CN103303388B - The comprehensive self adaptation elastic foot of quadruped robot - Google Patents

The comprehensive self adaptation elastic foot of quadruped robot Download PDF

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Publication number
CN103303388B
CN103303388B CN201310284891.3A CN201310284891A CN103303388B CN 103303388 B CN103303388 B CN 103303388B CN 201310284891 A CN201310284891 A CN 201310284891A CN 103303388 B CN103303388 B CN 103303388B
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CN
China
Prior art keywords
foot
self adaptation
spring steel
quadruped robot
steel plate
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CN201310284891.3A
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Chinese (zh)
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CN103303388A (en
Inventor
罗庆生
高剑锋
张博希
刘芳政
周晨阳
黄焱崧
柯志芳
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北京理工大学
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Priority to CN201310284891.3A priority Critical patent/CN103303388B/en
Publication of CN103303388A publication Critical patent/CN103303388A/en
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Publication of CN103303388B publication Critical patent/CN103303388B/en

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Abstract

The present invention discloses the bionical foot mechanism of a kind of quadruped robot, and this mechanism is arranged on shank end.Elastic foot comprises 1 skeleton shell, 2 belleville springs, 3 spring steel plates, 4 S. A.s, 5 instep catch and 6 anklebone 6 parts.The outer rim of skeleton shell presents the circular arc of both direction, rubber-coated cover, and inside is provided with the space being applicable to installing belleville spring, spring steel plate and S. A.; Bottom-uply lay belleville spring successively, spring steel plate, and spring steel plate, S. A. and anklebone screw are connected, finally use instep catch closing means, be connected to skeleton with screw.Which forms complete resilient feet mechanism.Can by the effective absorbing of multiple damper element, inside simply and flexibly adjusting mechanism has adaptable, easy to adjust and recover feature efficiently.

