CN103802908B - A kind of modularization imitates sheep foot Mechanical foot device - Google Patents
A kind of modularization imitates sheep foot Mechanical foot device Download PDFInfo
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- CN103802908B CN103802908B CN201410056686.6A CN201410056686A CN103802908B CN 103802908 B CN103802908 B CN 103802908B CN 201410056686 A CN201410056686 A CN 201410056686A CN 103802908 B CN103802908 B CN 103802908B
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Abstract
The present invention discloses a kind of modularization and imitates sheep foot Mechanical foot device, comprises interface shells, foot's adapter plate, plug-in connection and foot mechanism; Wherein, interface shells inside has contiguous block; Contiguous block inner vertical direction has spliced eye; Described foot adapter plate end face has grafting axle, and bottom surface is used for installing step mechanism.Grafting shaft extension enters in spliced eye, end is made to be positioned at grafting axle through after contiguous block by two cover plug-in connections successively by interface shells both sides, realize the location between interface shells and foot's adapter plate, and the dismounting by pulling plug-in connection to realize between interface shells and step adapter plate; Described foot mechanism adopts the design of imitative sheep foot, connects left hoof lobe, right hoof lobe respectively by two side chains; Every bar side chain is provided with buffering accumulated energy spring, realizes vibration-reduction energy-storage.Advantage of the present invention is: can realize the quick-replaceable between foot mechanism and robot leg; Be applicable to the complicated ground walking in the wild of leg formula, leg-wheel robot.
Description
Technical field
The present invention relates to mechanical design field, specifically, is that a kind of modularization imitates sheep foot Mechanical foot device.
Background technology
Mobile robot can be divided into wheeled robot, legged mobile robot and wheel robot leg.Legged mobile robot, relative to wheeled robot, can adopt different gait, can adapt to complicated ground environment.Wherein, legged mobile robot and earth surface, to support fixed body be realized by its foot.Tradition legged mobile robot foot is generally sphere foot, plane foot or cylinder foot.This type of foot structure and function simple, ground grading walking needs can be met, but complicated field ground environment cannot be adapted to preferably, as tradition machinery foot mud ground, walk weak soil time, can produce sank dark, the strong point skids, propelling thrust is not enough, go out the phenomenons such as foot difficulty, when hard ground running, can produce again impact shock, increase energy consumption and control difficulty, reducing stability.The domestic and international machinery foot research to adapting to field ground environment is very few at present, can not meet the demand that legged mobile robot is walked in complicated ground environment, need further explore research.
Summary of the invention
The present invention is directed to the problem of the sufficient ground running difficulty in the wild of tradition machinery, propose a kind of modularization and imitate sheep foot Mechanical foot device, be applicable to the complicated ground walking in the wild of leg formula, leg-wheel robot.
A kind of modularization imitates sheep foot Mechanical foot device, it is characterized in that: comprise interface shells, foot's adapter plate, plug-in connection and foot mechanism.Wherein, interface shells is framed structure, and inside has contiguous block; Contiguous block inner vertical direction has spliced eye; Contiguous block left and right sides symmetric position has a positioning through hole A be communicated with spliced eye respectively.
Described foot adapter plate end face has grafting axle, grafting axle has the positioning through hole B of through grafting axle circumference symmetric position; In spliced eye in grafting shaft extension incoming interface shell on contiguous block, the positioning through hole B on grafting axle and the positioning through hole A on contiguous block is coaxially arranged.
Described plug-in connection is two covers, by preloading spring, pulls screw and latch nut is formed; The screw that pulls in two cover plug-in connections is each passed through interface shells left surface and right flank, makes to coordinate between the nut of end with interface shells side to locate.The other end pulling screw is provided with latch nut; The end face of latch nut has latch, after latch stretches into the positioning through hole A in interface shells on contiguous block, makes end be arranged in positioning through hole B on foot's adapter plate grafting axle.Above-mentioned pulling on screw is set with preloading spring.
