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CN102717846A - Foot sole structure of robot - Google Patents

Foot sole structure of robot Download PDF

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Publication number
CN102717846A
CN102717846A CN 201210206976 CN201210206976A CN102717846A CN 102717846 A CN102717846 A CN 102717846A CN 201210206976 CN201210206976 CN 201210206976 CN 201210206976 A CN201210206976 A CN 201210206976A CN 102717846 A CN102717846 A CN 102717846A
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foot
sole
portion
structure
section
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CN 201210206976
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Chinese (zh)
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戴文钟
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戴文钟
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Abstract

The invention discloses a foot sole structure of a robot. In order to enable a foot sole of the robot to adapt to various landforms and walk more stably, the robot is provided with the foot sole structure capable of simulating a human gait. To achieve above technical effects, the technical scheme of the foot sole structures includes that the foot sole structure comprises a transmission shaft, the transmission shaft is provided with a foot arch portion, the foot arch portion is assembled by a front section, a middle section and a rear section, the front section and the rear section are located in a same plane, the bottom surface of the middle protrudes upwards to form an arch structure, a toe portion is pivoted at the front end of the front section, and a pressing portion is arranged at the position where the front end of the front section is pivoted to the toe portion. Compared with the prior art, the foot sole structure is provided with the pivot structure between the arch portion and the toe portion, so that the robot can adapt to walking on uneven grounds, and gait of the robot is more anthropomorphic.

Description

机器人脚掌结构 Robot foot structure

技术领域 FIELD

[0001] 本发明涉及一种机器人脚掌结构。 [0001] The present invention relates to a structure of a robot foot.

背景技术 Background technique

[0002] 随着微电脑技术的突飞猛进及电子产业的高度发展,机器人(Robot)已成为一种新兴产业,在当代工业中,机器人已能够取代或协助人类进行高危险性工作,如:组装、喷漆、焊接、高温铸锻等,甚至是医疗救援、娱乐服务、军事保全与太空探索等领域,亦使用了诸多机器人设备,根据IFR(International Federation of Robotics)所提供的统计资料,2010年全球机器人的消费市场已达到350亿美元,其中产业用机器人的销售额约为190亿美元,服务型机器人的销售额则约为160亿美元,因此,为能设计出更为适用与高效能的机器人设备,现今已出现各种机器人竞赛,例如:WR0国际奥林匹克机器人大赛、FLL OIC (OpenInternational Championship)高雄世界杯机器人大赛、PMC机器人创意竞赛、香港青少年机器人世界杯(RCJHK),且众多生产者亦纷纷针对机器人的各部位结构进行改良, [0002] With the rapid development of highly microcomputer technology and electronics industry, the robot (Robot) has become a new industry, in modern industry, robots have been able to replace or assist humans in high-risk work, such as: assembly, painting , welding, casting and forging high temperature, etc., and even medical assistance, entertainment services, military and space exploration, preservation and other fields also use a lot of robotic equipment, according to statistics IFR (International Federation of robotics) provided by 2010, the global robot the consumer market has reached $ 35 billion, of which industrial robot sales of approximately $ 19 billion, sales of service robots is about $ 16 billion, therefore, is to design a more suitable robot device with high performance, today various robotics competitions have emerged, such as: WR0 World robot Olympiad, FLL OIC (OpenInternational Championship) Kaohsiung World robot contest, PMC creative robot competitions, Hong Kong RoboCupJunior (RCJHK), and also a number of producers have for each robot site structure improvement, 能满足产业上的各种需求。 To meet the various needs of the industry.

[0003] 一般而言,机器人产业的发展大抵朝向专业应用为主,但随着社会结构的变化,如:老年人口增加、小家庭数量上升等诸多因素,服务型机器人的产品亦逐渐获得生产者与消费者的重视,理想的服务型机器人的整体外观大多朝向于人类的态样发展,研发重点普遍着落于“灵巧手掌、安全感知、敏捷移动、智慧控制”等各个方面,其中,对于“敏捷移动”方面,针对现今的双足机器人而言,其脚掌大多采用大面积平板式的设计结构,如:日本的ASIM0.HRP-2等机器人,均是使脚掌底面保持成水平面,令脚掌底面能够贴靠至平坦的地面上,以使双足式机器人能稳固地站立于地面上。 [0003] In general, the development of the robotics industry probably towards professional applications, but with the changes in social structures, such as: the elderly population increases, the number of small family rise, and many other factors, the service robot products also gradually gained producer and the attention of consumers, the overall appearance of the ideal of service robots in most aspects towards human development, R & D focus generally landed on the "smart palm of your hand, security-aware, agile movement, the wisdom of control" and other aspects, which, for the "agile mobile ", the biped robot, for now, most of which foot large area flat-design of the structure, such as: Japanese ASIM0.HRP-2 like robots, are held in a horizontal plane to make the bottom surface of the sole, so that the bottom surface of the sole can be to abut on the flat ground, so that the two-legged robot can stand firmly on the ground.

