CN105171776A - Multi-foot robot flexible foot system capable of detecting contact condition between foot and ground - Google Patents
Multi-foot robot flexible foot system capable of detecting contact condition between foot and ground Download PDFInfo
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- CN105171776A CN105171776A CN201510604633.8A CN201510604633A CN105171776A CN 105171776 A CN105171776 A CN 105171776A CN 201510604633 A CN201510604633 A CN 201510604633A CN 105171776 A CN105171776 A CN 105171776A
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- foot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-foot robot flexible foot system capable of detecting the contact condition between a foot and the ground. The multi-foot robot flexible foot system comprises the flexible foot and a contact detecting mechanism. The top end of the flexible foot is used for being connected with the shank of a robot. A flexible joint part is arranged on the lower portion of the flexible foot. The lower end of the flexible joint part is a landing end. A flexible joint is divided into an inner side part and an outer side part. The upper portion of the outer side part is a thin wall. A movable contact is designed on the outer side part. A micro switch is installed on the inner side part. The micro switch and the movable contact jointly form the contact detecting mechanism. When the landing end of the outer side part bears force, the outer side part gets close to the inner side part, a contact of the micro switch is pressed down through the movable contact, and it is detected that the flexible foot makes contact with the ground at the moment. When the landing end of the outer side part does not bear force, the movable contact makes contact with the contact of the micro switch, but the movable contact does not bear force, and it is detected that the flexible foot does not make contact with the ground at the moment. The multi-foot robot flexible foot system has the beneficial effects of being high in reliability, good in sensitivity, compact in structure, small in size and light in weight.
Description
Technical field
The invention belongs to robotics, be specifically related to a kind of multi-foot robot flexible foot system detecting foot and earth surface situation.
Background technology
Multifeet walking robot does not need continuous print supporting surface in motion process, and therefore more wheeled and caterpillar type robot has better environmental suitability and kinematic dexterity.In actual applications, the environment of Multifeet walking robot work is very complicated, estimates in real time to realize the attitude of robot to himself, to the online planning of gait, needs the contact information on robot Real-time Obtaining foot and ground.
Traditional walking robot foot end adopts dull and stereotyped or ball shape structure foot end.The patent of invention " a kind of humanoid robot foot section structure based on modular array sensor " being 201310043348.4 as: application number is that the sufficient end system mentioned in patent of invention " a kind of leg of multi-legged walking robot " patent of 201110451677.3 designs with application number.The foot system of plate armature and ground have larger contact area, effectively can improve the stability of robot, be usually used in biped robot, but it have complex structure, and landing, it is inaccurate to detect, and the shortcoming such as easily to be tripped in walking process.The foot system of spherical structure is widely used in Multifeet walking robot, wherein be responsible for foot and the mover that is generally connected by spring of the mechanism that earth surface detects and stator to form, the principle of detection is the contact situation being reflected foot and ground by the deflection of spring.The foot system structure of spherical structure is simple, applied range, but having spring rate selects difficulty, the shortcomings such as precision is low, and reliability is not high, damping performance difference.It is realize the key that Multifeet walking robot walks in complex environment that real-time robot foot and ground contact condition detect, but existing robot foot section structure can't meet the demand of practical application, therefore a kind of Multifeet walking robot reliably of design foot end system has great importance, and requires further study.
Summary of the invention
For the problems referred to above, the present invention is based on flexible structure, global design is carried out to Multifeet walking robot foot system, object is to provide a kind of multi-foot robot foot system detecting foot and earth surface situation, there is volume little, function-stable, adapts to working environment extensive, the features such as long service life.
The present invention can detect the multi-foot robot flexible foot system of foot and earth surface situation, comprises flexible foot and contact detection mechanism.
Described flexible foot comprises shank coupling part, flexible joint part; Wherein, shank coupling part is used for realizing the connection of flexible foot and robot shank internode.Flexible joint operative tip connects with shank coupling part, and lower end is ground terminal; And flexible joint is divided into inboard portion and Outboard Sections; Outboard Sections top is thin-walled; Outboard Sections is designed with movable contact; Inboard portion is provided with microswitch; Microswitch and movable contact form contact detection mechanism jointly; , when ground terminal is stressed, Outboard Sections to the inside part is close, and movable contact presses the contact of microswitch, now flexible foot and earth surface can be detected.When Outboard Sections ground terminal does not stress, movable contact and microswitch contact but do not stress, now detect that flexible foot does not contact with ground.
Advantage of the present invention is:
1, the present invention is based on the method for designing of compliant mechanism, carry out global design to robot foot end structure, therefore designed foot end has compact conformation, and volume is little, lightweight advantage.
