CN106428288B - Robot foot device with terrain self-adaptive ability - Google Patents
Robot foot device with terrain self-adaptive ability Download PDFInfo
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- CN106428288B CN106428288B CN201610968167.6A CN201610968167A CN106428288B CN 106428288 B CN106428288 B CN 106428288B CN 201610968167 A CN201610968167 A CN 201610968167A CN 106428288 B CN106428288 B CN 106428288B
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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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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of legged mobile robot foot devices for capableing of adaptive various landform, including sole structure：Other structures for fixing and connecting robot foot, inner cavity are the spaces of sealing, are full of hydraulic oil；Ankle structure, effect is the steering for completing robot and the vertical posture for keeping robot, to improve stability of the robot under complicated landform；Toe structure, it is the exclusive architecture that robot is in direct contact with ground, wherein connected with flippers between toe valve, it can complete to open the movement shunk, realize the effect of solid soil, and filtration hole is contained on surface, the water under toe can be filtered out, to improve the back-up environment of sole, and each toe can stretch in sole so that robot foot being capable of adaptive various landform.The invention enables robot can adaptive various weak soil environment, improve its and turn to and the stability of walking, improve the back-up environment at robot foot bottom, can stablize under complicated terrain environment, efficient walking.
Description
Technical field
The present invention relates to a kind of legged mobile robot foot devices with terrain self-adaptive ability, belong to robot technology neck
Domain.
Background technology
Currently, the comparative maturity that Indoor Robot technology has developed；But field robot, due to needing in marsh, sand
Operation under the weak soil environment that the bearing capacitys such as desert are poor, landform is more complicated, so being sayed compared to Indoor Robot, field machine
People needs the foot device that further research robot is in direct contact with ground, enables the landform for adapting to various complexity；Mesh
Preceding field robot mainly uses caterpillar foot device, although improving adaptation energy of the robot to various complicated landforms
Power, but compare legged mobile robot, the shortcomings of caterpillar type robot presence is more heavy, and flexibility is poor；Thus need to design
A kind of robot foot device for enabling to legged mobile robot to adapt to various complicated landforms.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, a kind of adaptive legged mobile robot is designed
Foot device, enabling to robot, adaptively various landform, improvement sole back-up environment and raising robot turn to and walk
Stability, can under complicated terrain environment efficiently, the walking stablized.
In order to solve the above technical problems, the technical scheme is that：A kind of adaptive robot foot device, for connecting
Onto robot leg, including：
Sole structure, ankle structure and toe structure；
The sole structure includes upper sole and lower footplate；The lower footplate is equipped with several piston holes；The upper sole
It is sleeved on the top of lower footplate, inside is airtight cavity and is full of hydraulic oil；
The toe structure includes piston, piston rod, toe valve and damper；The piston is inserted into the piston hole of lower footplate
In, the top of the piston rod connects piston, and bottom connects several toe valves, and the piston rod can back and forth be transported along piston hole
Dynamic, to realize that toe structure does stretching motion relative to sole structure, the piston rod, toe valve and damper are hinged two-by-two,
It is mutually bonded by flippers between each toe valve；
The ankle structure includes fixing bracket, cylinder, ankle shell and ankle core；The ankle shell and fixing bracket are solid
It is connected on sole, the ankle core is nested in ankle shell, and a cylinder-bore one, the ankle core are arranged on the ankle shell
Several cylinder-bores two are set；Described cylinder one end is connected on fixing bracket, and the other end is inserted into cylinder-bore one and cylinder-bore two,
Cylinder controls the steering of robot by being matched with the cylinder-bore of ankle shell and ankle wicking surface.
It is provided with filtration hole on above-mentioned toe valve, contains water strainer in filtration hole, the water under toe structure can be discharged.
Above-mentioned ankle shell is bowl structure, and a post holes is arranged in top, and the ankle core is nested in ankle shell including one
The core print seat of interior bowl structure and the core bar of column structure, the core bar are pierced by post holes.
The bottom of above-mentioned ankle core also sets up a cushion, ankle core can Local Contraction cushion, with sole structure
The inclination of certain angle occurs.
The advantageous effect that the present invention is reached：
The robot foot formed by above structure, may be mounted at robot leg, toe after it is contacted with ground
Valve stress opens damper and prevents its opening, can limit the flowing of soil, play the effect of solid soil, piston rod stress is along work
Consent is shunk, and squeezes hydraulic oil, and hydraulic oil squeezes that stress is smaller or the piston rod of non-stress, is allowed to stretch out, various to adapt to
Shape, the water under sole can be discharged from filtration hole, to play the role of improving the back-up environment of sole；When sole run-off the straight
When, ankle core meeting Local Contraction cushion makes robot keep vertical posture, to improve the stability of walking；When needing to turn to
When cylinders retract, at this time ankle core can with respect to ankle shell axial-rotation, rotate complete exhaust hood stretch out limitation ankle core it is opposite
Robot foot device is not required to leave ground in the axial rotation of ankle shell, rotation process, can improve revolute process
In stability.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the three-dimensional assembly decomposition diagram of sole structure；
Fig. 3 is the three-dimensional assembly decomposition diagram of ankle structure；
Fig. 4 is the dimensional structure diagram of toe structure.