[0004] 但是,前述的脚掌结构在步行于平坦的地面上时,虽能使双足式机器人平稳地站立于地面上,但在应用在非平坦的地面时,则会衍生出诸多不便,如图I所示,当双足式机器人藉由两脚掌11、12行走于非平坦的地面10上时,若其中一脚掌11踩踏至地面10的隆起处101,则受限于该脚掌11的平板式设计,将使得该脚掌11之底面仅有局部能碰触到该隆起处101,此时,当机器人抬起另一脚掌12后,双足式机器人的全身重量将会落至该脚掌11上,由于该脚掌11绝大部分皆为悬空状态,故会造成该双足式机器人的重心不稳,进而发生晃动甚至是摔倒等情形,不仅严重影响双足式机器人在行走上的流畅性,更可能导致双足式机器人损坏。 [0004] However, the structure of the sole during walking on flat ground, although the two-legged robot can stands stably on the ground, but in the application in a non-planar surface, will be derived from a lot of inconvenience, such as as shown in Figure I, when the two-legged walking robot by two feet 11 and 12 on the non-planar surface 10, wherein when a pedaling foot 11 to the floor 10 at the bump 101, is limited to the sole plate 11 design, so that the bottom surface 11 of the foot can only partially touches the bump 101, at this time, lift the other foot when the robot 12, the body weight of the bipedal robot will drop to the sole 11 Since the vast majority of the sole 11 are both suspended state, it will cause the center of gravity of the bipedal robot instability, and the like fall even further shake occurs, not only seriously affect the smooth two-legged walking robot on, more likely to cause damage biped robot. 此外,除了前述地面10隆起的情况外,当地面10具有凹陷处时,在双足式机器人的其中一脚掌11、12踩踏至凹陷处后,同样会发生重心不稳的问题,导致双足式机器人整体倾斜而摔倒,因此目前的双足机器人因其平板式脚掌11、12的结构,仅适用于平坦的地面,而无法适应于多变化的地形,使双足式机器人的应用范围受到局限。 Further, where the addition raised floor 10, the surface 10 has a local depression, wherein the depression to a foot recess 11, the same problems will occur in the center of gravity biped robot, resulting in two-legged robot overall tilt and fall, so the current structure of the biped robot because of its flat-panel feet 11 and 12, only applies to flat ground, unable to adapt to the many changes in the terrain, the bipedal robot application range is limited .

[0005] 同时,平板式的脚掌结构除了有前述不易适应地形的问题之外,尚有其它缺点。 [0005] Meanwhile, the flat-foot structure in addition to the easy adaptation of the terrain outside, there are other drawbacks. 举例而言,当双足式机器人行走时,通常双足式机器人的第一脚掌是完全贴靠至地面上,其第二脚掌则会完全抬起悬空并向前位移,在第二脚掌悬空位移的过程中,为避免双足式机器人因重心不稳摔倒,双足式机器人的重心会偏向于第一脚掌上,直至第二脚掌碰触到地面时,机器人的重心才会偏离至两个脚掌之间,并逐渐移至第二脚掌上,因此,为能保持双足式机器人移动上的平衡性,除了需大幅增加脚掌的面积之外,两个脚掌间的移动距离亦无法过远,以避免摔倒,也就是说,具有平板式的脚掌结构的双足式机器人无法进行大步伐的位移,这一情况将使双足式机器人的移动时间较长,且移动方式亦无法达到拟人化的效果,致使目前的双足机器人行动上的姿势极为呆板而不自然。 For example, when the two-legged walking robot, a first foot biped robot is usually completely fit against the surface to which the second foot will be raised completely suspended and forwardly displaced, displaced in a second floating foot process, the biped robot in order to avoid instability due to gravity fall, the center of gravity of the legged robot will be biased to the first sole, until the second when the foot touches the ground, the center of gravity of the robot will deviate to two between the feet and gradually move to the second foot, so as to maintain Ping Heng of the two-legged robot moves, in addition to be a substantial increase in foot outside the area, moving the distance between the two feet is also not too far away, in order to avoid falling, that is to say, with a displacement flatbed sole structure bipedal robot can not be great pace, this situation will enable mobile biped robot long time, and the moves will not be able to reach anthropomorphic the effect of posture on the causes of the current biped robot actions are very stiff and unnatural. 因此如何针对上述平板式的脚掌结构所衍生的各种问题,设计出一种崭新的机器人脚掌结构,即为本发明要解决的技术问题。 Therefore, how to address issues of the flat type structure derived sole design a new robot foot structure, namely technical problem to be solved by the present invention.

