CN104802876A - Bionic foot for bionic robot - Google Patents
Bionic foot for bionic robot Download PDFInfo
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- CN104802876A CN104802876A CN201510239337.2A CN201510239337A CN104802876A CN 104802876 A CN104802876 A CN 104802876A CN 201510239337 A CN201510239337 A CN 201510239337A CN 104802876 A CN104802876 A CN 104802876A
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- foot
- bionical
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- shaped springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Combustion & Propulsion (AREA)
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Abstract
The invention provides a bionic foot for a bionic robot. The bionic foot comprises a sole base, a bionic arch, an anti-sliding foot pad and a moveable sole, wherein the bionic arch has an arch-shaped structure, simulates a human arch and comprises four bionic arch plate spring stacking modules which are formed by successively staggering and stacking a plurality of plate spring blocks; the bionic arch has a buffering function when the robot walks and climbs stairs and can greatly reduce the ground impact force; the moveable sole is in pivoted connection with the sole base through a rotating shaft; the moveable sole and the sole base has a same degree of freedom; a spring is used for applying a pre-tightening force in the rotating shaft, so that a passive joint is formed; when the robot walks, the moveable sole is clung to the ground, so that the flexibility of the foot is increased and the moving posture of the foot while walking is improved.
Description
Technical field
The present invention relates to a kind of anthropomorphic robot, be specifically related to a kind of bionical foot of anthropomorphic robot.
Background technology
Anthropomorphic robot is immediate a kind of robot with the mankind, compared with traditional wheeled robot or caterpillar robot, anthropomorphic robot more can adapt to mankind's everyday environments, the various instruments using man invented to design of being simultaneously more convenient for, therefore, anthropomorphic robot has vast potential for future development.
The greatest difficulty that can run in Humanoid Robot Based on Walking process is exactly stability and balance, ground may cause the damage of robot parts and sensor with it in the face of the impact of robot, meanwhile impulsive force may cause instantaneous instability to robot, causes its stability destroy thus fall down.This point can be resolved by ZMP theory.Also can produce larger impulsive force and the collision to ground in walking process, this just needs foot structure can reduce impact to play buffer protection.Meanwhile, also can run into the problem slided in Humanoid Robot Based on Walking process, skidding in ground will greatly suppress robot less stable and alerting ability, therefore, must arrange enough non-skid feature at robot foot section, and robot just can be enable to hold ground.
Bionical foot is applied on anthropomorphic robot, as the structure of the direct kiss the earth of anthropomorphic robot, is the important component part of anthropomorphic robot load capacity and support, walking.Anthropomorphic robot, must moment perceiving ground situation in real time change its own shape according to feedback thus obtain stabilized walking in ground running process.The state when walking of robot can be reflected in the attitude of foot and position and the support situation on ground, therefore obtain the necessary condition that foot position and attitude and vola contact position are Humanoid Robot Based on Walking and motion.
Patent 200810224557.8 devises a kind of humanoid robot foot section absorption plant.This patent, by shock structure is arranged on sole, achieves the continuously adjustabe to humanoid robot foot section impact absorption mechanism flexibility.
Patent 200710131102.7 devises a kind of foot of anthropomorphic robot and measures antagonistic force when pin contacts with road surface by six-dimension force sensor and signal handling equipment, tactile array detects the surface conditions of contact information calculating robot walking, improves gait stability when anthropomorphic robot is walked and naturality.
But the foot of existing anthropomorphic robot seldom uses bionics principle, seldom adopt the Bionic Design of human body arch of foot, thus when biped robot walks, cushioned by the rubber peel of sole, still can produce larger impulsive force.
Summary of the invention
The object of the present invention is to provide a kind of bionical foot, it can to make in the motion process of robot smooth steady more, is subject to less impact.
Technical scheme of the present invention is, devises a kind of bionical foot, and it comprises sole pedestal, bionical arch of foot, Slippery proof foot pad; It is characterized in that: described bionical arch of foot is arch configuration.
According to above-mentioned bionical foot, described bionical foot also has movable sole.
According to above-mentioned arbitrary bionical foot, described movable sole is forefoot, and it is connected with described sole pedestal pivotable by rotating shaft.
According to above-mentioned arbitrary bionical foot, apply predetermincd tension with spring in wherein said rotating shaft thus form passive joint.
According to above-mentioned arbitrary bionical foot, when described sole pedestal leaves ground along axis of rotation, described passive joint makes spring-compressed stored energy, increases moment of torsion; When described sole pedestal gets back to ground, described spring-relaxation, reduces moment of torsion.