Description

The comprehensive self adaptation elastic foot of quadruped robot
Technical field
The invention belongs to bionical quadruped robot technical field, particularly relate to the adaptivity foot of running and jumping quadruped robot.
Background technology
Robot foot designs has become a vital task of legged type robot design, and its 26S Proteasome Structure and Function affects stability of motion and the alerting ability of robot, and the adaptive capacity to complex environment.Traditional method is normally designed to rigid body, and robot is direct and ground shock without any shock absorber.This design will reduce the life-span of robot component, and fitfull vibrations also can damage the control device of robot.In addition, because rigidity foot does not have the mechanism of pose adjustment, robot motion's underaction nature, does not also possess aesthetic value.In a word, rigidity foot design plan is unfavorable for the adjustment of robot pose, reduces robot to the adaptive capacity of complicated ground.
Although the mechanical pin of high emulation enjoys great popularity, research cost is high, and the lead time is long, and device layout is complicated, and difficulty of processing increases, and also needs to provide active force, have impact on it and uses.Meanwhile, because foot is subject to impacting comparatively large, and irregular, this proposes requirements at the higher level to the operation and maintenance of robot controller and actuator, so highly emulated tool pin is inapplicable for common quadruped robot.Real it is desirable that adaptive ability is strong, fast easy to adjust, portable good, and be convenient to the elastic foot mechanism of maintenance.
Summary of the invention
Inspiration is obtained from the biological sole pad of four-footed and biological foot bones structure, consider that current legged type robot sole mostly is rigidity or only along the present situation of shank axis direction damping, the object of this invention is to provide a kind of can in suitable amplitude the resilient feet mechanism of comprehensive self-adaptative adjustment, thus realize very strong complex-terrain adaptive capacity with simple mechanism.
The comprehensive self adaptation elastic foot of quadruped robot with the skeleton shell of special shape for main body framework, its resemblance is, skeleton shell is made up of three sections of circular arcs, the larger circular arc of radius is along the fore-and-aft direction of robot, if it is many that robot whole piece leg does the state swung, radius can be set to the length of whole piece leg, if to do the state significantly swung more for robot shank, radius also can be set to lower-leg length.Ensure that, under main movement state, the upper and lower fluctuating range of robot barycenter is minimum like this.Arc radius is in left-right direction set to lower-leg length, keeps the upper and lower fluctuating range of robot barycenter minimum during to ensure leg shifted laterally.If not high to robot barycenter surge requirements, radius is arranged also can adopt the method.
Skeleton shell, built with belleville spring, it is equipped with a slice spring steel plate along the longitudinal direction, and belleville spring is arranged in cylindricality mouth, and spring steel plate extends in the groove offered of two sections, front and back, spring steel plate, S. A. and anklebone screw is linked together meanwhile.Select the spring steel plate of different-stiffness and belleville spring just can realize the different damping performances of elastic foot, convenient exchange and optimization.Utilize the universal shock sucking function of spring steel plate, foot's universal adjustment and absorbing can be realized.The axis of S. A. is reverse along the left and right of robot, and can make shank around this axle twirl to regulate attitude, utilize the unidirectional vibration absorption ability of spring steel plate, the above-mentioned anglec of rotation of effective prevention is excessive and exceeded mechanism's load-carrying capacity, causes motion unstability simultaneously.The axle bed of S. A. is positioned on skeleton shell, and shape is the kidney slot vertically placed, and S. A. can be moved up and down.Like this, these elastic elements and rotating mechanism achieve the damping of resilient feet mechanism, the function of quick comprehensive adaptivity adjustment.
Instep catch is connected to the upper surface of skeleton shell by flathead screw, forms the mechanism closed.Adopt flathead screw can ensure the smooth of instep outward appearance, prevent from being wound around by wire foreign material in motion process.Instep catch center of gravity has the circular hole of radius slightly larger than anklebone, makes shank not produce interference when universal self-adaptative adjustment does in foot.
The invention has the beneficial effects as follows: the elastic foot described in legged type robot leg end application the present invention, the design of robot foot portion mechanism can be simplified, the elastic element described by application the present invention and easy skeleton shell, the effect of quick, the universal self-adaptative adjustment of robot foot portion mechanism can be reached, robot foot positioning precision can not be affected because of passive energy dissipation simultaneously, can robot stabilization be strengthened with this, improve the ability adapting to complex-terrain.
Accompanying drawing explanation
Give to detailed description to above-mentioned feature of the present invention with reference to the accompanying drawings, wherein:
Figure 1 shows that the axonometric drawing of self adaptation elastic foot in one embodiment of the invention.
Figure 2 shows that the semisectional view of self adaptation elastic foot in one embodiment of the invention.
Figure 3 shows that the front elevation of self adaptation elastic foot in one embodiment of the invention.
Figure 4 shows that the side mapping of self adaptation elastic foot in one embodiment of the invention.
Figure 5 shows that the assembling relationship figure of self adaptation elastic foot in one embodiment of the invention.
Concrete enforcement
As shown in Fig. 1-5, the present invention includes skeleton shell (1), belleville spring (2), spring steel plate (3), S. A. (4), instep catch (5) and anklebone (6) totally 6 parts.Skeleton shell (1) profile has three sections of circular arcs to form, and can see circular arc in left-right direction from front elevation, can see circular arc along the longitudinal direction from lateral plan.Arc radius establishing method, if to do the state swung many for robot whole piece leg, radius can be set to the length of whole piece leg, if to do the state significantly swung more for robot shank, radius also can be set to lower-leg length.Can ignore if robot leg motion causes barycenter to fluctuate, can by aesthetic measure design radii.Skeleton shell (1) inside is provided with larger activity space, movable for adjusting mechanism.This lower end, space is cylindric, facilitates mounting spring steel disc (3).Skeleton shell (1) upper surface and instep catch (5) are provided with 8 countersunk screw hole, skeleton shell (1) and 5 instep baffle plates can be connected as a single entity, and realize mechanism and close.
Belleville spring (2) is placed spring steel plate (3), spring steel plate (3) is provided with two countersunk screw hole, is used for being connected as a single entity with S. A. (4) and anklebone (6).Spring steel plate (3) extends in the deep-slotted chip breaker that skeleton shell (1) offers along the longitudinal direction, and this deep-slotted chip breaker plays the effect that restricted spring steel disc (3) moves.
In left-right direction, two overhanging axles can be embedded in two kidney slots that skeleton shell (1) offers the axis of S. A. (4), make S. A. (4) both can up-down adjustment, can move again along axis pitch.Under this motion, belleville spring (2) can play universal vibration absorption ability and reach damping efficacy, if pitch movement tendency is excessive, the unidirectional vibration absorption ability fiting constraint groove of spring steel plate (3) can ensure that motion is limited in the reasonable scope.The circular hole of radius slightly larger than anklebone (6) external diameter is offered at instep catch (5) center, and when ensureing that resilient feet completes universal adjustment function, anklebone (6) is not interfered with instep catch.Anklebone (6) is set to hollow shaft, and its inwall presents kidney-shaped shape, and its advantage is to retrain the circumferential movement of anklebone relative to Leg bones.