发明内容 SUMMARY

[0006] 本发明要解决的技术问题是提供一种使得机器人脚掌能适应于各种地形,且能更为稳固地行走,产生拟人步态效果的机器人脚掌结构。 [0006] The present invention is to solve the technical problem of providing a foot so that the robot can be adapted to a variety of terrain, and can walk more stably generated gait anthropomorphic robot foot structure effect.

[0007] 为解决上述技术问题,本发明采用以下技术方案:一种机器人脚掌结构,包括传动轴,所述传动轴上设有足弓部,所述足弓部由前段、中段和后段连接组成,所述前段和后段的底面位于同一平面,而中段的底面向上凸起形成拱形结构;所述前段的前端枢接有脚趾部,所述前段的前端与脚趾部的枢接位置上设置有加压部。 [0007] To solve the above problems, the present invention employs the following technical solution: A robot foot structure, comprising a drive shaft provided with an arch portion, said arch portion connecting the anterior, middle and posterior composed of a bottom surface of said front and rear sections are in the same plane, the middle of the bottom surface is formed upwardly convex arch structure; front end pivotally connected with said front toe portion, the position of the distal end pivotally connected to the toe portion on the front stage It is provided with a pressing portion.

[0008] 本发明所述前段的前端凹设有缺口,脚趾部的后端凸设有连接片,枢接轴穿过缺口与连接片将脚趾部枢接至前段的前端。 [0008] The present invention is provided with a concave front end of said front notch portion is provided with a rear projecting toe piece is connected, through the aperture and the pivot axis pivoting the connecting piece connected to the front end of the toe portion of the front section.

[0009] 本发明所述加压部为扭簧,该扭簧套设在枢接轴上,且分别连接脚趾部的后端及前段的前端。 [0009] The pressurizing unit of the present invention is a torsion spring sleeved on the pivot shaft and are connected to the front end and a rear end portion of the front section of the toes.

[0010] 本发明所述加压部为致动器。 [0010] The present invention is pressing the actuator portion.

[0011] 本发明所述足弓部的中段底侧设有肋条。 The [0011] present invention, the middle portion of the bottom side of the arch is provided with ribs.

[0012] 本发明所述脚趾部的底面与前段的底面在接近水平的状态下,所述脚趾部的底面与足弓部的前段的底面间所形成的第二夹角不大于30度。 [0012] bottom surface and the bottom surface of the anterior portion of the toe of the present invention in substantially horizontal state, the angle between the bottom surface of the second bottom surface of the anterior portion of the toe portion of the arch formed by not more than 30 degrees.

[0013] 本发明所述足弓部中段的顶面设有连接部,该连接部与传动轴相连接。 [0013] The present invention is in the middle of the arch top surface of a connecting portion, the connecting portion is connected with the drive shaft.

[0014] 本发明与现有技术相比,通过足弓部与脚趾部的枢接结构,能使机器人适应于非平坦的地面行走,从而使机器人脚掌的行走步态更加拟人化。 [0014] Compared with the prior art of the present invention, by pivoting the structure of the arch portion and toe portion, adapted to allow the robot to walk in a non-planar surface, such that the foot of the robot gait more anthropomorphic.

附图说明 BRIEF DESCRIPTION

[0015] 图I是现有机器人的行走示意图; [0015] FIG. I is a schematic view of the conventional walking robot;

[0016] 图2是本发明机器人脚掌的立体示意图; [0016] FIG. 2 is a perspective view of the robot foot according to the invention;

[0017] 图3是本发明机器人脚掌的第一状态示意图; [0017] FIG. 3 is a schematic view of a first state of the robot foot according to the present invention;

[0018] 图4是本发明机器人脚掌的第二状态示意图; [0018] FIG. 4 is a schematic diagram of a second state of the robot foot according to the present invention;

[0019] 图5是本发明机器人脚掌的第三状态示意图。 [0019] FIG. 5 is a schematic view of a third state of the robot according to the present invention paw.

[0020] 附图中主要零件符号说明: [0020] BRIEF DESCRIPTION OF REFERENCE NUMERALS main parts:

[0021] 机器人脚掌 …… 2 [0021] robot feet ...... 2

[0022] 足弓部 ............21 [0022] The arch portion 21 ............

[0023]前段 ............211 [0023] The front section 211 ............

