structure |
| CN112647736A (en) * | 2020-12-11 | 2021-04-13 | 中国核工业第二二建设有限公司 | Winter-period construction discharging point assembled heat preservation shed and assembling method thereof |
| CN113443043A (en) * | 2021-07-16 | 2021-09-28 | 浙江大学 | Foot structure of biped robot adaptable to uneven road surface |
| CN113443043B (en) * | 2021-07-16 | 2022-05-17 | 浙江大学 | Foot structure of biped robot adaptable to uneven road surface |
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