By said structure, when foot mechanism needs to change, pull screw by pulling out two, preloading spring is compressed, and then the latch on latch nut can be extracted the positioning through hole B on grafting axle, positioning through hole A on the contiguous block being positioned at interface shells; Realize the dismounting of foot mechanism.When installing new foot mechanism, by the grafting axle on foot's adapter plate by coordinating between feather key with keyway, insert in the spliced eye in interface shells on contiguous block; Realize the Fast Installation between foot mechanism and interface shells.
Described foot mechanism adopts the design of imitative sheep foot, comprises a left chain component, right chain component, left hoof lobe, right hoof lobe and buffer shock-absorbing spring.Wherein, a left chain component is arranged on symmetrical position, foot's adapter plate bottom surface respectively with a right chain component, and structure is identical, includes connecting cylinder and pipe link; Wherein, connecting cylinder top by hinge arrangement and foot's adapter plate bottom surface hinged, make connecting cylinder realize swing; Coaxial sliding block joint between pipe link with connecting cylinder; Pipe link one end is positioned at connecting cylinder inside as positive stop end, by spacing between the shaft shoulder in circumference and connecting cylinder; A left chain component is connected left hoof lobe and right hoof lobe respectively with the pipe link other end in a right chain component; Hinged by vertical jointed shaft between left hoof lobe and right hoof lobe heel; Left hoof lobe and right hoof lobe top are outward-dipping plane; The pipe link that the end face of left hoof lobe and right hoof lobe props up with a left side in chain component, a right chain component is respectively connected, perpendicular to pipe link axis.A left chain component is respectively provided with a buffer shock-absorbing spring with connecting cylinder inside in a right chain component, and as internal damping damper spring by the energy storage of buffer shock-absorbing spring damping, when foot mechanism contacts to earth, foot's adapter plate declines, spring-compressed energy storage; When foot mechanism is liftoff, recoil of spring, releases energy; Have lateral degrees of freedom, during the side chain unbalance loading of left and right, foot's adapter plate tiltable adapts to ground environment.
The invention has the advantages that:
1, modularization of the present invention imitates sheep foot Mechanical foot device, can realize the quick-replaceable between foot mechanism and robot leg, be threaded during replacing without the need to dismounting;
2, modularization of the present invention imitates sheep foot Mechanical foot device, and foot mechanism imitates sheep hoof design, has the feature of typical artiodactyl foot; Hoof lobe front end is sharper, is convenient to stable the burying of hoof lobe and lands, reduce the comparatively high thrust produced because of slip; After foot mechanism buries, left and right hoof lobe opens, and earth embeds in hoof lobe seam, increases friction force, prevents sole from sinking; Stop after the hoof lobe opened with certain angle of left and right and step up earth therebetween, increasing friction, play fixation, preventing sole from sinking further; When foot mechanism liftoff unearthed time, hoof lobe rear portion is first lifted, and is unearthed after anterior, angle zero between the hoof lobe of left and right, and left and right hoof lobe draws casting in and restPoses;
3, modularization of the present invention imitates sheep foot Mechanical foot device, has buffer shock-absorbing spring, can when foot mechanism contacts to earth decline, vibration-reduction energy-storage; When foot mechanism is liftoff, recoil of spring, releases energy; Foot mechanism has two spring attachment positions, can select mounting spring as required; External springs installation site can regulating spring predetermincd tension;
4, modularization of the present invention imitates sheep foot Mechanical foot device, foot mechanism is two-freedom space single loop mechanism, incorporate ankle-joint lateral degrees of freedom, hoof lobe opens degree of freedom and buffer shock-absorbing structure, its degree of freedom is limited by the buffer shock-absorbing spring of left and right side chain, form the activation lacking mechanical foot with two passive freedom degrees, structure is simple, reliable operation;
5, modularization of the present invention imitates sheep foot Mechanical foot device, has lateral degrees of freedom, and step adapter plate can tilt and adapt to inclination landform, adds the walking stability of robot.
