CN105523098A - Humanoid robot foot structure with adjustable rigidity - Google Patents
Humanoid robot foot structure with adjustable rigidity Download PDFInfo
- Publication number
- CN105523098A CN105523098A CN201510990154.4A CN201510990154A CN105523098A CN 105523098 A CN105523098 A CN 105523098A CN 201510990154 A CN201510990154 A CN 201510990154A CN 105523098 A CN105523098 A CN 105523098A
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- China
- Prior art keywords
- hinge seat
- sole
- heel
- humanoid robot
- robot foot
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Classifications
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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
Abstract
The invention provides a humanoid robot foot structure with adjustable rigidity, relates to a humanoid robot foot structure, and aims to solve the problems that a conventional humanoid robot foot structure cannot be adaptable to walking on uneven pavements, and the athletic ability of a robot is low. The humanoid robot foot structure comprises a foot bottom, a heel, a sole and a driven joint, wherein the heel and the sole are mounted on the upper surface of the foot bottom, and the foot bottom is an elastic air sac which can be inflated and deflated; the driven joint comprises a first hinge seat, a second hinge seat, a third hinge seat, hinge pins and two torsion springs, wherein the first hinge seat is mounted on the heel, the second hinge seat and the third hinge seat are mounted on the sole, and the first hinge seat is arranged between the second hinge seat and the third hinge seat; one torsion spring is arranged between the first hinge seat and the second hinge seat, and the other torsion spring is arranged between the second hinge seat and the third hinge seat; the hinge pins are mounted on the second hinge seat, the first hinge seat and the third hinge seat, and the two torsion springs are mounted on the hinge pins in a sleeving manner. The humanoid robot foot structure disclosed by the invention is used for humanoid robots.
Description
Technical field
The present invention relates to a kind of humanoid robot foot section structure, belong to robot field.
Background technology
At present, the flatfoot of anthropomorphic robot many employings rigidity, in robot gait processes, in order to realize walking stability, when foot and earth surface, need to keep foot parallel to the ground, therefore, robot can only be walked usually on smooth road surface, cannot adapt to roughness pavement, even obstacle very little on road surface, when robot foot section and its collision, also can cause very large disturbance and impact to robot, make robot keep homeostasis and to fall down, the locomitivity of robot is lower.
Summary of the invention
The present invention can not adapt to roughness pavement walking, the problem that the locomitivity of robot is lower for solving existing humanoid robot foot section structure, and then the humanoid robot foot section structure providing a kind of rigidity adjustable.
The present invention is the technical scheme taked that solves the problem: the humanoid robot foot section structure that a kind of rigidity is adjustable comprises sole, heel, sole and passive joint;
The upper surface of sole is provided with heel and sole, sole is can the elastic bag of inflation/deflation; Passive joint comprises the first hinge seat, the second hinge seat, the 3rd hinge seat, link pin and two torsion springs;
First hinge seat is arranged on heel, second hinge seat and the 3rd hinge seat are arranged on sole, first hinge seat is arranged between the second hinge seat and the 3rd hinge seat, a torsion spring is furnished with between first hinge seat and the second hinge seat, another torsion spring is furnished with between second hinge seat and the 3rd hinge seat, link pin is arranged on the second hinge seat, the first hinge seat and the 3rd hinge seat, and two torsion spring sets are contained on link pin.
The invention has the beneficial effects as follows, humanoid robot foot section structure of the present invention can regulate its rigidity easily, sole is arranged on heel and sole, first hinge seat is connected on heel, second hinge seat and the 3rd hinge seat are fixed on sole, link pin is arranged on three hinge seats, two torsion spring sets are contained on link pin, by this passive joint, can relatively rotate between heel and sole, sole is can the elastic bag of inflation/deflation, when robot is walked on roughness pavement, the rigidity in vola is less, distortion can be produced after vola contacts with rough road surface, roughness pavement can be adapted to a certain extent, contribute to the locomitivity improving robot.
