CN102079095A - Robot foot imitating locust sole - Google Patents
Robot foot imitating locust sole Download PDFInfo
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- CN102079095A CN102079095A CN 201010564598 CN201010564598A CN102079095A CN 102079095 A CN102079095 A CN 102079095A CN 201010564598 CN201010564598 CN 201010564598 CN 201010564598 A CN201010564598 A CN 201010564598A CN 102079095 A CN102079095 A CN 102079095A
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- 239000007788 liquid Substances 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims description 11
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- 230000007423 decrease Effects 0.000 claims description 3
- 239000013536 elastomeric material Substances 0.000 claims description 3
- 239000003292 glue Substances 0.000 abstract description 3
- 239000011664 nicotinic acid Substances 0.000 abstract description 2
- 239000013013 elastic material Substances 0.000 abstract 2
- 238000013461 design Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 9
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- 239000000853 adhesive Substances 0.000 description 3
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- 230000003139 buffering effect Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 229920001971 elastomer Polymers 0.000 description 3
- 210000002381 plasma Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 238000001723 curing Methods 0.000 description 2
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- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 239000012620 biological material Substances 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011981 development test Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- 230000010429 evolutionary process Effects 0.000 description 1
- 210000000610 foot bone Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000036244 malformation Effects 0.000 description 1
- 229920003225 polyurethane elastomer Polymers 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention relates to a robot foot structure imitating a locust sole, which is used for the field of bionic robots and can provide larger grip force and keep the integral stability of a system. The robot feet comprise insteps, soles and glue lines, wherein the soles and the insteps are glued together through the glue lines; liquid is injected into each cavity formed by the instep and the sole; and the upper end of each instep is connected with a leg. When robot feet bear loads, the soles made of elastic materials are deformed and then enlarge contact area with the ground, and the bottoms of the soles adopt petal-shaped structures similar to locust foot profiles, therefore the frictional force of the feet and the ground can be increased; and the elastic materials and the liquid inside the cavity can absorb the impact force of the feet during touchdown, therefore the integral stability of a robot is further ensured.
Description
Technical field
The present invention relates to the bio-robot field, specifically refer to a kind of biomimetic features design of legged type robot pin.
Background technology
Along with the development of robot industrialization, robot plays an increasingly important role in modern industry.And legged type robot has good adaptive capacity to the mountain region non-structure environment of complexity, and bigger bearing capacity, and aspects such as the goods and materials transportation behind mountain region search and rescue, earthquake, mud-stone flow disaster are with a wide range of applications.
Improve the motor fitness of legged type robot, robot sole design must be satisfied following condition: 1. low contact stiffness, good earth-catching property; 2. energy consumption is saved in superior damping and buffering effect; 3. good supporting rigidity possesses certain bearing capacity.
Associated machine people's foot structure in the existing legged type robot, mostly adopt the structure of Rubber foot bottom to increase the frictional behaviour on pin and ground, but for uneven ground, the plane sole that rubber is made can't obtain enough earth-grasping forces, thereby can't satisfy the requirement of the whole high efficiency of robot.The patent No. as people such as Wu Zhongcheng application is that CN1513647A, patent name are the leg structure in the patent of " a kind of foot of anthropomorphic robot and strength of one's legs information detecting method ".After ground masterpiece was used sole, though the strain that the Rubber foot bottom produces in vertical direction can reduce the effect of impact load, this leg structure did not provide the mechanism of stabilized walking.Be applied to the heel of robot when vibration after, can not reduce vibration effectively.
In order to address this problem, it is CN1586966A that people such as Hu Guanpeng have delivered patent publication No., patent name is the patent of " leg structure of the unsteady four feet walking robot that supports of foot ", the described foot structure of this patent has designed the plane moving sets with elastic compensating ability and has connected, thereby guarantees that this structure has elasticity in the horizontal direction.But this structure does not but provide elastic buffering mechanism in vertical direction, so just can't realize that robot foot has cushioning effect when with ground greater impact being arranged.
In addition, the name that people such as Jinichi Yamaquchi deliver is called the article of " be used for obtaining landing surface position information and make the development test of the pin mechanism of the stable band absorption of vibrations materials of dynamic two foot walkings ", a kind of foot structure that is used for the advanced person of anthropomorphic robot is disclosed, but this kind structure robot foot does not have toe joint, like this pin when walking to push away in the motion earth-grasping force just not enough, can not guarantee the tight contact between ground and the foot.