Accompanying drawing explanation
Fig. 1 is that modularization of the present invention imitates sheep foot Mechanical foot device integral structure schematic diagram;
Fig. 2 is that modularization of the present invention imitates sheep foot Mechanical foot device integral structure elevational cross-sectional view;
Fig. 3 is that modularization of the present invention imitates left hoof lobe and right hoof lobe bottom surface structure schematic diagram in sheep foot Mechanical foot device;
Fig. 4 is that modularization of the present invention is imitated foot mechanism in sheep foot Mechanical foot device and is subject to side force or robot by attitude schematic diagram during rugged ground.
In figure:
1-interface shells 2-foot adapter plate 3-plug-in connection 4-foot mechanism
101-contiguous block 102-spliced eye 103-positioning through hole A201-grafting axle
202-positioning through hole B301-preloading spring 302-pulls screw 303-latch nut
A 304-latch 401-left side chain component 402-right side left hoof lobe of chain component 403-
404-right hoof lobe 405-buffer shock-absorbing spring 406-connecting cylinder 407-pipe link
408-hinge arrangement 409-jointed shaft 410-breach 411-setting nut
Detailed description of the invention
A kind of modularization imitates sheep foot Mechanical foot device, comprises interface shells 1, foot's adapter plate 2, plug-in connection 3 and foot mechanism 4, as shown in Figure 1.Wherein, interface shells 1 upper end is used for being connected with robot leg, and lower end connects foot's adapter plate 2; Foot's adapter plate 2 lower surface is used for installation foot portion mechanism 4.Realized by plug-in connection 3 between above-mentioned interface shells 1 and foot's adapter plate 2 and relative positioning between foot's adapter plate 2, and then realize the relative positioning between foot mechanism 4 and interface shells 1; And do not have between plug-in connection 3 and interface shells 1 with foot adapter plate 2 and be fixedly connected with, the quick-detachment between interface shells 1 and foot's adapter plate 2 and installation can be realized, be convenient to robot under different landforms environment, change different foot mechanisms 4; And robot is when operation causes foot mechanism 4 impaired under complex environment in the wild, also can carries out quick-replaceable, not affect robot normal operation.
Above-mentioned interface shells 1 is rectangular frame structure, and upper surface has mounting hole, is used for mounting robot leg.Interface shells 1 inner hub location is designed with the cuboid contiguous block 101 of integrative-structure, contiguous block about 101 two ends connect with the upper and lower surface of interface shells 1 respectively, and contiguous block 101 vertically axis and the dead in line of interface shells 1 above-below direction, ensure that the structure of interface shells 1 above-below direction axis both sides is symmetrical simultaneously.Described contiguous block 101 inner vertical direction has spliced eye 102, as shown in Figure 2, and the upper and lower surface of the through interface shells of spliced eye 102 1, and the axis of spliced eye 102 and the dead in line of interface shells 1 above-below direction; Spliced eye 102 is used for installing foot's adapter plate 2.Above-mentioned contiguous block 101 left and right sides symmetric position has a positioning through hole A103 respectively; The axis of positioning through hole A103 and the dead in line of interface shells 1 left and right directions, and positioning through hole A103 is communicated with spliced eye 102; Positioning through hole A103 is used for installation and arranges plug-in connection 3.
Described foot adapter plate 2 end face center coaxial design has grafting axle 201.Grafting axle 201 has the positioning through hole B202 of the circumferential symmetric position of through grafting axle 201, and the axis of positioning through hole B202 and foot mechanism adapter plate 2 left and right directions axis being parallel.Above-mentioned grafting axle 201 stretches in the spliced eye 102 in interface shells 1 on contiguous block 101, fits in foot's adapter plate 2 end face and interface shells 1 bottom surface, makes the positioning through hole B on grafting the axle 201 and positioning through hole A103 on contiguous block 101 coaxially arrange simultaneously.Also by the end rounding of above-mentioned grafting axle 201 in the present invention.