According to above-mentioned arbitrary bionical foot, described sole pedestal is hind paw, and it is made up of one piece of aluminium alloy plate.
According to above-mentioned arbitrary bionical foot, described bionical arch of foot comprises four imitative arch of foot plate-shaped springs stack modules.
According to above-mentioned arbitrary bionical foot, described imitative arch of foot plate-shaped springs stack module to be staggered stacked formation successively by multiple plate-shaped springs block.
According to above-mentioned arbitrary bionical foot, each plate-shaped springs block is stacked by multi-disc plate-shaped springs sheet and forms.
According to above-mentioned arbitrary bionical foot, described imitative arch of foot plate-shaped springs stack module to be staggered stacked formation successively by four plate-shaped springs blocks.
According to above-mentioned arbitrary bionical foot, each plate-shaped springs block is stacked by 5 plate-shaped springs sheets and forms.
According to above-mentioned arbitrary bionical foot, described plate-shaped springs sheet is of a size of 30mm*20mm*1mm.
According to above-mentioned arbitrary bionical foot, described in the spacing that staggers be 5mm.
According to above-mentioned arbitrary bionical foot, described Slippery proof foot pad is anti-skidding rubber.
According to above-mentioned arbitrary bionical foot, described bionical foot also has apery robot ankle, six-dimension force sensor, six-dimension force sensor adapter plate.
According to above-mentioned arbitrary bionical foot, described apery robot ankle, six-dimension force sensor, six-dimension force sensor adapter plate are connected by screw.
According to above-mentioned arbitrary bionical foot, described bionical arch of foot is arranged between six-dimension force sensor adapter plate and hind paw, lays respectively at the position at four angles of six-dimension force sensor adapter plate 3, and by being adhesively fixed.
According to above-mentioned arbitrary bionical foot, described forefoot is 1:2 with the length ratio of hind paw.
According to above-mentioned arbitrary bionical foot, the height of described bionical arch of foot is 1:10 with the ratio of the length in the whole vola be made up of described forefoot and hind paw.
According to above-mentioned arbitrary bionical foot, the height of described rotating shaft is consistent with the height of six-dimension force sensor adapter plate.
Therefore, the bionical foot that the present invention adopts bionics principle to design, from bionic principle, imitate human body arch of foot, by plate-shaped springs block is stacking, arch that is that have imitates foot arc structure, more macro-energy can be stored and also can reduce impulsive force to a greater extent, thus the stability that when strengthening upright, robot vola supports.Further, this is bionical to play buffer action when robot ambulation, stair climbing, can reduce the impulsive force of ground in the face of robot completely more, makes robot smooth steady more in motion process, is subject to less impact.In addition, by the separately design of forward and backward sole, increase bionical sufficient degree of freedom, make it have greater flexibility.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention
Fig. 2 is the lateral plan in Fig. 1
Fig. 3 forms plate-shaped springs block again to the schematic diagram forming imitative arch of foot plate-shaped springs stack module by plate-shaped springs sheet
Reference numeral: 1. apery robot ankle; 2. six-dimension force sensor; 3. six-dimension force sensor adapter plate; 4. the bionical arch of foot of arch; 5. hind paw; 6. forefoot; 7. the anti-skidding rubber of hind paw; 8. the anti-skidding rubber of forefoot.
Detailed description of the invention
The bionical foot of anthropomorphic robot comprises: sole pedestal, bionical arch of foot 4, movable sole, Slippery proof foot pad, apery robot ankle 1, six-dimension force sensor 2, six-dimension force sensor adapter plate 3.
Described sole pedestal is hind paw 5, is whole bionical sufficient basis, measure-alike with existing anthropomorphic robot sole, is made up of one piece of aluminium alloy plate.Structure is apery robot ankle 1, six-dimension force sensor 2, six-dimension force sensor adapter plate 3, the bionical arch of foot 4 of arch, bionical sufficient hind paw 5, forefoot 6, the anti-skidding rubber of hind paw 8, the anti-skidding rubber 7 of forefoot from top to bottom successively as shown in Figure 1.
Described apery robot ankle 1, six-dimension force sensor 2, six-dimension force sensor adapter plate 3 are connected by screw.Described bionical arch of foot 4 is arranged between six-dimension force sensor adapter plate 3 and hind paw 5, lays respectively at the position at four angles of six-dimension force sensor adapter plate 3, and by being adhesively fixed.