2, to have reliability high for the method for the contact detection on mesopodium of the present invention and ground, the advantage that sensitivity is good.
3, in the present invention, robot foot end outer wrap has protective sleeve, and more general robot foot end has working environment widely, more durable in use.
Accompanying drawing explanation
Fig. 1 is multi-foot robot flexible foot system overall structure schematic diagram of the present invention;
Fig. 2 is multi-foot robot flexible foot system overall structure side view of the present invention;
Fig. 3 is multi-foot robot flexible foot system overall structure side view cutaway drawing of the present invention.
In figure:
1-flexible foot 2-contact detection mechanism 3-position-limit mechanism
101-shank coupling part 102-flexible joint part 101a-boss locating surface
101b-jut 102a-round hole 102b-curve gap
102c-inboard portion 102d-Outboard Sections 102e-thin-wall construction
201-movable contact 202-microswitch 203-microswitch contact
301-limited block A302-limited block B
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Multi-foot robot flexible foot system of the present invention, comprises contact detection mechanism 2 and position-limit mechanism 3 that flexible foot 1 and flexible foot 1 are installed.
Described flexible foot 1 adopts 3D to print global formation, comprises shank coupling part 101, flexible joint part 102.Wherein, shank coupling part 101 is used for realizing the connection of multi-foot robot flexible foot system of the present invention and robot shank internode, is applicable to the connection with different machines people shank internode.Inner and outer, shank coupling part 101 has boss locating surface 101a, and upper end, middle part has jut 101b, and jut 101b has installation screw in left-right direction.Thus, when shank coupling part 101 is connected with robot shank, by inner and outer boss locating surface 101a respectively with the link of robot shank inside and outside end, two sides fit, realize the location of shank coupling part 101 and robot shank internode; Now jut 101b is inside and outside robot shank link between two sides, by screw through the screw that lateral surface in the link of robot shank designs, and installation screw on jut 101b tightening, realize being connected and fixed of shank coupling part 101 and robot shank internode, and then realize overall being connected and fixed with robot shank internode of flexible foot 1.By said structure, quick-replaceable and the installation of flexible foot 1 and robot shank internode can be realized.
Lower end, shank coupling part 101 is strip flexible joint part 102, and entirety has the arcuate structure of lateral bend in robot leg.Flexible joint part 102 one end connects with lower end, shank coupling part 101, and the other end is circular arc type, as the ground terminal of flexible foot 1.In the present invention, the upper design of flexible joint part 102 has the round hole 102a of through flexible joint part 102 front-rear side walls, flexible joint part 102 also has batten shape curve gap 102b simultaneously, and spline Type curve gap 102b through flexible joint part 102 front-rear side walls, one end connects with round hole 102a, and the other end is communicated with by flexible joint part 102 madial wall bottom.By spline Type curve gap 102b, flexible joint part 102 is divided into inboard portion 102c and Outboard Sections 102d thus, inboard portion 102c is the part between flexible joint part 102 medial surface and spline Type curve gap 102b, and Outboard Sections 102d is the part between flexible joint part 102 lateral surface and spline Type curve gap 102b.Make flexible joint part 102 form thin-walled feature at round hole 102a place by said structure, namely the lateral wall of flexible joint part 102 forms thin-wall construction 102e at round hole 102a place.Thus, after flexible joint part ground terminal is stressed, the thin-walled lateral wall at round hole 102a place produces deformation, makes the Outboard Sections 102d of flexible joint part 102 do approximate rotary motion around round hole 102a, forms flexible hinge.In above-mentioned flexible joint part 102,102c inside, inboard portion has cavity, be used for as the microswitch 202 in contact detection mechanism 2 provides installing space, and installing hole is had on the 102c front and back sides of inboard portion, be used for realizing fixing between microswitch 202 and inboard portion 102c; In the middle part of Outboard Sections 102d, be designed with the bar shaped movable contact 201 on the face of cylinder along flexible joint part 102 fore-and-aft direction simultaneously.