In grafting axle 201 outer wall circumference, feather key is had along grafting axle 201 axial design in the present invention; Spliced eye 102 inwall simultaneously in interface shells 1 on contiguous block 101 axially has keyway along spliced eye 102; Thus, when grafting axle 201 stretches into spliced eye 102, keyway is coordinated with feather key, the circumference realized between foot's adapter plate 2 and interface shells 1 is located, ensure that after grafting axle 201 stretches into spliced eye 102, coaxial with between positioning through hole A103 of the positioning through hole B202 on grafting axle 201; And the axial location between foot's adapter plate 2 and interface shells 1, realized by plug-in connection 3.Described plug-in connection 3 is two covers, by preloading spring 301, pulls screw 302 and forms with latch nut 303.The screws 302 that pull in two cover plug-in connections 3 are each passed through interface shells 1 left surface and right flank, make to fit between the nut of end and interface shells 1 side, realize pulling spacing to interface shells 1 center movement of screw 302.The other end coaxial threaded pulling screw 302 is fixed with latch nut 303, and coordinates location by pulling the shoulder that screw 302 outer wall designs.On the end face of latch nut 303, coaxial design has latch 304, and latch 304 end is designed to dome-type, after stretching into the positioning through hole A103 in interface shells 1 on contiguous block 101, makes end be arranged in positioning through hole B202 on foot's adapter plate 2 grafting axle 201.Meanwhile, be set with preloading spring 301 pulling on screw 302, prevent the latch 304 on latch nut 303 from getting loose with the positioning through hole B202 on grafting axle 201; The two ends of preloading spring 301 coordinate with interface shells 1 sidewall and latch nut 303 end face respectively, by the elastic force of preloading spring 301, latch 304 can be made without the positioning through hole B202 be positioned at all the time under External Force Acting on grafting axle 201, realize the axial location between foot's adapter plate 2 and interface shells 1, and then the axial location realized between foot mechanism 4 and interface shells 1, thus, foot's adapter plate 2 and interface shells 1 can be made to fixedly positioning by two cover plug-in connections 3, and then foot mechanism 4 is connected with robot leg.When foot mechanism 4 needs to change, screw 302 is pulled by pulling out two, preloading spring 301 is compressed, and then the positioning through hole B202 that the latch 304 on latch nut 303 can be extracted on grafting axle 201, positioning through hole A103 on the contiguous block 101 being positioned at interface shells 1, and when preloading spring 301 is compressed to the limit, latch 304 is still positioned at positioning through hole A103; Thus, the axial limiting between foot's adapter plate 2 and interface shells 1 is removed, the disengaging between foot's adapter plate 2 and interface shells 1 can be realized, and then realize the dismounting of foot mechanism 4.When installing new foot mechanism 4, by the grafting axle 201 on foot's adapter plate 2 by coordinating between feather key with keyway, insert in the spliced eye 102 in interface shells 1 on contiguous block 101; In said process, because latch 304 end on latch nut 303 is hemisphere face, grafting axle 201 end rounding on foot's adapter plate 2, therefore in grafting axle 201 motion process, latch 304 contacts with grafting axle 201 end hemisphere face, can not affect the motion of grafting axle 201 in spliced eye 102; And grafting axle 201 promotes latch 304, preloading spring 301 is compressed, until time laminatings in foot's adapter plate 2 end face and interface shells 1 bottom surface, latch 304 on latch nut 303 is just positioned at the positioning through hole B202 place on grafting axle 201, now preloading spring 301 resilience, in the positioning through hole B202 that latch 304 is stretched on grafting axle 201, realize the Fast Installation between foot mechanism 4 and interface shells 1.By above-mentioned connection mode, when foot mechanism 4 kiss the earth, the binding face of foot's adapter plate 2 and interface shells 1 bears pressure, grafting axle on foot's adapter plate 2 201 and the latch 304 on latch nut 303 in plug-in connection 3 not holding capacity or only bear little power, can prevent plug-in connection 3 to be squeezed thus and cause foot mechanism 4 to change difficulty.In above-mentioned plug-in connection 3, pulling the perforate of screw 302 extreme ends, steel rope can be penetrated, being convenient to pull open and pulling screw, quick-replaceable foot mechanism 4.
