CN102556202A - Robot foot with buffering function - Google Patents
Robot foot with buffering function Download PDFInfo
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- CN102556202A CN102556202A CN2012100376595A CN201210037659A CN102556202A CN 102556202 A CN102556202 A CN 102556202A CN 2012100376595 A CN2012100376595 A CN 2012100376595A CN 201210037659 A CN201210037659 A CN 201210037659A CN 102556202 A CN102556202 A CN 102556202A
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Abstract
The invention discloses a robot foot with a buffering function, which comprises a slider, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a primary spring and a semi-spherical foot. The slider is respectively connected with the first connecting rod and the second connecting rod through hinges, the tail end of the first connecting rod is connected with the third connecting rod, the tail end of the second connecting rod is connected with the fourth connecting rod, one end of the guide rod penetrates through the slider, the middle of the guide rod is hinged with the tail ends of the third connecting rod and the fourth connecting rod, and the tail end of the guide rod is connected with the semi-spherical foot through the primary spring. By the aid of the robot foot with the buffering function, impact resistance of leg structures of a four-foot robot is improved and vibration impact on the robot during moving is reduced, and meanwhile, energy is stored for the next walking. Further, the robot foot with the buffering function is simple in structure and easy to control and has adaptability to high road surfaces and high-buffering energy storing capacity.
Description
Technical field
The present invention relates to Robotics field in the mechanical engineering, specifically is a kind of robot foot section with buffer capacity.
Background technology
At a high speed, the high-mechanic four feet walking robot is the specialized robot of imitation quadruped mode of motion; The walking that this robotlike is can be in the non-structure environment of complicacy stable; Can replace the people to accomplish many dangerous operations, many potential application prospects arranged in industries such as military affairs, mining, nuclear power industry, celestial body probing surface, fire-fighting and rescue, building industry, agricultural felling, teaching amusements.For a long time, the four feet walking robot technology is one of focus of domestic and international robot field's research always.The gordian technique of quadruped robot is a traveling gear, and the alerting ability of the speed of its walking, stability, gait directly influences its work efficiency.In the process of walking; The impact that produces between non-structural floor and the foot; The dynamical equilibrium of robot is interfered, causes the instability of gait, and can cause damage parts such as the accurate speed reduction gearing of robot interior, servomotor, sophisticated sensors.This impact has limited the walking speed of robot, the continuity of walking step state, and then the balance control of robot is caused very big influence.Therefore, in the design process to robot foot section, the design of foot buffering link is very important considerations.
Find that through retrieval application number is the foot mechanism that 201010538211.2 Chinese invention patent discloses a kind of six biped robots, soft terrain self adaptation six biped robot foot mechanisms, it relates to bionic 6-leg robot.Special; The present invention relates to the foot mechanism of bionic 6-leg robot; The soft terrain that it is directed to the low and skewness of support stiffness has that area of contact is big, a no slide relative, advantage that the ground adaptivity is high, and can be according to ground-surface concrete situation; Carry out parameter adjustment, make it have best in-use performance.It utilizes four screws that upper interface is connected with robot body.The bearing two ends are fixed, for mechanism increases a rotational freedom.Six unthreaded holes of connecting panel cooperate with top, vola cylindrical gap along circumferential rectangular distribution, are led in the vola.Set screw adjustment vola sliding stroke scope.Action of the spring is between connecting panel and vola, and buffering foot mechanism and ground-surface impact adapt to varying environment through the adjustment spring stiffness.But this patent is only applicable to soft terrain, and need carry out a plurality of setting of springs in the use, and its design object is mainly six less demanding biped robots of walking stability, on rigid pavement, is easy to generate bigger friction drag.
Summary of the invention
The present invention is directed to the above-mentioned deficiency that exists in the prior art; A kind of robot foot section with buffer capacity is provided; Improved the impact resistance of quadruped robot leg structure, the concussion that has reduced in robot motion's process is impacted, simultaneously for take a step to put aside energy next time; And simple in structure, control easily, has high road surface adaptive capacity and high buffering accumulation of energy ability.
The present invention realizes through following technical scheme:
A kind of robot foot section with buffer capacity; Comprise: slide block, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, guide rod, one-level spring and hemisphere foot; Wherein, slide block links to each other with second connecting rod with first connecting rod respectively through hinge, and the end of first connecting rod links to each other with third connecting rod; The end of second connecting rod links to each other with the 4th connecting rod; One end of guide rod passes slide block, and the end of the middle part of guide rod and third connecting rod and the 4th connecting rod is hinged, and the end of guide rod links to each other with the hemisphere foot through the one-level spring.
Be symmetrically installed with two-level spring between said first connecting rod and the third connecting rod and between second connecting rod and the 4th connecting rod.