And patent publication No. is: CN1651295A, patent name is: the foot structure of anthropomorphic robot and have the robot of this foot structure, the applying date is: on August 10th, 2005, this patent foot structure can absorb and impact and stable robot's gait.But the foot structure of this patent is relatively poor to uneven ground adaptability, and when robot was in mountain region or rugged location, robot foot can't guarantee efficient operation.This foot structure design is complicated simultaneously.
This shows that the structural design of robot foot presses for original theory, robot stable on various complex surfaces adheres to, good earth-catching property and support stiffness thereby satisfy.
In the evolutionary process in up to a million years, the vola of insect has obtained best geometry designs and biomaterial characteristic, has guaranteed that insect can move on the surface of various living environments, different materials, matter structure, roughness, stop.Wherein, the delicate structure of locust vola contacts with ground by soft exocuticle (in comprise blood plasma (liquid)) and to realize stable adhering to.
Observation the 3rd pair of foot of locust (leaping legs) shank is found the similar W type of its section shape, and structure mainly comprises black epidermis, air bag, contains the soft exocuticle and the blood plasma of shaft-like tissue.Wherein soft exocuticle is sliding relatively soft yielding material, is the working face of locust sole.
Adopt simplified model that locust jumping back of foot bone section is carried out finite element analysis, the result shows that the structural design of locust sole has superior mechanical property, when the soft exocuticle that includes blood plasma contacts with ground, because contact stiffness is low, under the load effect, can make sole obtain bigger contact area; Grove shape bar institutional framework under the soft exocuticle has improved the locust vola in various lip-deep adaptability simultaneously, reduces the stress of vola inside.The W type structure of this exquisiteness of locust sole makes it obtain maximum frictional force in two ways: 1. in contact process, because the distortion of sole, produced bigger frictional force, like this when the active movement of locust leg, frictional force increases since a bigger value, and this helps obtaining stable adhering to; 2. the W type structural design of sole makes it obtain big as far as possible contact area, is having under the capillarity situation, and this helps obtaining bigger adhesion strength.
This exquisite structure of locust vola has the height environmental suitability for we design robot foot provides design inspiration and innovation source.
Summary of the invention
The present invention is directed to deficiency of the prior art, provide a kind of earth-catching property well and in the horizontal and vertical directions all to have the robot foot of the imitative locust sole of elastic buffer effect.
The present invention mainly is made up of instep 1 and sole 2, and instep 1 adopts hard material, and sole 2 adopts elastomeric material, and sole 2 is positioned at instep 1 below and forms cavity between the two, and the material that cavity inside is filled is liquid or gas; Sole 2 bottoms also have petal-shaped structure, this petal-shaped structure is that the class W type structure of imitation locust pin section is rotated around W type central shaft, the curved surface upper edge circumference that obtains after rotation again carries out five equilibrium, obtain the petal body of some five equilibriums, the curvature of cross section class W type bending of crossing central shaft and each bisector place is less than the class W type bending curvature of lobe type cross-sectional centerline, and the class W type bending curvature in each cross section successively decreases gradually between lobe type center line and bisector, thereby has formed the petal-shaped structure with pleat trace shape of circular five equilibrium.Because the contact area of petal-shaped structure itself is big, also can obtain bigger contact area after the distortion, the channel form structure can play certain thrust simultaneously, therefore pedal in the ground process at robot leg, sole is fully contacted with ground, thereby increased contact area, increased frictional force/earth-grasping force with ground.
Operation principle of the present invention: the present invention has disclosed the locust sole and has had bigger earth-grasping force by locust sole section is carried out finite element analysis, can realize the stable characteristic of adhering to, and has designed a kind of robot foot structure of imitative locust sole on this basis.This is simple in structure, be easy to promote, and has good practical value.The distortion of sole bottom is flexible, and when foot lifted, the sole bottom returned to original shape; When foot when contacting to earth, the stressed back of sole becomes big with the ground contact area, and under the effect of hydraulic pressure, position, sole top expands outwardly simultaneously, can guarantee that sole and instep combine closely more; When leg was subjected to the impulsive force of level and vertical, the sole of soft material can produce distortion, thereby played cushioning effect.
The present invention compared with prior art also has following advantage:
1. leg structure design of the present invention has cavity, can charge into liquid in the cavity, plays damping action, absorbs shock and vibration, and the impulsive force when the alleviation robot foot lands reduces the vibration of leg structure at high frequency band, thereby has guaranteed the resistance to overturning of legged type robot.This foot structure can provide intact protection for the legged type robot shank, even as though walking upon flat ground on hard stone face.