In the present invention, foot mechanism 4 adopts the design of imitative sheep foot, has the feature of typical artiodactyl foot, comprises a left chain component 401, a right chain component 402, left hoof lobe 403, right hoof lobe 404 and buffer shock-absorbing spring 405.Wherein, a left chain component 401 installs symmetrical position, foot's adapter plate 2 bottom surface respectively with a right chain component 402.A left chain component 401 is identical with right chain component 402 structure, includes connecting cylinder 406 and pipe link 407.Wherein, connecting cylinder 406 is the tubular structure of closed at both ends; Connecting cylinder 406 top is hinged by hinge arrangement 408 and foot's adapter plate 2 bottom surface, makes connecting cylinder 406 realize swinging.Pipe link 407 and connecting cylinder 406 are coaxially arranged, and pass the through hole of connecting cylinder 406 lower end, realize sliding axially along connecting cylinder 406, and realization circumference is freely rotated.It is inner that pipe link 407 one end is positioned at connecting cylinder 406 as positive stop end, and circumference has the shaft shoulder, by the shaft shoulder and connecting cylinder 406 bottom surface, realizes the spacing of pipe link 407 slide downward.Chain component 401 and right installation of propping up chain component 402 is propped up for the ease of a left side in the present invention, connecting cylinder 406 is wherein designed to the split-type structural be made up of top connecting cylinder and bottom connecting cylinder, be threaded between connecting cylinder bottom, top with connecting cylinder top, bottom, and realize axial limiting by the shaft shoulder that bottom connecting cylinder sidewall circumference designs.
An above-mentioned left side is propped up chain component 401 and is connected left hoof lobe 403 and right hoof lobe 404 respectively with pipe link 407 other end in a right chain component 402.Left hoof lobe 403 and right hoof lobe 404 adopt imitative sheep hoof hoof lobe shape, hinged by vertical jointed shaft 409 between heel, make can level to open and merging between left hoof lobe 403 and right hoof lobe 404.Left hoof lobe 403 is with right hoof lobe 404 top according to the mode of motion of foot mechanism in the present invention 4, and be designed to outward-dipping plane, bottom is then horizontal plane, and side is curved surface.Pipe link 407 screw thread that left hoof lobe 403 and the end face of right hoof lobe 404 prop up with a left side in chain component 401, a right chain component 402 is respectively connected, perpendicular to pipe link 407 axis.Left hoof lobe 403 has breach 410 with position, inside edge, right hoof lobe 404 bottom surface, as shown in Figure 3, left hoof lobe 403 in step mechanism 4 can be made to open after contacting to earth with right hoof lobe 404, make earth can embed in breach 410, realize solid native function, left hoof lobe 403, friction force between right hoof lobe 404 and ground can be increased, prevent from sinking; After left hoof lobe 403 is liftoff with right hoof lobe 404, can realize drawing casting in.In the present invention, left hoof lobe 403 is also designed with boss with right hoof lobe 404 top, is used for respectively limiting left decline displacement of propping up connecting cylinder 406 in chain component 401 and a right chain component 402.