Said hemisphere foot has elasticity.
Robot foot section with buffer capacity provided by the present invention both can be used as the part of robot leg portion mechanism and had used, and can use as the buffering foot mechanism separately again.
When the present invention used as the part of robot leg portion mechanism, single robot foot section linked to each other with robot shank and actuator through hinge, and itself has one degree of freedom.First connecting rod and second connecting rod open, and drive third connecting rod the 4th connecting rod, thereby can promote foot, and the effect of guide rod can keep the sufficient direction of hemisphere, and the direction with shank is consistent all the time.This kind design is applicable to rigid pavement or regular road surface, and the impact part during walking is offset by the one-level spring, and another part also can be used as energy and is stored, to use as follow-up walking.
When the present invention uses as the buffering foot mechanism separately, need be at the adding two-level spring of symmetry between first connecting rod and the third connecting rod and between second connecting rod and the 4th connecting rod.At this moment, the two-stage spring can adapt to different road because rigidity is different, is particularly useful for walking on the unstructuredness road surface.
The beneficial effect that technical scheme of the present invention is brought is following:
The foot structure that the present invention adopted has improved the impact resistance of quadruped robot leg structure; The concussion that the elasticity of foot can reduce in robot motion's process is impacted, and for take a step to put aside energy next time, the design of level 2 buffering system has the ability of multiple pavement self-adaptive simultaneously.The present invention is simple in structure, control is easy, has high road surface adaptive capacity and high buffering accumulation of energy ability, is applicable to the multi-foot robot operation under high speed, high capacity transportation and the hazardous environment under the complicated non-structure topographic condition in field.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Among the figure, 1 is slide block, and 2 is first connecting rod, and 3 is second connecting rod, and 4 is third connecting rod, and 5 is guide rod, and 6 is the 4th connecting rod, and 7 is the one-level spring, and 8 is the hemisphere foot.
Fig. 2 is an embodiment of the invention structural representation.
Among the figure, 9 is two-level spring.
The specific embodiment
Elaborate in the face of embodiments of the invention down: present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
As shown in Figure 1, the robot foot section with buffer capacity provided by the present invention comprises: slide block 1, first connecting rod 2, second connecting rod 3, third connecting rod 4, the 4th connecting rod 6, guide rod 5, one-level spring 7 and rubber-like hemisphere foot 8.Wherein, Slide block 1 links to each other 3 with first connecting rod 2 with second connecting rod respectively through hinge; The end of first connecting rod 2 links to each other with third connecting rod 4, and the end of second connecting rod 3 links to each other with the 4th connecting rod 6, and an end of guide rod 5 passes slide block 1; The end of the middle part of guide rod 5 and third connecting rod 4 and the 4th connecting rod 6 is hinged, and the end of guide rod 5 links to each other with hemisphere foot 8 through one-level spring 7.
Robot foot section with buffer capacity provided by the present invention, a part that both can be used as the robot leg portion mechanism is used, and can use as the buffering foot mechanism separately again.
When the present invention used as the part of robot leg portion mechanism, single robot foot section linked to each other with robot shank and actuator through hinge, and itself has one degree of freedom.First connecting rod 2 opens with second connecting rod 3, drive third connecting rod 4 and the 4th connecting rod 6, thereby can promote foot, the effect of guide rod 5 can keep hemisphere enough 8 direction the direction with the robot shank is consistent all the time.This kind design is applicable to rigid pavement or regular road surface, and the impact part during walking is offset by one-level spring 7, and another part also can be used as energy and is stored, to use as follow-up walking.
As shown in Figure 2, when the present invention uses as the buffering foot mechanism separately, need be at the adding two-level spring 9 of symmetry between first connecting rod 2 and the third connecting rod 4 and between second connecting rod 3 and the 4th connecting rod 6.At this moment, the two-stage spring can adapt to different road because rigidity is different, is particularly useful for walking on the unstructuredness road surface.
Claims (3)
1. robot foot section with buffer capacity; It is characterized in that, comprise slide block, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, guide rod, one-level spring and hemisphere foot, wherein; Slide block links to each other with second connecting rod with first connecting rod respectively through hinge; The end of first connecting rod links to each other with third connecting rod, and the end of second connecting rod links to each other with the 4th connecting rod, and an end of guide rod passes slide block; The end of the middle part of guide rod and third connecting rod and the 4th connecting rod is hinged, and the end of guide rod links to each other with the hemisphere foot through the one-level spring.
2. a kind of robot foot section with buffer capacity according to claim 1 is characterized in that, is being symmetrically installed with two-level spring between said first connecting rod and the third connecting rod and between second connecting rod and the 4th connecting rod.