[0024]缺口 ............2110 [0024] gap ............ 2110

[0025]中段 ............213、[0026]连接部 ............214 [0025] ............ middle 213, [0026] connection portion 214 ............

[0027]后段 ............215 [0027] The rear section 215 ............

[0028]肋条 ............216 [0028] ............ ribs 216

[0029] 枢接轴 ............22 [0029] The pivot shaft 22 ............

[0030] 脚趾部 …… 23 [0030] The toe portion 23 ......

[0031] 连接片 …… 231 [0031] The connecting plate 231 ......

[0032] 加压部 ............25 [0032] The pressing portion 25 ............

[0033] 传动轴 ............27 [0033] 27 shaft ............

[0034] 平面 ............3 [0034] plane ............ 3

[0035] 预定距离 ............R [0035] R & lt predetermined distance ............

[0036]第一夹角 ............Θ I [0036] The first angle ............ Θ I

[0037]第二夹角 ............Θ 2 [0037] The second angle ............ Θ 2

具体实施方式 detailed description

[0038] 下面结合附图和实施例对本发明作进一步详细说明。 Drawings and embodiments of the present invention will be further described in detail [0038] below in conjunction.

[0039] 通常大多数人类的脚掌底部通常会向上隆起,形成明显的弓形,即称“足弓”,“足弓”的主要功能是在人行走过程中,能够提高双脚承受运动压力、冲击力与重力的能力,并能藉由弓形形状而达到减震效果。 [0039] Most typically the bottom of the human foot is usually bulge upward to form a clear bow, that is called "arch", "arch" primary function is in the process of human walking, can improve the movement of the feet to withstand pressure, shock ability force of gravity, and can be an arcuate shape to achieve the damping effect. 鉴于人类脚掌结构的特殊性,本发明人除能达到上述的效果之外,还能适应各种类形的地形,使机器人于行走的过程中,能模拟出人类行走的姿势。 Due to the special structure of the human foot, the present invention can be achieved in addition to the above effects, but also to adapt the shape of various types of terrain, the robot is in the process of walking, we can simulate human walking posture.

[0040] 如图2及图3所示,机器人脚掌2应用至一机器人上,包括一足弓部21、至少一脚趾部23及至少一加压部25,在本发明的一实施例中,该足弓部21为一体成形,且依序包括一前段211、一中段213及一后段215,其中前段211及后段215的底面位于同一平面且低于中段213的底面,即中段213的底面向上凸起,前段211及后段215的顶面亦低于中段213的顶面,使得足弓部21的中间区域能形成朝顶面隆起的状态,即一拱形结构。 [0040] As shown in FIG. 2 and FIG. 3, the robot foot 2 is applied to a robot, comprising a pressing portion 23, and at least 21, at least a portion of a toe arch portion 25, in one embodiment of the present invention, the arch portion 21 is integrally formed and comprises a front section 211 sequentially, a middle section 213 and a rear section 215, front section 211 and a bottom surface wherein the rear section 215 is located below the bottom surface of the middle same plane 213, i.e., the bottom surface 213 of the middle upwardly convex, front section 211 and rear section 215 of the top surface is also lower than the top surface 213 of the middle section, such that the intermediate region of the arch portion 21 can be formed toward the top surface of the raised state, i.e., an arcuate configuration. 当前段211及后段215的底面贴靠住一平面3时(如图3所示),中段213的底面会与平面3保持一预定距离R,如此,足弓部21能形成近似拱形形状,使得中段213所承受的重量能朝前段211与后段215分散,使中段213具有较高的承受力量的能力。 Current section 211 and the bottom surface of rear section 215 abuts against the plane of 3:01 (Figure 3), in the middle of the bottom surface 213 will remain a predetermined distance from the plane R 3, thus, the arch portion 21 can be formed approximately arcuate shape , so that the middle 213 can bear the weight towards the front section 211 and rear section 215 dispersion, so that the middle 213 has the ability to withstand high forces. 同时,中段213的顶面设有一连接部214,该连接部214能与机器人的传动轴27相连接组装,使得足弓部21能被传动轴27带动,而朝远离平面3的方向位移。 Meanwhile, the top surface 213 of the middle section is provided with a connecting portion 214, the connecting portion 214 can be assembled with the drive shaft 27 is connected to the robot, so that the arch portion 21 can be driven by the drive shaft 27, and displaced in a direction away plane 3. 此外,在本发明的其它实施例中,生产者还能按照不同的机器人需求,而对足弓部21的结构进行调整,举例而言,为能提高足弓部21的强度,生产者可以在中段213的底侧增设至少一根肋条216,该肋条216的两端分别邻近或连接至前段211与后段215,从而使足弓部21的整体结构更为坚固,并能支撑较大的重量;或者生产者能采用韧性较佳的材质来制作足弓部21,当足弓部21由悬空状态而朝平面3的方向位移,且前段211与后段215的底面贴靠住平面3时,通过中段213与平面3间的预定距离R与足弓部21的材质特性,能使足弓部21略为变形,以达到减震效果,令机器人行走更为平稳而不易晃动。 Further, in other embodiments of the present invention, the producer also according to different needs of the robot, the configuration of the arch portion 21 is adjusted, for example, can improve the strength of the arch portion 21, the producer may middle of the bottom side 213 of at least one additional rib 216, the ends of the ribs 216 are adjacent to or connected to the front section 211 and rear section 215, so that the arch portion 21 of the overall structure more rigid and capable of supporting a large weight ; or producer can be employed to produce the preferred material toughness arch portion 21, the arch portion 21 when a floating state toward the direction of the plane 3 is displaced and the anterior segment 211 and the bottom surface 215 abuts against the plane 3, middle plane 213 by a predetermined material properties and the distance R 3 with the arch portion 21, the arch portion 21 can deform slightly, to achieve the damping effect, to make the robot walk smoothly and more difficult to shake.