Accompanying drawing explanation
Fig. 1 is integral structure figure of the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 illustrates, the humanoid robot foot section structure that a kind of rigidity of present embodiment is adjustable comprises sole 1, heel 2, sole 3 and passive joint;
The upper surface of sole 1 is provided with heel 2 and sole 3, sole 1 is can the elastic bag of inflation/deflation; Passive joint comprises the first hinge seat 4-1, the second hinge seat 4-2, the 3rd hinge seat 4-3, a link pin 4-4 and two torsion spring 4-5;
First hinge seat 4-1 is arranged on heel 2, second hinge seat 4-2 and the 3rd hinge seat 4-3 is arranged on sole 3, first hinge seat 4-1 is arranged between the second hinge seat 4-2 and the 3rd hinge seat 4-3, a torsion spring 4-5 is furnished with between first hinge seat 4-1 and the second hinge seat 4-2, another torsion spring 4-5 is furnished with between second hinge seat 4-2 and the 3rd hinge seat 4-3, link pin 4-4 is arranged on the second hinge seat 4-2, the first hinge seat 4-1 and the 3rd hinge seat 4-3, and two torsion spring 4-5 are sleeved on link pin 4-4.
Foot be provided with by flexible material process can the airtight elastic bag of inflation/deflation, by inside air bag inflation, or outwards exit from inside air bag, realize the stiffness tuning in vola.Link pin can be arranged in the joint that split arranges heel and sole.
Detailed description of the invention two: composition graphs 1 illustrates, the sole 1 of present embodiment is TPUE rubber pneumatic bag.Setting like this, light weight is drawn materials easily, meets the design requirements and the actual needs.Other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 illustrates, the humanoid robot foot section structure that a kind of rigidity of present embodiment is adjustable also comprises pneumatic quick-change coupler 5, and pneumatic quick-change coupler 5 is arranged on the charge and discharge gas port of sole 1.Pneumatic quick-change coupler is communicated with the charge and discharge gas port of sole 1 through heel 2, and pneumatic quick-change coupler communicates with the charge and discharge gas port on sole, to sole inner inflatable or from the inner outwards exhaust of sole, can realize the adjustment of vola rigidity by pneumatic quick-change coupler.Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 1 illustrates, heel 2 and the sole 3 of present embodiment are bonded on the upper surface of sole 1.Setting like this, simple and easy to do, easy to use.Other is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 1 illustrates, the heel 2 of present embodiment and sole 3 are the thermoplastic plastic rubber plate of polycarbonate and polyacrylinitrile alloy.Setting like this, heel and sole intensity are large, and light weight is cheap and easy to get, meets actual needs.Other with detailed description of the invention one, two or four identical.
Detailed description of the invention six: composition graphs 1 illustrates, heel 2 and the sole 3 of present embodiment are made by polyacrylinitrile or polylactide.Setting like this, heel and sole intensity are large, and light weight is cheap and easy to get, meets actual needs.Other with detailed description of the invention one, two or four identical.
Working process: sole 1 is arranged on the lower surface of heel 2 and sole 3, first hinge seat 4-1 is fixed on heel 2, second hinge seat 4-2 and the 3rd hinge seat 4-3 is fixed on sole 3, link pin 4-4 is arranged on three hinge seats, two torsion spring 4-5 are sleeved on link pin 4-4, by this passive joint, can relatively rotate between heel 2 and sole 3
Adopt inflatable elastic capsule sole to pass through to sole inner inflatable, or from the inner outwards exhaust of sole, the air pressure of sole inside can be regulated, thus regulate the rigidity of sole.When sole air pressure inside height, rigidity is larger; And when sole air pressure inside is low, rigidity is less.
Claims (6)
1. the humanoid robot foot section structure that rigidity is adjustable, is characterized in that: it comprises sole (1), heel (2), sole (3) and passive joint;
The upper surface of sole (1) is provided with heel (2) and sole (3), sole (1) is can the elastic bag of inflation/deflation; Passive joint comprises the first hinge seat (4-1), the second hinge seat (4-2), the 3rd hinge seat (4-3), link pin (4-4) and two torsion springs (4-5);
First hinge seat (4-1) is arranged on heel (2), second hinge seat (4-2) and the 3rd hinge seat (4-3) are arranged on sole (3), first hinge seat (4-1) is arranged between the second hinge seat (4-2) and the 3rd hinge seat (4-3), a torsion spring (4-5) is furnished with between first hinge seat (4-1) and the second hinge seat (4-2), another torsion spring (4-5) is furnished with between second hinge seat (4-2) and the 3rd hinge seat (4-3), link pin (4-4) is arranged on the second hinge seat (4-2), on first hinge seat (4-1) and the 3rd hinge seat (4-3), two torsion springs (4-5) are sleeved on link pin (4-4).