2. the present invention has good supporting rigidity, can be applied under the condition of high capacity.
3. leg structure of the present invention is simple, light, is easy to processing, practical value height, is easy to promote.
Description of drawings
Fig. 1 partly cuts open structure chart for the robot foot structure of a kind of imitative locust sole of the present invention;
Fig. 2 is the instep structure chart of the robot foot structure of a kind of imitative locust sole of the present invention;
Fig. 3 is the sole front view of the robot foot structure of a kind of imitative locust sole of the present invention;
Fig. 4 is the sole upward view of the robot foot structure of a kind of imitative locust sole of the present invention;
Fig. 5 is the robot foot structure of a kind of imitative locust sole of the present invention demonstration graph when not stressed;
Fig. 6 demonstration graph during for the robot foot structure stress of a kind of imitative locust sole of the present invention.
Number in the figure title: 1, instep; 2, sole; 3, glue-line.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail:
In conjunction with Fig. 1,2,3,4, this example is a kind of robot foot structure of imitative locust sole, comprising: instep 1, sole 2, glue-line 3.Above-mentioned sole bottom also has petal-shaped structure, this petal-shaped structure is that the class W type structure of imitation locust pin section is rotated around W type central shaft, the curved surface upper edge circumference that obtains after rotation again carries out five equilibrium, obtain " petal " as dried five equilibrium, the curvature of cross section class W type bending of crossing central shaft and each bisector place is less than the class W type bending curvature of lobe type cross-sectional centerline, and the class W type bending curvature in each cross section successively decreases gradually between lobe type center line and bisector, thereby has formed the petal-shaped structure with pleat trace shape of circular five equilibrium.
As shown in Figure 1, instep 1 adopts aluminum alloy materials, and sole 2 adopts the polyurethane rubber material, and glue-line 3 is 703 glue.Instep 1 is connected by glue-line 3 with sole 2.Since strong adhesion after 703 adhesive curings, high resilience, and its adhering and sealing is effective; Be easy to remove convenient instep or the sole in the future changed after 703 adhesive curings simultaneously.In the process of using, in the cavity of sole and instep formation, inject liquid water.The upper end of described instep 1 is connected with the robot shank by screw thread.
Present embodiment in use, the distortion of sole bottom is flexible, when foot lifted, the sole bottom returned to original shape; When foot when contacting to earth, the stressed back of sole becomes big with the ground contact area, and under the effect of hydraulic pressure, position, sole top expands outwardly simultaneously, can guarantee that sole and instep combine closely more; When leg was subjected to the impulsive force of level and vertical, the sole of elastomeric material can produce distortion, thereby played cushioning effect, simultaneously because the sole bottom is the petal-shaped structure of class locust pin section, after being subjected to impulsive force, because petal-shaped malformation can produce bigger adhesive force.
Fig. 5, Fig. 6 are robot foot effect structure demonstration comparison diagrams.
In Fig. 5, Fig. 6, carry out the increase that non linear finite element analysis calculates sole 2 contacts area by using ANSYS10.0 (can buy) from ANSYS Co., Ltd.This enforcement is analyzed 1/4 of whole model, uses a circle plug to replace robot shank structure to be connected with the upper end of instep 1 simultaneously.Fig. 5 is the situation of whole model when not stressed, and this moment, sole 2 contacted for the line face with the ground contact type; Fig. 6 is the deformation pattern of whole model when being subjected to the 50N bearing capacity, and this moment, sole 2 contacted for the face face with the contact type on ground, and contact area increases to 2721.23mm
2
In sum, robot bionic leg structure of the present invention has damping, buffering and good ground abhesion capacity, and this architecture quality is light simultaneously, support stiffness is high, is a kind of more excellent embodiment.
This example is a kind of embodiment wherein, and the present invention mainly comprises the functional structure form that it is special, and the material category of using is not limit, and can select suitable material according to concrete operating mode.
Claims (5)
1. the robot foot of an imitative locust sole, it is characterized in that: form by instep (1) and sole (2), wherein instep (1) adopts hard material, sole (2) adopts elastomeric material, sole (2) is positioned at instep (1) below and forms cavity between the two, and the material that cavity inside is filled is liquid or gas; Above-mentioned sole (2) bottom also has petal-shaped structure, this petal-shaped structure is that the class W type structure of imitation locust pin section is rotated around W type central shaft, the curved surface upper edge circumference that obtains after rotation again carries out five equilibrium, obtain the petal body of some five equilibriums, the curvature of cross section class W type bending of crossing central shaft and each bisector place is less than the class W type bending curvature of lobe type cross-sectional centerline, and the class W type bending curvature in each cross section successively decreases gradually between lobe type center line and bisector, thereby has formed the petal-shaped structure with pleat trace shape of circular five equilibrium.