[0041] 如图2及图3所示,前段211的前端凹设有至少一缺口2110,脚趾部23的后端凸设有至少一连接片231,一枢接轴22能依序穿过前段211的缺口2110与连接片231,使得脚趾部23能枢接至前段211的前端,并进行翻转,当足弓部21被传动轴27带动,而朝远离平面3的方向位移时,如图4所示,由于脚趾部23的底面能贴靠至平面3上,因此,足弓部21能以脚趾部23为轴心转动,使得脚趾部23的底面能与前段211的底面形成一个第一夹角Θ I。 [0041] As shown in FIG. 2 and FIG. 3, the front end of front section 211 is provided with at least one notch recess 2110, a rear end projecting toe portion 23 is provided with at least one connecting plate 231, a pivot shaft 22 can sequentially through a pre-stage 2110 notch 211 and the connecting sheet 231, such that the toe portion 23 is pivotable connected to a front end of the front section 211, and inverted, the arch portion 21 when the shaft 27 is driven, is displaced toward a direction away from the plane 3, as shown in , since the bottom surface of the toe portion 23 can abut onto the plane 3, and therefore, the arch portion 21 is capable of axial rotation of the toe portion 23, so that the toe portion of the bottom surface 23 can form a first nip with the bottom surface 211 of the anterior angle Θ I. 如此,当机器人脚掌2踩踏至非平坦的地面上后,通过脚趾部23与足弓部21间的枢接作用,即可使机器人的脚掌2顺应地面而变形,同时,脚趾部23与足弓部21的前段211、后段215大多仍能贴靠至地面上,令机器人能稳定地直立于地面上,而不会因重心不稳发生晃动或摔倒等情况。 Thus, when the robot foot 2 to the depression on the non-planar surface, the toe portion 23 through the pivotal action of the arch portion 21, to make the robot foot 2 compliant surface is deformed, while the toe portion 23 with the arch 211 of the front section 21, back section 215 are mostly still abuts to the floor, so that the robot can stably stand on the ground, the center of gravity will not fall down or becoming loose and so on. 此外,由于足弓部21的中段213底面与平面3尚保持预定距离R,因此,若平面3上有杂物(如:石粒)时,该杂物亦能够容纳在预定距离R中,而不会影响到机器人的平衡性,因此本发明的机器人脚掌2不仅具有较佳的适应性,而能适用于各种类形的地面,且不会如同现有的具有平板式脚掌的机器人一般仅能在平坦的地面上才具有良好的平衡性。 Further, since the middle of the bottom surface 213 of the arch portion 21 with a predetermined distance from the plane R 3 still remains, therefore, there is debris on the plane when the 3: (as a stone grain), which is also able to accommodate debris in a predetermined distance R, whereas It does not affect the Ping Heng of the robot, thus the robot foot 2 of the present invention not only has better adaptability, and can be applied to various types of surface shape, and not as a conventional flat-foot robot has only a general It can only have a good balance on the flat ground.

