CN103303388A - Omni directional and self-adaptation elastic foot of four-footed robot - Google Patents
Omni directional and self-adaptation elastic foot of four-footed robot Download PDFInfo
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- CN103303388A CN103303388A CN2013102848913A CN201310284891A CN103303388A CN 103303388 A CN103303388 A CN 103303388A CN 2013102848913 A CN2013102848913 A CN 2013102848913A CN 201310284891 A CN201310284891 A CN 201310284891A CN 103303388 A CN103303388 A CN 103303388A
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Abstract
The invention discloses a bionic footstep mechanism of a four-footed robot, which is mounted at the tail end of a shank. An elastic foot comprises six parts, namely a framework housing 1, a belleville spring 2, a spring steel slice 3, a rotating shaft 4, an instep separation blade 5 and an anklebone 6, wherein circular arcs in two directions are presented on the outer edge of the framework housing; the outer edge of the framework housing is coated with a rubber sleeve; space suitable for mounting the belleville spring, the elastic steel slice and the rotating shaft is arranged inside the framework housing; the belleville spring and the elastic steel slice are placed in sequence from bottom to top; the elastic steel slice, the rotating shaft and the anklebone are connected through screws; finally, the mechanism is closed by using the instep separation blade, and the screws are connected to the framework. Therefore, an integral elastic footstep mechanism is formed. The adjusting mechanism which can perform vibration absorption efficiently in virtue of various shock absorption elements, has a simple inner part, and is flexible, and has the characteristics of strong adaptive capacity, convenience for adjustment and quickness in refreshment.
Description
Technical field
The invention belongs to bionical quadruped robot technical field, relate in particular to and run the adaptivity foot of jumping quadruped robot.
Background technology
Robot foot design has become a vital task of legged type robot design, and its 26S Proteasome Structure and Function influences stability of motion and the alerting ability of robot, and to the adaptive capacity of complex environment.Traditional method normally is designed to rigid body with it, and robot without any shock absorber and directly and ground shock.This design will reduce the life-span of robot component, and the fitfull vibrations also can damage the ROBOT CONTROL device.In addition, because rigidity foot does not have the mechanism that attitude is adjusted, robot motion's underaction nature does not possess aesthetic value yet.In a word, rigidity foot design plan is unfavorable for the adjustment of robot pose, reduces robot to the adaptive capacity of complicated ground.
Though the mechanical pin of high emulation enjoys great popularity, the research cost height, the lead time is long, the designs complexity, difficulty of processing increases, and also needs to provide active force, has influenced its use.Simultaneously, because that foot is subjected to impacting is bigger, and irregular, this operation and maintenance to robot controller and actuator proposes requirements at the higher level, so highly emulated tool pin is for common quadruped robot and inapplicable.What really need is that adaptive ability is strong, easy to adjust quick, portable good, and the elastic foot mechanism of being convenient to safeguard.
Summary of the invention
Obtain inspiration from the biological sole pad of four-footed and biological foot bones structure, consider that present legged type robot sole mostly is rigidity or only along the present situation of shank axis direction damping, the invention provides the elastic foot portion mechanism that a kind of can be in suitable amplitude comprehensive self adaptation is adjusted, thereby realize very strong complex-terrain adaptive capacity with simple mechanism.
The comprehensive self adaptation elastic foot of quadruped robot is main body framework with the skeleton shell of special shape, its resemblance is, the skeleton shell is made of three sections circular arcs, the bigger circular arc of radius is along the fore-and-aft direction of robot, if it is many that robot whole piece leg is done the state of swing, radius can be set to the length of whole piece leg, and more if the robot shank is done the state of swing significantly, radius also can be set to shank length.Guarantee that like this robot barycenter is the fluctuating range minimum up and down under main state of kinematic motion.Arc radius along left and right directions is set to shank length, keeps robot barycenter fluctuating range minimum up and down during with the shifted laterally of assurance shank.If less demanding to the fluctuation of robot barycenter, the radius setting also can be adopted this method.
In the skeleton shell belleville spring is housed, a slice is housed along the spring steel plate of fore-and-aft direction on it, belleville spring is installed in the cylindricality mouth, and spring steel plate extends in the two sections grooves offered in front and back, simultaneously, spring steel plate, S. A. and anklebone is linked together with screw.The spring steel plate of selecting different-stiffness and belleville spring just can be realized the different damping performances of elastic foot, convenient transposing and optimization.Utilize the universal shock sucking function of spring steel plate, can realize foot's universal adjustment and absorbing.The axis of S. A. along about the robot oppositely, can make shank around this twirl to regulate attitude, utilize the unidirectional vibration absorption ability of spring steel plate simultaneously, effectively stop the above-mentioned anglec of rotation excessive and surpassed mechanism's load-carrying capacity, cause the motion unstability.The axle bed of S. A. is positioned on the skeleton shell, is shaped as the kidney slot of vertical placement, makes S. A. to move up and down.Like this, these elastic elements and rotating mechanism have been realized the damping of elastic foot portion mechanism, the function that quick comprehensive adaptivity is adjusted.