2. the robot foot of imitative locust sole according to claim 1 is characterized in that: the wall thickness of above-mentioned sole (2) is even.
3. the robot foot of imitative locust sole according to claim 1 is characterized in that: connect with glue-line (3) between above-mentioned instep (1) and the sole (2).
4. the robot foot of imitative locust sole according to claim 1 is characterized in that: the lower end inner surface of described instep (1) bonds together by the upper end outer surface of glue-line (3) with sole (2).
5. the robot foot of imitative locust sole according to claim 1 is characterized in that: the pin integral body that above-mentioned instep (1) and sole (2) constitute is the centre normal symmetric form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010564598 CN102079095A (en) | 2010-11-30 | 2010-11-30 | Robot foot imitating locust sole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010564598 CN102079095A (en) | 2010-11-30 | 2010-11-30 | Robot foot imitating locust sole |
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| Publication Number | Publication Date |
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| CN102079095A true CN102079095A (en) | 2011-06-01 |
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| CN 201010564598 Pending CN102079095A (en) | 2010-11-30 | 2010-11-30 | Robot foot imitating locust sole |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252930A (en) * | 2013-06-03 | 2013-08-21 | 江苏大学 | Hollow type light bionic structure plate with non-through type cavities |
| CN104814582A (en) * | 2015-04-22 | 2015-08-05 | 江苏大学 | Bionic walking stick supporting foot pad |
| CN110132474A (en) * | 2019-06-10 | 2019-08-16 | 哈尔滨理工大学 | A kind of liquid-type, which contacts to earth, detects sufficient end |
| CN111634344A (en) * | 2020-04-20 | 2020-09-08 | 南京航空航天大学 | Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method |
| WO2021147612A1 (en) * | 2020-01-23 | 2021-07-29 | 广州视源电子科技股份有限公司 | Robot foot-end module and robot |
| CN113507803A (en) * | 2021-06-15 | 2021-10-15 | 杭州电子科技大学 | Deep-sea pressure-resistant container with imitated siderite beetle bionic structure and preparation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050077856A1 (en) * | 2001-12-25 | 2005-04-14 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
| CN1651295A (en) * | 2004-02-06 | 2005-08-10 | 三星电子株式会社 | Foot structure for humanoid robot and robot with the same |
| CN101402380A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Humanoid robot foot section impact absorption mechanism |
-
2010
- 2010-11-30 CN CN 201010564598 patent/CN102079095A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050077856A1 (en) * | 2001-12-25 | 2005-04-14 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
| CN1651295A (en) * | 2004-02-06 | 2005-08-10 | 三星电子株式会社 | Foot structure for humanoid robot and robot with the same |
| CN101402380A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Humanoid robot foot section impact absorption mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 《上海交通大学学报》 20030130 戴振东等 蝗虫脚掌微结构及其接触的有限元分析 66-69 第37卷, 第1期 2 * |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252930A (en) * | 2013-06-03 | 2013-08-21 | 江苏大学 | Hollow type light bionic structure plate with non-through type cavities |
| CN103252930B (en) * | 2013-06-03 | 2015-07-08 | 江苏大学 | Hollow type light bionic structure plate with non-through type cavities |
| CN104814582A (en) * | 2015-04-22 | 2015-08-05 | 江苏大学 | Bionic walking stick supporting foot pad |
| CN110132474A (en) * | 2019-06-10 | 2019-08-16 | 哈尔滨理工大学 | A kind of liquid-type, which contacts to earth, detects sufficient end |
| WO2021147612A1 (en) * | 2020-01-23 | 2021-07-29 | 广州视源电子科技股份有限公司 | Robot foot-end module and robot |
| CN111634344A (en) * | 2020-04-20 | 2020-09-08 | 南京航空航天大学 | Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method |
| CN111634344B (en) * | 2020-04-20 | 2021-05-11 | 南京航空航天大学 | Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method |
| CN113507803A (en) * | 2021-06-15 | 2021-10-15 | 杭州电子科技大学 | Deep-sea pressure-resistant container with imitated siderite beetle bionic structure and preparation method thereof |
| CN113507803B (en) * | 2021-06-15 | 2022-03-01 | 杭州电子科技大学 | Preparation method of deep-sea pressure-resistant container with imitated siderite beetle bionic structure |
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Application publication date: 20110601 |