[0042] 如图2〜4所示,为使机器人脚掌2在行走时能达到高度拟人化运动的效果,传动轴27在带动足弓部21时,能使足弓部21的后段215先行离开平面3,再使前段211离开平面3,仅靠脚趾部23的底面贴靠住该平面3,最后再带动脚趾部23离开平面3,在上述过程中,机器人的重心会逐渐向脚趾部23的方向位移,且在脚趾部23完全离开平面3之前,机器人的另一机器人脚掌2已贴靠住平面3,使得机器人的重心能由机器人脚掌2改变至另一机器人脚掌2上,如此,在机器人行走的过程中,虽然机器人的重心会逐渐向前(即朝脚趾部23的方向)移动,但通过脚趾部23与足弓部21的枢接结构,仍能使机器人脚掌2的局部区域(如:脚趾部23)平稳地贴靠至平面3上,除能提高机器人步行上的稳定度之外,还能大幅增加机器人步行的步伐距离,令机器人的行走姿势近似于人类的行走姿势。 [0042] 2 ~ 4 as shown in FIG., 2 feet of the robot is walking can achieve highly anthropomorphic movements, driven by the drive shaft 27 when the arch portion 21, the arch portion 21 allows the preceding paragraph 215 3 out of the plane, so that the pre-stage 211 further out of the plane 3, only by the toe portion 23 abuts against the bottom surface of the plane 3, the toe portion 23 and finally led out of the plane 3, in the above process, the center of gravity of the robot will gradually toward the toe portion 23 displacement direction, and prior to the toe portion 23 is completely out of the plane 3, another robot foot 2 of the robot has been abut the plane 3, such that the center of gravity of the robot can be performed by the robot foot 2 on the robot foot 2 is changed to another, so, in process walking robot, although the center of gravity of the robot will gradually forwardly (i.e. towards the toe portion 23) moves, but the toe portion 23 through the hinge structure with the arch portion 21 of the robot foot still partial region 2 ( such as: the toe portion 23) to be smoothly against the plane 3, in addition to improve the stability of the robot walking on the outside, but also significantly increase the pace of walking distance of the robot, the robot so that the traveling posture similar to the human walking posture. 此外,按照本发明的足弓部21与脚趾部23的结构,生产者不需额外增加机器人脚掌2的面积,亦能够保持行走上的平稳与流畅度,故能大幅减缩机器人的整体体积,令机器人的整体外观更近似于人类的状态。 Further, according to the structure of the present invention, the arch portion 21 and toe portion 23, the producer does not need an additional area of ​​the robot foot 2, and also can maintain the smooth running on fluency, it can significantly the overall volume reduction of the robot, so the overall appearance of the robot more closely resemble the human condition.

[0043] 如图3及图4所示,前段211的前端与脚趾部23的枢接位置,还设有加压部25,加压部25可以采用扭簧或致动器(actuator )。 [0043] As shown in FIG. 3 and FIG. 4, the pivot position of the front section 211 and the distal end of the toe portion 23, 25 also has a pressing portion, the pressing portion 25 may employ a torsion spring or actuator (actuator). 在该实施例中,加压部25为扭簧,扭簧套设在枢接轴22上,且分别连接脚趾部的后端及前段的前端。 In this embodiment, the pressurizing unit 25 is a torsion spring, a torsion spring sleeved on the pivot shaft 22, a rear end and a front end and connected to the toe portion of the front stage. 当足弓部21朝远离平面3的方向位移,使得脚趾部23的底面与前段211的底面间形成第一夹角Θ I时,加压部25会对脚趾部23产生作用力,使得脚趾部23朝远离足弓部21的顶面方向翻转,由于脚趾部23的底面贴靠于平面3上,受到加压部25的作用力的影响,该脚趾部23会对平面3施加一向下作用力,此时,该脚趾部23与平面3间的摩擦力即会增加,令脚趾部23能稳固地定位于平面3上,而不易滑动,如此,机器人行走的过程中即能增加行进稳定度,避免发生滑倒的情况。 When the arch portion 21 toward a direction away from the plane 3 is displaced such that the toe portion between the bottom surface and the bottom surface 23 of the front section 211 forming a first angle Θ I, the pressing portion 25 will generate a force toe portion 23, so that the toe portion 23 toward a direction away from the top surface of the arch portion 21 is reversed, since the bottom surface of the toe portion 23 abutting on a plane 3, affected by the urging force of the pressing portion 25, the plane of the toe portion 3 is applied a downward force 23 will in this case, the toe portion 23 and the plane 3, i.e., the frictional force increases, so that the toe portion 23 can be stably positioned on the plane 3, is not easy to slide, so, in the process of walking robots that can increase the stability of traveling, avoid slipping occurs. 且在本发明的其它实施例中,生产者能够按照使用上的需求,而使加压部25为致动器或其它组件,只要加压部25能够在脚趾部23的底面贴靠至平面3上,且足弓部21朝远离平面3的方向位移时,迫使脚趾部23向平面3施加一向下作用力,即为本发明所述的加压部25。 And in other embodiments of the present invention, producers can be used according to demand, the pressing portion 25 of the actuator or other components, as long as the pressing portion can be attached to the bottom surface 25 of toe portion 23 to plane 3 against on, and the arch portion 21 toward a direction away from the plane 3 is displaced, forcing the toe portion 23 a downward force is applied to the plane 3, that is, the pressing portion 25 according to the present invention.