Claims (8)

1. the comprehensive self adaptation elastic foot of quadruped robot, it is characterized in that, bionical pin comprises skeleton shell (1), belleville spring (2), spring steel plate (3), S. A. (4), instep catch (5) and anklebone (6) totally 6 parts; The outer rim of skeleton shell presents the circular arc of both direction, rubber-coated cover; Bottom-uply lay belleville spring successively, spring steel plate, and spring steel plate, S. A. and anklebone screw are connected, finally use instep catch closing means, be connected to skeleton shell with screw.
2. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1, is characterized in that, bionical pin imitates the foot of leopard, inner by the absorbing of belleville spring simulation meat pad, ensures space omnidirectional adjustment capability simultaneously.
3. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1, it is characterized in that, skeleton shell presents the circular arc of three sections of orthogonal directionss, to adapt to the motion of front and back (circular arc 1) and left and right (circular arc 2,3) both direction, the former with shank be radius the latter with whole piece leg for radius, ensure barycenter stability.
4. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1, it is characterized in that, S. A. has the rotating support shaft of left and right directions, and can connect the spring steel plate of fore-and-aft direction, ensures comprehensive adjustment; S. A. and steel disc and ankle connect as one, and simplify mechanism.
5. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1, it is characterized in that, place before and after spring steel plate, guarantee that foot is unlikely to affect stability at the bending degree of fore-and-aft direction, and rely on the fast quick-recovery initial state of its elastic force, can effectively absorbing.
6. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1, it is characterized in that, instep catch has the hole that radius is greater than ankle external diameter, guarantee the comprehensive adjustment requisite space of foot, form enclosure space simultaneously, inner elastomeric element provides suitable predetermincd tension, improves foot stability.
7. the comprehensive self adaptation elastic foot of quadruped robot according to claim 3, it is characterized in that, skeleton enclosure mills out can the arc space of restricted spring steel disc, the position changeable axle bed of constraint S. A. and applicable belleville spring install the cylindrical space with adjustment, ensure that inner elastomeric element at utmost plays absorbing and adjustment effect under controlled range.
8. the comprehensive self adaptation elastic foot of quadruped robot according to claim 1, it is characterized in that, anklebone is designed to hollow shaft-like, and inwall presents D type or kidney-shaped, to retrain the circumferential movement of anklebone on shank skeleton.
CN201310284891.3A 2013-07-08 2013-07-08 The comprehensive self adaptation elastic foot of quadruped robot CN103303388B (en)

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CN103303388B true CN103303388B (en) 2016-01-20

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104401416B (en) * 2014-12-11 2016-06-22 吉林大学 Coupled Rigid-flexible cushions bionical foot

Citations (5)

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Publication number Priority date Publication date Assignee Title
CN87107075A (en) * 1987-10-20 1988-04-13 哈尔滨工业大学 Air-driven flexible cylinder and bending, torsion knuckle
CN101038223A (en) * 2007-04-25 2007-09-19 北京理工大学 Foot end pressure sensor of multi-foot robot
CN102530121A (en) * 2011-12-29 2012-07-04 浙江大学 Leg of multi-legged walking robot
CN102556201A (en) * 2012-01-19 2012-07-11 浙江大学 Flat-sole foot structure of multi-foot walk robot
CN102991602A (en) * 2012-12-07 2013-03-27 浙江大学 Automatically telescopic robot leg

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070162152A1 (en) * 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
US7703562B2 (en) * 2007-05-25 2010-04-27 Toyota Motor Engineering & Manufacturing North America, Inc. Energy efficient robotic system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN87107075A (en) * 1987-10-20 1988-04-13 哈尔滨工业大学 Air-driven flexible cylinder and bending, torsion knuckle
CN101038223A (en) * 2007-04-25 2007-09-19 北京理工大学 Foot end pressure sensor of multi-foot robot
CN102530121A (en) * 2011-12-29 2012-07-04 浙江大学 Leg of multi-legged walking robot
CN102556201A (en) * 2012-01-19 2012-07-11 浙江大学 Flat-sole foot structure of multi-foot walk robot
CN102991602A (en) * 2012-12-07 2013-03-27 浙江大学 Automatically telescopic robot leg

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