Described movable sole is connected with described hind paw 5 pivotable by rotating shaft, makes both have one degree of freedom.
Apply predetermincd tension with spring in wherein said rotating shaft thus form passive joint, movable sole close proximity to ground during walking, when described hind paw 5 leaves ground along axis of rotation, described passive joint makes spring-compressed stored energy, increases moment of torsion; When sole 5 gets back to ground in the rear, described spring-relaxation, reduces moment of torsion, increases the alerting ability of foot, improves foot movement attitude during walking.
The bionical arch of foot 4 of arch comprises four imitative arch of foot plate-shaped springs stack modules.Described imitative arch of foot plate-shaped springs stack module forms by plate-shaped springs block is stacking, and the feature of simulation people arch of foot, forms meniscus shaped; Preferably to be staggered successively stacked formation by multiple plate-shaped springs block, more preferably to be staggered successively stacked formation by four plate-shaped springs blocks.Plate-shaped springs block has good deformation and elastic force, when can alleviate walking as humanoid robot foot section buffer portion in the face of apery robot ankle 1 and with the impact of upper joint.
Each plate-shaped springs block is stacked by multi-disc plate-shaped springs sheet and forms, and is preferably stacked by 5 plate-shaped springs sheets and forms.
Described plate-shaped springs sheet is of a size of 30mm*20mm*1mm.Described plate-shaped springs block staggers the described imitative arch of foot plate-shaped springs stack module of the stacked formation of 5mm successively.
Described anti-skidding rubber 8,7 adopts with forward and backward sole respectively and is adhesively fixed, and for bionical foot provides friction force, prevents from skidding in robot ambulation process.
According to bionics human body arch of foot ratio, described forefoot 6 is L1:L2=1:2 with the length ratio of hind paw 5.
The height of described bionical arch of foot 4 is h:L=1:10 with the ratio of the length in the whole vola be made up of with hind paw 5 described forefoot 6.
The height of described rotating shaft is consistent with the height of six-dimension force sensor adapter plate 3.
Above-described embodiment, the just one of the present invention's more preferably detailed description of the invention, the usual change that those skilled in the art carries out within the scope of technical solution of the present invention and replacing all should be included in protection scope of the present invention.
Claims (10)
1. a bionical foot for anthropomorphic robot, it comprises sole pedestal, bionical arch of foot, Slippery proof foot pad; It is characterized in that: described bionical arch of foot is arch configuration.
2. bionical foot according to claim 1, is characterized in that: described bionical foot also has forefoot, and it is connected with described sole pedestal pivotable by rotating shaft.
3. bionical foot according to claim 2, is characterized in that: apply predetermincd tension with spring in wherein said rotating shaft thus form passive joint; When described sole pedestal leaves ground along axis of rotation, described passive joint makes spring-compressed stored energy, increases moment of torsion; When described sole pedestal gets back to ground, described spring-relaxation, reduces moment of torsion.
4. bionical foot according to claim 1, is characterized in that: described bionical arch of foot comprises four imitative arch of foot plate-shaped springs stack modules.
5. bionical foot according to claim 4, is characterized in that: described imitative arch of foot plate-shaped springs stack module to be staggered stacked formation successively by multiple plate-shaped springs block.
6. bionical foot according to claim 5, is characterized in that: each plate-shaped springs block is stacked by multi-disc plate-shaped springs sheet and forms.
7. the bionical foot according to claim 5 or 6, is characterized in that: described imitative arch of foot plate-shaped springs stack module to be staggered stacked formation successively by four plate-shaped springs blocks; Each plate-shaped springs block is stacked by 5 plate-shaped springs sheets and forms; Described plate-shaped springs sheet is of a size of 30mm*20mm*1mm; The described spacing staggered is 5mm.
8. the bionical foot according to Claims 2 or 3, is characterized in that: described bionical foot also has apery robot ankle, six-dimension force sensor, six-dimension force sensor adapter plate; Described bionical arch of foot is arranged between six-dimension force sensor adapter plate and sole pedestal, lays respectively at the position at four angles of six-dimension force sensor adapter plate, and by being adhesively fixed.
9. the bionical foot according to Claims 2 or 3, is characterized in that: described forefoot is 1:2 with the length ratio of sole pedestal.