[0044] 如图2及图4所示,在上述的步行方式中,当机器人脚掌2由接触平面3改变至处于悬空状态时,受到加压部25的作用力影响,脚趾部23会受力而恢复至原位置,使得该脚趾部23的底面与足弓部21的前段211底面保持水平状(如图3的脚趾部23与足弓部21的位置关系),或是接近水平状态的位置,也就是说,如图5所示,脚趾部23的底面与足弓部21的前段211的底面间,所形成的第二夹角Θ2不会大于30度。 [0044] As shown in FIG. 2 and FIG. 4, in the above-described walking, when the robot foot 2 from the plane to change the contact 3 in a floating state, the pressing portion 25 by the biasing force of the impact will force the toe portion 23 restored to its original position, so that the bottom surface of the arch portion and toe portion 23 of the bottom surface 21 of the front section 211 is held horizontally (the toe portion 3 of the positional relationship with the arch portion 23 in FIG. 21), or a position close to a horizontal state that is, as shown in FIG. 5, between the bottom surface 21 of the front section 211 with the arch portion of the bottom surface of the toe portion 23, a second angle Θ2 formed by not more than 30 degrees. 在此特别指出,本发明的加压部25对脚趾部23所施加的作用力,仅会使脚趾部23的底面位移到与足弓部21的前段211底面保持水平状或接近水平状为止,而不会使脚趾部23的底面朝足弓部21的底面方向过度翻转,以避免脚趾部23的前端(如图5所示的虚圈A)先碰触到平面3,进而使脚趾部23的底面贴靠到足弓部21的底面,造成机器人无法正常行走,甚至是损坏机器人脚掌2等问题。 It is particularly noted that biasing force of the pressing portion 25 of the present invention is applied to the toe section 23, only the toe portion causes the displacement of the bottom surface 23 is maintained horizontally with the bottom surface of the front section 211 of the arch portion 21 until the proximity or horizontally, without the toe portion 23 facing the bottom surface of the bottom portion 21 of the arch direction flipped over, in order to avoid the front end of the toe portion 23 (FIG imaginary circle a shown in FIG. 5) first touches the plane 3, and thus make the toe portion 23 against the bottom surface to the underside of the arch 21, causing the robot can not walk properly, and even damage to the robot foot 2 and so on. 如此,如图3所示,当机器人行走时,藉由足弓部21的拱形结构,即能以轻量化结构设计来增加机器人脚掌2承受重量及压力的能力,此外,生产者能够通过在足弓部21的底侧增设肋条216,来提高足弓部21的强度,或者,生产者能通过改变足弓部21的材质,而使足弓部21自身能产生形变,以提供适当的减震效果,令机器人在行走过程中,较不易晃动, 此外,通过足弓部21与脚趾部23的枢接结构,能使机器人行走于非平坦的地面上时,机器人脚掌2能顺应地形地产生变形,而仍能大幅度地贴靠至地面上,加强机器人的平衡性;同时,足弓部21与脚趾部23的枢接结构,还能使机器人脚掌2模拟出人类行走的姿势,达成高度拟人化的效果。 Thus, as shown in FIG. 3, when the robot is walking, the arch by arch portion 21, i.e., capable of lightweight construction designed to increase the ability to withstand the weight and pressure of the robot foot 2, in addition, by the producers to the arch portion 21 of the bottom side of the additional ribs 216 to improve the strength of the arch portion 21, or by changing the material producers arch portion 21, the arch portion 21 itself can be deformed, to provide an appropriate reduction shock effect, so that the robot during walking, less prone to shake, in addition, by the pivoting structure 21 and the arch portion 23 of the toe portion, can when the robot walks on a non-planar surface, the robot can conform to the sole 2 to produce topographic deformed, while still greatly against the ground to enhance Ping Heng of the robot; the same time, the arch portion 21 and the pivoting structure 23 of the toe portion, the robot foot 2 can simulate human walking posture, to reach the height anthropomorphic effect.

[0045] 以上所述,仅为本发明的较佳实施例,但本发明所主张的权利范围并不局限于此,凡熟悉本领域的技术人员,依据本发明所披露的技术内容,可轻易思及的等效变化,均应属不脱离本发明的保护范畴。 [0045] The above are only preferred embodiments of the present invention, but the scope of the present invention as claimed is not limited thereto, any skilled in the art, based on technical contents disclosed in the present invention can be easily Si changes and equivalents, without departing from the scope of protection shall belong to the present invention.