Described contact detecting apparatus comprises the movable contact 201 in flexible joint part 102, and microswitch 202.Wherein, microswitch 202 is widely used in automobile, military project, and in the industries such as household electrical appliances, of a great variety, internal structure has hundreds and thousands of kinds.Consider and make multi-foot robot flexible foot system compact conformation of the present invention, volume is little, and adopt volume little, lightweight, the strong mouse-type microswitch of reliability is as detecting element.Microswitch 202 is arranged in the cavity of inboard portion 102c in flexible foot 1, realizes fixing between microswitch 202 and inboard portion 102c by screw through the installing hole on the 102c of inboard portion and the installing hole on microswitch 202.After microswitch 202 is fixing, need ensures that the contact of microswitch 202 is in the movable contact 201 on Outboard Sections 102d in flexible foot 1 and contact but the state that do not stress; Microswitch 202 is connected with foot ground contact detection circuit, when microswitch 202 is connected, sends Continuity signal by microswitch 202 to foot ground contact detection circuit.Thus, when flexible foot 1 lands, in flexible foot 1, Outboard Sections 102d is stressed, rotate to the inside, the spline Type curve gap 102b spacing between Outboard Sections 102d and inboard portion 102c is caused to reduce, microswitch contact 203 is pressed by the movable contact 201 on Outboard Sections 102d, connects microswitch 202, now flexible foot 1 and earth surface can be detected.When the stressed continuation of Outboard Sections 102d strengthens, the spline Type curve gap 102b spacing between Outboard Sections 102d and inboard portion 102c is made to be 0, now flexible foot 1 bears the pressure of flexible foot 1 ground terminal by the pulling force of the active force between Outboard Sections 102d and 102c Contact face, inboard portion and Outboard Sections 102d, and now flexible foot 1 has the ability of larger carrying.When robot lifts shank, the ground terminal of flexible foot 1 and surface separation, by the elasticity of flexible joint and microswitch contact 203, Outboard Sections 102d is separated with inboard portion 102c, spline Type curve gap 102b spacing increases gradually, until movable contact 201 contacts with microswitch contact 203 on Outboard Sections 102d, but can not apply pressure to microswitch contact 203, microswitch 202 disconnects, and now can detect that flexible foot 1 does not contact with ground.
Designing flexible foot 1 round hole 102a radius in the present invention is 5mm, and the little thickness of round hole 102a place flexible joint part 102 lateral wall is 2mm.Also design 102b two ends, spline Type curve gap spacing simultaneously and be greater than middle part spacing, middle part line space design is 1mm, and two ends line space design is 1.5mm; When not only ensure that flexible foot 1 lands thus, movable contact 201 has larger stroke, microswitch 202 can being pressed, providing certain buffering simultaneously for landing.Said structure flexible joint part 102 has certain rigidity, provides damping for robot foot lands, and has certain deflection, provides detection limit, meet the core requirement of robot foot section system for flexible foot 1 and earth surface detect.
Having when flexible foot 1 and earth surface in the present invention needs guarantee effect force direction within the scope of 0 ° ~ 132 °, when force direction scope is more than 132 °, the Outboard Sections 102d of flexible foot 1 can be caused to rotate laterally, microswitch contact 203 cannot be pressed, thus the detection of flexible foot 1 and ground Contact situation cannot be realized.When the rotation laterally that the Outboard Sections 102d of flexible joint is excessive, the thin-walled place on Outboard Sections 102d can be caused to occur plastic deformation, damage flexible joint.Therefore, in order to prevent above-mentioned situation, in the present invention, on flexible foot 1, position-limit mechanism 3 being installed, being used for limiting Outboard Sections 102d rotation laterally.Described position-limit mechanism 3 comprises two limited blocks, makes it be respectively limited block A301 and limited block B302; Wherein, limited block A301 is the T-shaped integrative-structure limited block be made up of cross bar and vertical pole; Limited block B302 adopts U-shaped limited block; Be connected between inboard portion 102c with Outboard Sections 102d with limited block B302 by limited block A301.Wherein, limited block A301 is fixedly mounted on the madial wall of Outboard Sections 102d in flexible foot 1; The two ends of limited block B302 are fixedly mounted on the madial wall of inboard portion 102c, and it is inner to make the vertical pole in limited block A301 be positioned at limited block B302, to be coordinated realize the spacing of Outboard Sections 102d by vertical pole with the spacing shoulder in limited block B302.Thus, after flexible foot 1 and earth surface make Outboard Sections 102d rotate to an angle laterally, the vertical pole in limited block A301 and limited block B302 collide, and limit Outboard Sections 102d and outwards continue to rotate, realize the protection to flexible foot 1.
Said structure flexible foot system entirety can be socketed elastomeric material protective sleeve; skidded when both can prevent flexible foot system from walking; dust, water etc. can be blocked again and enter flexible foot system inside, improve the stability of flexible foot system greatly and adapt to working range.