10. bionical foot according to claim 8, is characterized in that: the height of described bionical arch of foot is 1:10 with the ratio of the length in the whole vola be made up of described forefoot and sole pedestal; The height of described rotating shaft is consistent with the height of six-dimension force sensor adapter plate.
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| CN201510239337.2A CN104802876B (en) | 2015-05-12 | 2015-05-12 | A kind of bionical foot of anthropomorphic robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105523098A (en) * | 2015-12-24 | 2016-04-27 | 哈尔滨工业大学 | Humanoid robot foot structure with adjustable rigidity |
| CN105620577A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Series-parallel shock-resistant humanoid three-degree-of-freedom mechanical foot |
| CN105620576A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Three-degree-of-freedom parallel damping humanoid mechanical foot |
| CN106073032A (en) * | 2016-06-01 | 2016-11-09 | 江南大学 | A kind of sole abrasive resistance test device and application thereof |
| CN106428287A (en) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | Foot structure of flexible-legged robot with double cavity air bag toes |
| CN108773428A (en) * | 2018-06-21 | 2018-11-09 | 吉林大学 | A kind of bionical ground-grabbing antiskid foot |
| CN109292021A (en) * | 2018-10-09 | 2019-02-01 | 北京理工大学 | Bionical foot with variation rigidity toe heel joint |
| CN109394231A (en) * | 2018-12-10 | 2019-03-01 | 刘坤 | One kind stand moving equilibrium monitoring with dynamic analysis system |
| WO2019041077A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Intelligent robot |
| CN109692065A (en) * | 2018-12-29 | 2019-04-30 | 赵鹏 | A kind of O-shaped leg rectifier |
| CN111634344A (en) * | 2020-04-20 | 2020-09-08 | 南京航空航天大学 | Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method |
| CN109692065B (en) * | 2018-12-29 | 2024-05-31 | 赵鹏 | O-shaped leg corrector |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105523098A (en) * | 2015-12-24 | 2016-04-27 | 哈尔滨工业大学 | Humanoid robot foot structure with adjustable rigidity |
| CN105620577A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Series-parallel shock-resistant humanoid three-degree-of-freedom mechanical foot |
| CN105620576A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Three-degree-of-freedom parallel damping humanoid mechanical foot |
| CN105620577B (en) * | 2016-02-19 | 2018-03-06 | 常州大学 | Series-parallel connection shock resistance apery Three Degree Of Freedom machinery foot |
| CN106073032B (en) * | 2016-06-01 | 2019-04-23 | 江南大学 | A kind of sole abrasive resistance test device and its application |
| CN106073032A (en) * | 2016-06-01 | 2016-11-09 | 江南大学 | A kind of sole abrasive resistance test device and application thereof |
| CN106428287A (en) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | Foot structure of flexible-legged robot with double cavity air bag toes |
| WO2019041077A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Intelligent robot |
| CN108773428A (en) * | 2018-06-21 | 2018-11-09 | 吉林大学 | A kind of bionical ground-grabbing antiskid foot |
| CN109292021A (en) * | 2018-10-09 | 2019-02-01 | 北京理工大学 | Bionical foot with variation rigidity toe heel joint |
| CN109394231A (en) * | 2018-12-10 | 2019-03-01 | 刘坤 | One kind stand moving equilibrium monitoring with dynamic analysis system |
| CN109394231B (en) * | 2018-12-10 | 2021-06-11 | 吉林大学 | Standing motion balance monitoring and dynamics analysis system |
| CN109692065A (en) * | 2018-12-29 | 2019-04-30 | 赵鹏 | A kind of O-shaped leg rectifier |
| CN109692065B (en) * | 2018-12-29 | 2024-05-31 | 赵鹏 | O-shaped leg corrector |
| CN111634344A (en) * | 2020-04-20 | 2020-09-08 | 南京航空航天大学 | Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method |
| CN111634344B (en) * | 2020-04-20 | 2021-05-11 | 南京航空航天大学 | Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method |
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| CN104802876B (en) | 2017-06-27 |
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Inventor after: Chen Xuechao Inventor after: Huang Qiang Inventor after: Han Lianqiang Inventor after: Liu Huaxin Inventor after: Zhou Yuhang Inventor after: Zhang Weimin Inventor after: Yu Zhangguo Inventor after: Zuo Jiulin Inventor before: Chen Xuechao Inventor before: Huang Qiang Inventor before: Liu Huaxin Inventor before: Zhou Yuhang Inventor before: Zhang Weimin Inventor before: Yu Zhangguo Inventor before: Zuo Jiulin |
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