A left chain component 401 and a right chain component 402 are all provided with buffer shock-absorbing spring 405; It is inner that buffer shock-absorbing spring 405 is coaxially arranged on connecting cylinder 406, protected by connecting cylinder 406.The two ends of buffer shock-absorbing spring 405 respectively with connecting cylinder 406 inwall end face and pipe link 407 positive stop end end contact; And two ends also realize the radial location of buffer shock-absorbing spring 405 respectively by the projection limit dais that connecting cylinder 406 inwall end face and pipe link 407 positive stop end end face design.Limited the slide displacement of pipe link 407 by buffer shock-absorbing spring 405, realize the sports limiting of foot mechanism 4, and when hoof lobe 403 left in foot mechanism 4 contacts to earth with right hoof lobe 404, foot's adapter plate 2 position declines, by buffer shock-absorbing spring 405 compressed energy-storage; When hoof lobe 403 left in foot mechanism 4 is liftoff with right hoof lobe 404, buffer shock-absorbing spring 405 resilience, releases energy, and makes foot mechanism 4 get back to initial condition.When load fitted by the left side boss propped up on connecting cylinder 406 bottom and left hoof lobe 401 in chain component 401 or right chain component 402 or right hoof lobe 402, foot's adapter plate 2 arrives extreme lower position, and now, buffer shock-absorbing spring 405 is compressed to the limit, and the energy of storage is maximum.
Said structure foot mechanism 4 also has lateral degrees of freedom, when foot mechanism 4 is subject to side force or robot by rugged ground, then left chain component 401 is with right to prop up a chain component 402 displacement that declines different, thus make foot's adapter plate 2 lateral inclination, ensure the area of contact on left hoof lobe 403 and right hoof lobe 404 and ground, foot's adapter plate 2 is made to tilt to adapt to ground environment, as shown in Figure 4.Visible, in the present invention, foot mechanism 4 is two-freedom space single loop mechanism, incorporate the lateral degrees of freedom of ankle-joint, hoof lobe open degree of freedom, and by buffer shock-absorbing spring 405, each degree of freedom to be limited, forms two passive freedom degree activation lacking mechanicals foots.
In the present invention left chain component 401 and the buffer shock-absorbing spring 405 on a right chain component 402 also can empty set on pipe link 407, one end contacts with the setting nut 411 that connecting cylinder 406 outer wall is socketed; Setting nut 411 axial location on connecting cylinder 406 outer wall is adjustable.The other end of buffer shock-absorbing spring 405 contacts with left hoof lobe 403, right hoof lobe 404 end face respectively.And also in the connecting cylinder 406 that chain component 401 and a right chain component 402 are propped up in a left side with on pipe link 407, buffer shock-absorbing spring 405 can be installed simultaneously in the present invention simultaneously.Thus, the mounting means of buffer shock-absorbing spring 405 can be selected according to actual needs.Chain component 401 is propped up with a right chain component 402 on a left side, if buffer shock-absorbing spring 405 just can meet the demand of buffer shock-absorbing, then can only connecting cylinder 406 in or pipe link 407 outer installation buffer shock-absorbing spring 405; If during robot heavy duty; when cannot reach expection absorption capacity by means of only a buffer shock-absorbing spring 405; then in connecting cylinder, 406 with pipe link 407 is outer, a buffer shock-absorbing spring 405 can be installed simultaneously, and the outside supplementary protection skin of buffer shock-absorbing spring 405 of installation on pipe link 407.
The working process that modularization of the present invention imitates sheep foot Mechanical foot device is three kinds:
1, initial condition;
Initial condition buffer shock-absorbing spring 405 is in extreme length, and a left chain component 401 is identical with right chain component 402 length, and left hoof lobe 403 is parallel with step adapter plate 2 with right hoof lobe 404 bottom surface, left hoof lobe 403 and the non-kiss the earth of right hoof lobe 404.