Claims (7)

1. 一种机器人脚掌结构,包括传动轴,其特征在于:所述传动轴上设有足弓部,所述足弓部由前段、中段和后段连接组成,所述前段和后段的底面位于同一平面,而中段的底面向上凸起形成拱形结构;所述前段的前端枢接有脚趾部,所述前段的前端与脚趾部的枢接位置上设置有加压部。 1. A robot sole structure, comprising a drive shaft, characterized in that: said drive shaft is provided on the arch portion, said arch portion connecting the anterior, middle and posterior segments, a bottom surface of said front and rear sections located in the same plane, the bottom surface is formed upwardly convex middle arch structure; front end pivotally connected with said front toe portion, the pressing portion is provided with a pivot position of the tip of the toe portion on the front stage.
2.根据权利要求I所述的机器人脚掌结构,其特征在于:所述前段的前端凹设有缺口,脚趾部的后端凸设有连接片,枢接轴穿过缺口与连接片将脚趾部枢接至前段的前端。 Robot according to claim I of the sole structure, characterized in that: the front end of said front recess, a notch, a rear end portion provided with a protruding toe connecting piece, the pivot axis passing through the notch portion connecting piece toes a front end pivotally connected to the front stage.
3.根据权利要求2所述的机器人脚掌结构,其特征在于:所述加压部为扭簧,该扭簧套设在枢接轴上,且分别连接脚趾部的后端及前段的前端。 3. The structure of the robot foot according to claim 2, wherein: the pressurizing portion is a torsion spring sleeved on the pivot shaft and are connected to the front end and a rear end portion of the front section of the toes.
4.根据权利要求2所述的机器人脚掌结构,其特征在于:所述加压部为致动器。 4. The structure of the robot foot according to claim 2, wherein: said pressurizing the actuator portion.
5.根据权利要求3或4所述的机器人脚掌结构,其特征在于:所述足弓部的中段底侧设有肋条。 The robot foot structure according to claim 3 or claim 4, wherein: said middle portion of the bottom side of the arch is provided with ribs.
6.根据权利要求5所述的机器人脚掌结构,其特征在于:所述脚趾部的底面与前段的底面在接近水平的状态下,所述脚趾部的底面与足弓部的前段的底面间所形成的第二夹角不大于30度。 The robot foot structure according to claim 5, characterized in that: said bottom surface and the bottom surface of the anterior portion of the toe at a substantially horizontal state, the front section between the bottom surface of the arch portion and the bottom surface of the toe portion the second angle is no greater than 30 degrees.
7.根据权利要求6所述的机器人脚掌结构,其特征在于:所述足弓部中段的顶面设有连接部,该连接部与传动轴相连接。 The robot foot structure according to claim 6, wherein: the middle of the top surface of the arch portion is provided with connecting portions, the connecting portion is connected with the drive shaft.
CN 201210206976 2012-06-21 2012-06-21 Foot sole structure of robot CN102717846A (en)

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CN103112516A (en) * 2013-01-18 2013-05-22 杭州电子科技大学 Flexible hinge with double-direction variable rigidity
CN105438311A (en) * 2015-12-17 2016-03-30 常州大学 Two-degree-of-freedom series-parallel low-frequency mechanical foot of humanoid robot
CN105892558A (en) * 2015-01-26 2016-08-24 郝成武 Robot toe bearing capacity balance mechanism

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CN102039945A (en) * 2010-12-15 2011-05-04 东南大学 Two-dimensional (2D) walking robot foot mechanism

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US5376139A (en) * 1992-09-21 1994-12-27 Pitkin; Mark R. Artificial foot and ankle
CN1087253A (en) * 1992-11-17 1994-06-01 斯科特·爱伦 Coil spring prosthetic foot
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CN1507382A (en) * 2002-02-15 2004-06-23 索尼公司 Leg device for leg type movable robot, and method of controlling leg type movable robot
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Publication number Priority date Publication date Assignee Title
CN103112516A (en) * 2013-01-18 2013-05-22 杭州电子科技大学 Flexible hinge with double-direction variable rigidity
CN105892558A (en) * 2015-01-26 2016-08-24 郝成武 Robot toe bearing capacity balance mechanism
CN105438311A (en) * 2015-12-17 2016-03-30 常州大学 Two-degree-of-freedom series-parallel low-frequency mechanical foot of humanoid robot
CN105438311B (en) * 2015-12-17 2017-08-01 常州大学 The humanoid robot with two degrees of freedom hybrid mechanical low enough

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