Claims (10)
1. can detect a multi-foot robot flexible foot system for foot and earth surface situation, it is characterized in that: comprise flexible foot and contact detection mechanism;
Described flexible foot comprises shank coupling part, flexible joint part; Wherein, shank coupling part is used for realizing the connection of flexible foot and robot shank internode; Flexible joint operative tip connects with shank coupling part, and lower end is ground terminal; And flexible joint is divided into inboard portion and Outboard Sections; Outboard Sections top is thin-walled; Outboard Sections is designed with movable contact; Inboard portion is provided with microswitch; Microswitch and movable contact form contact detection mechanism jointly; , when Outboard Sections ground terminal is stressed, Outboard Sections to the inside part is close; Movable contact presses the contact of microswitch; When Outboard Sections ground terminal is stressed, movable contact and microswitch contact but do not stress.
2. a kind of multi-foot robot flexible foot system detecting foot and earth surface situation as claimed in claim 1, is characterized in that: also comprise position-limit mechanism; Position-limit mechanism is made up of two limited blocks; Two limited blocks are arranged on Outboard Sections and inboard portion respectively, and one of them limited block of limited block has positive stop end, and another limited block has spacing shoulder, and positive stop end coordinates with limited step that to realize between Outboard Sections and inboard portion spacing.
3. a kind of multi-foot robot flexible foot system detecting foot and earth surface situation as claimed in claim 1, is characterized in that: inner and outer, described shank coupling part has boss locating surface, for the location of robot shank; Shank has jut in the middle part of coupling part, and jut has installation screw in left-right direction, for the connection with robot shank internode.
4. a kind of multi-foot robot flexible foot system detecting foot and earth surface situation as claimed in claim 1, is characterized in that: on described Outboard Sections, thin-walled minimum thickness is 2mm.
5. a kind of multi-foot robot flexible foot system detecting foot and earth surface situation as claimed in claim 1, is characterized in that: split by round hole that flexible joint is offered and curve gap between described Outboard Sections and inboard portion; One end, curve gap is connected with round perforate.
6. a kind of multi-foot robot flexible foot system detecting foot and earth surface situation as claimed in claim 5, is characterized in that: two ends, described curve gap spacing is greater than middle part spacing.
7. a kind of multi-foot robot flexible foot system detecting foot and earth surface situation as claimed in claim 1, is characterized in that: the force direction between described flexible foot and ground is within the scope of 0 ° ~ 132 °.
8. a kind of multi-foot robot flexible foot system detecting foot and earth surface situation as claimed in claim 1, is characterized in that: flexible foot adopts 3D to print global formation.
9. a kind of multi-foot robot flexible foot system detecting foot and earth surface situation as claimed in claim 1, is characterized in that: integral outer cover has elastomeric material protective sleeve.
10. a kind of multi-foot robot flexible foot system detecting foot and earth surface situation as claimed in claim 1, is characterized in that: described microswitch adopts mouse-type microswitch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510604633.8A CN105171776B (en) | 2015-09-21 | 2015-09-21 | A kind of detectable foot contacts the multi-foot robot flexible foot system of situation with ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510604633.8A CN105171776B (en) | 2015-09-21 | 2015-09-21 | A kind of detectable foot contacts the multi-foot robot flexible foot system of situation with ground |
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| CN105171776A true CN105171776A (en) | 2015-12-23 |
| CN105171776B CN105171776B (en) | 2017-09-26 |
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| CN201510604633.8A Active CN105171776B (en) | 2015-09-21 | 2015-09-21 | A kind of detectable foot contacts the multi-foot robot flexible foot system of situation with ground |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
| CN107472394A (en) * | 2017-09-15 | 2017-12-15 | 杭州南江机器人股份有限公司 | A kind of robot, which contacts to earth, perceives sole structure |
| WO2019041074A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Walking robot foot device with strong road holding ability |
| CN111458766A (en) * | 2020-04-22 | 2020-07-28 | 北京理工大学 | Humanoid robot foot detection device that contacts to earth |
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| CN103264734A (en) * | 2013-04-22 | 2013-08-28 | 浙江大学 | Sole ground touch sensing mechanism of legged robot |
| CN104816766A (en) * | 2015-04-26 | 2015-08-05 | 北京航空航天大学 | Foot earth contact detection mechanism suitable for legged robot |
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| US5455497A (en) * | 1992-04-20 | 1995-10-03 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot and a system for controlling the same |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
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| WO2019041074A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Walking robot foot device with strong road holding ability |
| CN107472394A (en) * | 2017-09-15 | 2017-12-15 | 杭州南江机器人股份有限公司 | A kind of robot, which contacts to earth, perceives sole structure |
| CN111458766A (en) * | 2020-04-22 | 2020-07-28 | 北京理工大学 | Humanoid robot foot detection device that contacts to earth |
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| Publication number | Publication date |
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| CN105171776B (en) | 2017-09-26 |
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