2. the humanoid robot foot section structure that a kind of rigidity according to claim 1 is adjustable, is characterized in that: sole (1) is TPUE rubber pneumatic bag.
3. the humanoid robot foot section structure that a kind of rigidity according to claim 1 and 2 is adjustable, it is characterized in that: it also comprises pneumatic quick-change coupler (5), pneumatic quick-change coupler (5) is arranged on the charge and discharge gas port of sole (1).
4. the humanoid robot foot section structure that a kind of rigidity according to claim 3 is adjustable, is characterized in that: heel (2) and sole (3) are bonded on the upper surface of sole (1).
5. the humanoid robot foot section structure that a kind of rigidity according to claim 1,2 or 4 is adjustable, is characterized in that: the thermoplastic plastic rubber plate that heel (2) and sole (3) are polycarbonate and polyacrylinitrile alloy.
6. the humanoid robot foot section structure that a kind of rigidity according to claim 1,2 or 4 is adjustable, is characterized in that: heel (2) and sole (3) are made by polyacrylinitrile or polylactide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510990154.4A CN105523098A (en) | 2015-12-24 | 2015-12-24 | Humanoid robot foot structure with adjustable rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510990154.4A CN105523098A (en) | 2015-12-24 | 2015-12-24 | Humanoid robot foot structure with adjustable rigidity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105523098A true CN105523098A (en) | 2016-04-27 |
Family
ID=55765711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510990154.4A Pending CN105523098A (en) | 2015-12-24 | 2015-12-24 | Humanoid robot foot structure with adjustable rigidity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105523098A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835986A (en) * | 2016-06-02 | 2016-08-10 | 哈尔滨工业大学 | Variable-rigidity foot system of biped robot |
| RU2675327C1 (en) * | 2017-11-17 | 2018-12-18 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Leg foot for the walking space micro robot |
| CN110696942A (en) * | 2019-10-09 | 2020-01-17 | 浙江大学 | Under-actuated humanoid mechanical foot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1509848A (en) * | 2002-12-23 | 2004-07-07 | 三星电子株式会社 | Robot with two-leg walk |
| CN103040594A (en) * | 2013-01-24 | 2013-04-17 | 哈尔滨工业大学 | Pseudo passive power assisting device for ankle joint movement |
| JP2013220491A (en) * | 2012-04-13 | 2013-10-28 | Ihi Corp | Ground contact part structure of robot |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN104401418A (en) * | 2014-10-31 | 2015-03-11 | 上海交通大学 | Double-feet air cushion boot type walking robot and walking method thereof |
| CN104802876A (en) * | 2015-05-12 | 2015-07-29 | 北京理工大学 | Bionic foot for bionic robot |
-
2015
- 2015-12-24 CN CN201510990154.4A patent/CN105523098A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1509848A (en) * | 2002-12-23 | 2004-07-07 | 三星电子株式会社 | Robot with two-leg walk |
| JP2013220491A (en) * | 2012-04-13 | 2013-10-28 | Ihi Corp | Ground contact part structure of robot |
| CN103040594A (en) * | 2013-01-24 | 2013-04-17 | 哈尔滨工业大学 | Pseudo passive power assisting device for ankle joint movement |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN104401418A (en) * | 2014-10-31 | 2015-03-11 | 上海交通大学 | Double-feet air cushion boot type walking robot and walking method thereof |
| CN104802876A (en) * | 2015-05-12 | 2015-07-29 | 北京理工大学 | Bionic foot for bionic robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835986A (en) * | 2016-06-02 | 2016-08-10 | 哈尔滨工业大学 | Variable-rigidity foot system of biped robot |
| RU2675327C1 (en) * | 2017-11-17 | 2018-12-18 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Leg foot for the walking space micro robot |
| CN110696942A (en) * | 2019-10-09 | 2020-01-17 | 浙江大学 | Under-actuated humanoid mechanical foot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160427 |