2, to contact to earth process;
At left hoof lobe 403 and the right hoof lobe 404 of foot mechanism, foot's adapter plate 2 declines, a left chain component 401 and right chain component 402 contraction in length, buffer shock-absorbing spring 405 compresses vibration-reduction energy-storage, left hoof lobe 403 opens with right hoof lobe 404 simultaneously, until a left chain component 401 is the shortest with right chain component 402 length, buffer shock-absorbing spring 405 compresses maximum, and foot's adapter plate 2 arrives extreme lower position.Foot mechanism 4 be subject to side force or by rugged ground time, the displacement that declines of left chain component 401 and a right chain component 402 is different, thus makes foot's adapter plate 2 lateral inclination, the area of contact on guarantee sole and ground.
3, liftoff process;
When step mechanism 4 prepares to exit ground, foot's adapter plate 2 rises, a left chain component 401 and right chain component 402 length elongation, the fault offset that buffer shock-absorbing spring 405 stores, left hoof lobe 403 closes gradually with right hoof lobe 404, until leave ground, restPoses.Left hoof lobe 403 design with the imitative sheep hoof curved profile of right hoof lobe 404, and its soil-entering resistance is with to go out soil resistance very little.
Claims (8)
1. modularization imitates a sheep foot Mechanical foot device, it is characterized in that: comprise interface shells, foot's adapter plate, plug-in connection and foot mechanism; Wherein, interface shells is framed structure, and inside has contiguous block; Contiguous block inner vertical direction has spliced eye; Contiguous block left and right sides symmetric position has a positioning through hole A be communicated with spliced eye respectively;
Described foot adapter plate end face has grafting axle, grafting axle has the positioning through hole B of through grafting axle circumference symmetric position; In spliced eye in grafting shaft extension incoming interface shell on contiguous block, the positioning through hole B on grafting axle and the positioning through hole A on contiguous block is coaxially arranged;
Described plug-in connection is two covers, by preloading spring, pulls screw and latch nut is formed; The screw that pulls in two cover plug-in connections is each passed through interface shells left surface and right flank, makes to coordinate between the nut of end with interface shells side to locate; The other end pulling screw is provided with latch nut; The end face of latch nut has latch, after latch stretches into the positioning through hole A in interface shells on contiguous block, makes end be arranged in positioning through hole B on foot's adapter plate grafting axle; Above-mentioned pulling on screw is set with preloading spring;
Described foot mechanism adopts the design of imitative sheep foot, comprises a left chain component, right chain component, left hoof lobe, right hoof lobe and buffer shock-absorbing spring; Wherein, a left chain component installs symmetrical position, foot's adapter plate bottom surface respectively with a right chain component; A left chain component is identical with right side chain unit construction, includes connecting cylinder and pipe link; Wherein, connecting cylinder top by hinge arrangement and foot's adapter plate bottom surface hinged, make connecting cylinder realize swing; Coaxial sliding block joint between pipe link with connecting cylinder; Pipe link one end is positioned at connecting cylinder inside as positive stop end, by spacing between the shaft shoulder in circumference and connecting cylinder; A left chain component is connected left hoof lobe and right hoof lobe respectively with the pipe link other end in a right chain component; Hinged by vertical jointed shaft between left hoof lobe and right hoof lobe heel; Left hoof lobe and right hoof lobe top are outward-dipping plane; The pipe link that the end face of left hoof lobe and right hoof lobe props up with a left side in chain component, a right chain component is respectively connected, perpendicular to pipe link axis; A left chain component and the right side are propped up connecting cylinder inside in chain component and are arranged buffer shock-absorbing spring or outer setting buffer shock-absorbing spring, or simultaneously at inner and outer setting buffer shock-absorbing spring.
2. a kind of modularization imitates sheep foot Mechanical foot device as claimed in claim 1, it is characterized in that: the structure of described interface shells above-below direction axis both sides is symmetrical.
3. a kind of modularization imitates sheep foot Mechanical foot device as claimed in claim 1, it is characterized in that: fit in described foot adapter plate end face and interface shells bottom surface.
4. a kind of modularization imitates sheep foot Mechanical foot device as claimed in claim 1, and it is characterized in that: described grafting shaft end rounding, the end of latch is dome-type.