The instep catch is connected in the upper surface of skeleton shell by flathead screw, forms the mechanism of sealing.Adopt flathead screw can guarantee the smooth of instep outward appearance, prevent from being twined by the wire foreign material in the motion process.Instep catch center of gravity has the circular hole that radius is slightly larger than anklebone, makes shank do in foot and does not produce interference when universal self adaptation is adjusted.
This mechanism design is simple, is easy to processing, and elastic element can be selected flexibly according to required rigidity.The elastic foot portion mechanism can quick, universal self adaptation adjustment, can guarantee robot stabilized property, improves the ability that adapts to complex-terrain.
Description of drawings
With reference to the accompanying drawings above-mentioned feature of the present invention is given to detailed explanation, wherein
Figure 1 shows that the axonometric drawing of self adaptation elastic foot in the one embodiment of the invention.
Figure 2 shows that the semisectional view of self adaptation elastic foot in the one embodiment of the invention.
Figure 3 shows that the front elevation of self adaptation elastic foot in the one embodiment of the invention.
Figure 4 shows that the side mapping of self adaptation elastic foot in the one embodiment of the invention.
Figure 5 shows that the assembling relationship figure of self adaptation elastic foot in the one embodiment of the invention.
Concrete enforcement
Shown in Fig. 1-5, the present invention includes 1 skeleton shell, 2 belleville springs, 3 spring steel plates, 4 S. A.s, 5 instep catch and 6 anklebones totally 6 parts.1 skeleton shell profile has three sections circular arcs to constitute, and can see circular arc along left and right directions from front elevation, can see circular arc along fore-and-aft direction from lateral plan.The arc radius establishing method, many if robot whole piece leg is done the state of swing, radius can be set to the length of whole piece leg, more if the robot shank is done the state of swing significantly, radius also can be set to shank length.Can be by the aesthetic measure design radii if robot shank motion causes that the barycenter fluctuation can be ignored.1 skeleton enclosure is provided with bigger activity space, for the adjusting mechanism activity.It is cylindric changing the lower end, space, convenient 3 belleville springs of installing.1 skeleton shell upper surface and 5 instep catch are provided with 8 flathead screw holes, 1 skeleton shell and 5 instep baffle plates can be connected as a single entity, and realize mechanism's sealing.
Place 3 spring steel plates on 2 belleville springs, 3 spring steel plates are provided with two flathead screw holes, are used for being connected as a single entity with 4 S. A.s and 5 anklebones.3 spring steel plates extend in the deep-slotted chip breaker that 1 skeleton shell offers along fore-and-aft direction, and this deep-slotted chip breaker plays the effect of constraint 3 spring steel plates motion.
The axis of 4 S. A.s is along left and right directions, and two overhanging axles can be embedded in two kidney slots that 1 skeleton shell offers, and makes that 4 S. A.s both can up-down adjustment, again can be along luffing before and after the axis.Under this motion, 2 belleville springs can be brought into play universal vibration absorption ability and reach the damping effect, if front and back luffing trend is excessive, the unidirectional vibration absorption ability fiting constraint groove of 3 spring steel plates can guarantee that motion is limited in the reasonable scope.The circular hole that radius is slightly larger than 5 anklebone external diameters is offered at 4 instep catch centers, and 5 anklebones were not interfered with the instep catch when assurance elasticity foot finished the universal adjustment function.5 anklebones are set to hollow shaft, and its inwall presents the waist shape, and its advantage is to retrain anklebone with respect to the circumferential movement of shank bone.
Claims (8)
1. the comprehensive self adaptation elastic foot of quadruped robot is characterized in that, bionical pin comprises 1 skeleton shell, 2 belleville springs, 3 spring steel plates, 4 S. A.s, 5 instep catch and 6 anklebones totally 6 parts.The outer rim of skeleton shell presents the circular arc of both direction, rubber-coated cover; The bottom-up belleville spring of laying successively, spring steel plate, and spring steel plate, S. A. and anklebone connected with screw, use instep catch closing means at last, be connected in the skeleton shell with screw.
2. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1 is characterized in that, quadruped foots such as bionical pin imitation leopard, lion, tiger are inner by the absorbing of belleville spring simulation meat pad, guarantee the space omnidirectional adjustment capability simultaneously.
3. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1 is characterized in that the skeleton shell presents the circular arc of three sections orthogonal directionss, with (circular arc 1) before and after adapting to and about the motion of (circular arc 2,3) both direction.The former is that the radius latter is radius with the whole piece leg with the shank.Assurance barycenter stability.
4. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1 is characterized in that, S. A. has the rotation pivot shaft of left and right directions, and can connect the spring steel plate of fore-and-aft direction, guarantees comprehensive adjustment; S. A. and steel disc and ankle connect as one, and have simplified mechanism.
5. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1 is characterized in that, places before and after the spring steel plate, guarantees that foot is unlikely to influence stability at the bending degree of fore-and-aft direction, and relies on the fast quick-recovery initial state of its elastic force.Also effectively absorbing.
6. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1, it is characterized in that, the instep catch has radius greater than the hole of ankle external diameter, guarantee the comprehensive adjustment requisite space of foot, constitute enclosure space simultaneously, the inner elastomeric element provides suitable predetermincd tension, improves foot's stability.
7. according to claim 2,4, the comprehensive self adaptation elastic foot of 5 described quadruped robots, it is characterized in that, the skeleton enclosure mill out can the restricted spring steel disc arc space, the position changeable axle bed of constraint S. A. and suitable belleville spring are installed and the cylindrical space of adjusting, and assurance inner elastomeric element is at utmost brought into play absorbing and adjusted effect under controlled range.
8. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1 is characterized in that anklebone is designed to the hollow shaft shape, and inwall presents D type or waist shape, with the circumferential movement of constraint anklebone on the shank skeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310284891.3A CN103303388B (en) | 2013-07-08 | 2013-07-08 | The comprehensive self adaptation elastic foot of quadruped robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310284891.3A CN103303388B (en) | 2013-07-08 | 2013-07-08 | The comprehensive self adaptation elastic foot of quadruped robot |
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| CN103303388A true CN103303388A (en) | 2013-09-18 |
| CN103303388B CN103303388B (en) | 2016-01-20 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104401416A (en) * | 2014-12-11 | 2015-03-11 | 吉林大学 | Rigid-flexible coupling buffer bionic foot |
| CN106995018A (en) * | 2017-05-19 | 2017-08-01 | 沃奇（北京）智能科技有限公司 | Bionical foot |
| CN109109999A (en) * | 2018-10-19 | 2019-01-01 | 吉林大学 | A kind of adaptive sandy soil ground link-type quadruped robot foot pad |
| CN109398529A (en) * | 2018-12-13 | 2019-03-01 | 杭州云深处科技有限公司 | A kind of robot foot bottom |
| CN111959635A (en) * | 2020-08-29 | 2020-11-20 | 刘会英 | Single-leg jumping robot with all-dimensional jumping function |
| CN116039306A (en) * | 2023-04-03 | 2023-05-02 | 之江实验室 | Device and method capable of continuously adjusting suspension elastic force of wheel system of small wheeled robot |
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| US20100241242A1 (en) * | 2005-03-31 | 2010-09-23 | Massachusetts Institute Of Technology | Artificial Joints Using Agonist-Antagonist Actuators |
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| CN102556201A (en) * | 2012-01-19 | 2012-07-11 | 浙江大学 | Flat-sole foot structure of multi-foot walk robot |
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| CN87107075A (en) * | 1987-10-20 | 1988-04-13 | 哈尔滨工业大学 | Air-driven flexible cylinder and bending, torsion knuckle |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104401416A (en) * | 2014-12-11 | 2015-03-11 | 吉林大学 | Rigid-flexible coupling buffer bionic foot |
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| CN109109999A (en) * | 2018-10-19 | 2019-01-01 | 吉林大学 | A kind of adaptive sandy soil ground link-type quadruped robot foot pad |
| CN109109999B (en) * | 2018-10-19 | 2023-10-27 | 吉林大学 | Self-adaptive sandy soil ground connecting rod type four-foot robot foot pad |
| CN109398529A (en) * | 2018-12-13 | 2019-03-01 | 杭州云深处科技有限公司 | A kind of robot foot bottom |
| CN109398529B (en) * | 2018-12-13 | 2024-01-05 | 杭州云深处科技有限公司 | Robot sole |
| CN111959635A (en) * | 2020-08-29 | 2020-11-20 | 刘会英 | Single-leg jumping robot with all-dimensional jumping function |
| CN116039306A (en) * | 2023-04-03 | 2023-05-02 | 之江实验室 | Device and method capable of continuously adjusting suspension elastic force of wheel system of small wheeled robot |
| CN116039306B (en) * | 2023-04-03 | 2023-07-07 | 之江实验室 | Device and method capable of continuously adjusting suspension elastic force of wheel system of small wheeled robot |
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| CN103303388B (en) | 2016-01-20 |
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