3. according to claim 1,2 described a kind of robot foot sections, it is characterized in that said hemisphere foot has elasticity with buffer capacity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100376595A CN102556202A (en) | 2012-02-20 | 2012-02-20 | Robot foot with buffering function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012100376595A CN102556202A (en) | 2012-02-20 | 2012-02-20 | Robot foot with buffering function |
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| CN102556202A true CN102556202A (en) | 2012-07-11 |
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| CN2012100376595A Pending CN102556202A (en) | 2012-02-20 | 2012-02-20 | Robot foot with buffering function |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527361A (en) * | 2014-12-22 | 2015-04-22 | 华南理工大学 | Device and method for automatically adjusting height of vehicle body of mobile robot |
| CN105128977A (en) * | 2015-07-22 | 2015-12-09 | 上海交通大学 | Leg configuration for rotatably driven three-dimensional walking robot |
| CN105947013A (en) * | 2016-06-23 | 2016-09-21 | 河北工业大学 | Flexible bionic mechanical leg |
| CN108583184A (en) * | 2018-04-13 | 2018-09-28 | 太原科技大学 | A kind of imitative kangaroo leg suspension of diamond shape |
| CN109080857A (en) * | 2018-07-27 | 2018-12-25 | 北京控制工程研究所 | A kind of leg buffer gear for lunar surface flying robot |
| WO2019041075A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Walking robot |
| CN112278109A (en) * | 2020-10-30 | 2021-01-29 | 山东大学 | Leg structure of bionic underwater foot type robot and bionic underwater foot type robot |
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| CN101038223A (en) * | 2007-04-25 | 2007-09-19 | 北京理工大学 | Foot end pressure sensor of multi-foot robot |
| CN101633372A (en) * | 2009-07-16 | 2010-01-27 | 哈尔滨工业大学深圳研究生院 | Spherical jumping robot |
| CN201923237U (en) * | 2010-12-31 | 2011-08-10 | 南京航空航天大学 | Vertical bounding mechanism for robot based on motor driving |
| CN102285390A (en) * | 2011-06-03 | 2011-12-21 | 哈尔滨工程大学 | Elastically driven walking leg in hybrid connection for walking robot |
| KR20110139839A (en) * | 2010-06-24 | 2011-12-30 | 건국대학교 산학협력단 | Small jumping robot actuated by shape memory alloy |
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2012
- 2012-02-20 CN CN2012100376595A patent/CN102556202A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101038223A (en) * | 2007-04-25 | 2007-09-19 | 北京理工大学 | Foot end pressure sensor of multi-foot robot |
| CN101633372A (en) * | 2009-07-16 | 2010-01-27 | 哈尔滨工业大学深圳研究生院 | Spherical jumping robot |
| KR20110139839A (en) * | 2010-06-24 | 2011-12-30 | 건국대학교 산학협력단 | Small jumping robot actuated by shape memory alloy |
| CN201923237U (en) * | 2010-12-31 | 2011-08-10 | 南京航空航天大学 | Vertical bounding mechanism for robot based on motor driving |
| CN102285390A (en) * | 2011-06-03 | 2011-12-21 | 哈尔滨工程大学 | Elastically driven walking leg in hybrid connection for walking robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527361A (en) * | 2014-12-22 | 2015-04-22 | 华南理工大学 | Device and method for automatically adjusting height of vehicle body of mobile robot |
| CN104527361B (en) * | 2014-12-22 | 2017-01-11 | 华南理工大学 | Device and method for automatically adjusting height of vehicle body of mobile robot |
| CN105128977A (en) * | 2015-07-22 | 2015-12-09 | 上海交通大学 | Leg configuration for rotatably driven three-dimensional walking robot |
| CN105947013A (en) * | 2016-06-23 | 2016-09-21 | 河北工业大学 | Flexible bionic mechanical leg |
| CN105947013B (en) * | 2016-06-23 | 2019-09-06 | 河北工业大学 | A kind of mechanical foot of flexible bionic |
| WO2019041075A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Walking robot |
| CN108583184A (en) * | 2018-04-13 | 2018-09-28 | 太原科技大学 | A kind of imitative kangaroo leg suspension of diamond shape |
| CN108583184B (en) * | 2018-04-13 | 2021-05-18 | 太原科技大学 | Diamond-shaped kangaroo leg-imitating suspension |
| CN109080857A (en) * | 2018-07-27 | 2018-12-25 | 北京控制工程研究所 | A kind of leg buffer gear for lunar surface flying robot |
| CN109080857B (en) * | 2018-07-27 | 2020-07-14 | 北京控制工程研究所 | Leg buffer mechanism for lunar flying robot |
| CN112278109A (en) * | 2020-10-30 | 2021-01-29 | 山东大学 | Leg structure of bionic underwater foot type robot and bionic underwater foot type robot |
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Application publication date: 20120711 |