5. a kind of modularization imitates sheep foot Mechanical foot device as claimed in claim 1, it is characterized in that: described grafting axle outer wall circumference has feather key along grafting axle axial design; Spliced eye inwall simultaneously in interface shells on contiguous block axially has keyway along spliced eye; When grafting shaft extension enters spliced eye, keyway is coordinated with feather key, the circumference realized between foot's adapter plate and interface shells is located, and ensures after grafting shaft extension enters spliced eye, coaxial with between positioning through hole A of the positioning through hole B on grafting axle.
6. a kind of modularization imitates sheep foot Mechanical foot device as claimed in claim 1, it is characterized in that: described left hoof lobe and position, inside edge, right hoof lobe bottom surface have breach.
7. a kind of modularization imitates sheep foot Mechanical foot device as claimed in claim 1, it is characterized in that: described left hoof lobe and right hoof lobe top also have boss, is used for respectively limiting left decline displacement of propping up connecting cylinder in chain component and a right chain component.
8. a kind of modularization imitates sheep foot Mechanical foot device as claimed in claim 1, it is characterized in that: described buffer shock-absorbing both ends of the spring also realizes radial location respectively by the projection limit dais that connecting cylinder inwall end face and pipe link positive stop end end face design.
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| CN201410056686.6A CN103802908B (en) | 2014-02-19 | 2014-02-19 | A kind of modularization imitates sheep foot Mechanical foot device |
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| CN104895985B (en) * | 2015-06-15 | 2016-08-31 | 吉林大学 | A kind of imitative vibration damping joint, gigot joint |
| CN105015641B (en) * | 2015-07-09 | 2017-05-03 | 大连理工大学 | Foot mechanism with high load bearing of foot type robot |
| CN105365514B (en) * | 2015-11-12 | 2017-07-04 | 安徽工业大学 | A kind of suspension fork mechanism for two-wheeled leg mobile robot |
| CN106985928B (en) * | 2017-03-09 | 2018-11-09 | 大连理工大学 | A kind of walking robot high-adaptability foot end mechanism |
| CN109771227A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | The sufficient power-assisted healing robot of one kind six |
| CN109771228A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | A kind of four-footed assisted walk healing robot with balancing device |
| CN110843955A (en) * | 2019-12-17 | 2020-02-28 | 中国科学院沈阳自动化研究所 | Compound type deformation wheel simulating steps of cattle feet |
| CN111332379A (en) * | 2020-04-25 | 2020-06-26 | 华南理工大学 | Self-adaptive wall-climbing robot sole capable of realizing active absorption/desorption by motor and torsion spring |
| CN113135241B (en) * | 2021-04-23 | 2022-03-04 | 中国北方车辆研究所 | Bionic leg mechanism of four-foot robot |
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| US8457830B2 (en) * | 2010-03-22 | 2013-06-04 | John R. Goulding | In-line legged robot vehicle and method for operating |
| RU2495780C1 (en) * | 2012-05-03 | 2013-10-20 | Открытое акционерное общество "Центральное конструкторское бюро "Титан" | Traveler |
| NL2010078C2 (en) * | 2012-06-30 | 2013-12-31 | Cyrill Breukelaar | WALKING MECHANISM FOR A ROBOT AND ROBOT EQUIPPED WITH THE WALKING MECHANISM. |
| CN103448828B (en) * | 2013-06-03 | 2016-08-10 | 上海大学 | A kind of Four-foot bio-robot leg mechanism |
| CN103481963B (en) * | 2013-09-13 | 2016-06-01 | 北京航空航天大学 | A kind of foot device with two-stage buffering being applicable to barrier-surpassing robot |
| CN103496411A (en) * | 2013-10-12 | 2014-01-08 | 哈尔滨石油学院 | Double-foot leg four-bar linkage humanoid robot |
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