Wherein, 1- soles structure, 2- ankle structures, 3- toe structures, the upper soles of 101-, 102- lower footplates, 103- pistons
Hole, 201- fixing brackets, 202- cylinders, 203- ankle shells, 204- ankle cores, 204-1- core print seats, 204-2- core bars, 205- bullets
Property pad, 206- cylinder-bores one, 207- cylinder-bores two, 208- post holes, 301- pistons, 302- piston rods, 303- toe valves, 304- resistance
Buddhist nun's device, 305- flippers, 306- filtration holes, 307- water strainers.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, a kind of adaptive robot foot device, for being connected to robot leg, including：
Including sole structure 1, ankle structure 2 and toe structure 3；
As shown in Fig. 2, sole structure 1 includes upper sole 101 and lower footplate 102；Lower footplate 102 is equipped with several piston holes
103；Upper sole 101 is sleeved on the top of lower footplate 102, and inside is airtight cavity and is full of hydraulic oil；
As shown in figure 4, toe structure 3 includes piston 301, piston rod 302, toe valve 303 and damper 304；Piston 301
It is inserted into the piston hole 103 of lower footplate 102, the top of piston rod 302 connects piston 301, and bottom connects several toe valves 303,
Piston rod 302 can be moved back and forth along piston hole 103, to realize that toe structure 3 does stretching motion relative to sole structure 1,
Piston rod 302, toe valve 303 and damper 304 are hinged two-by-two, are mutually bonded by flippers 305 between each toe valve 303；
As shown in figure 3, ankle structure 2 includes fixing bracket 201, cylinder 202, ankle shell 203 and ankle core 204；Foot
Ankle shell 203 and fixing bracket 201 are fixed on sole 101, and ankle core 204 is nested in ankle shell 203, and core bar 204-2 is straight
It is affixed to be connected to robot leg, a cylinder-bore 1 is set on ankle shell 203, several cylinder-bores two are arranged in ankle core 204
207；202 one end of cylinder is connected on fixing bracket 201, and the other end is inserted into cylinder-bore 1 and cylinder-bore 2 207, cylinder
202 control the steering of robot by being matched with the cylinder-bore on 204 surface of ankle shell 203 and ankle core, cylinder when steering
202 shrink first, and robot leg drives ankle core 204 to rotate, and turn to and complete the extension of exhaust hood 202, pass through one 206 He of cylinder-bore
Cylinder-bore 2 207, to limit rotation of the ankle core 204 relative to ankle shell 203.
It is provided with filtration hole 306 on above-mentioned toe valve 303, contains water strainer 307 in filtration hole, toe structure 3 can be discharged
Under water.
Above-mentioned ankle shell 203 is bowl structure, and a post holes 208 is arranged in top, and ankle core 204 is nested in foot including one
The core print seat 204-1 of bowl structure in ankle shell 203 and the core bar 204-2 of column structure, core bar 204-2 are pierced by post holes 208.
The bottom of above-mentioned ankle core 204 also sets up a cushion 205, and ankle core 204 being capable of Local Contraction cushion 205
The inclination of certain angle occurs with sole structure 1.
When toe structure 3 is contacted with ground, 303 stress of toe valve trails, and damper 304 hinders beating for toe valve 303
It opens, 302 stress of piston rod shrinks the hydraulic oil for squeezing 1 interior sealed space of sole structure along piston hole 103, and hydraulic oil is to stress
The piston 301 of smaller or non-stress flows so that toe structure herein flexes outward, and disperses stress, 303 surface of toe valve is opened
There is filtration hole 306, include water strainer 307, the water under toe structure 3 can be excluded；When 1 stress of sole structure tilts, ankle
204 Local Contraction cushion 205 of core, can make ankle core 204 keep vertical, and when needing to turn to, cylinder 202 is shunk, foot
Ankle core 204 is with respect to 203 axial-rotation of ankle shell, and after the completion of steering, cylinder stretching, extension limits the opposite ankle shell of ankle core 204 again
203 rotation to axial.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of legged mobile robot foot device with terrain self-adaptive ability, for being connected to robot leg, feature exists
In including sole structure（1）, ankle structure（2）And toe structure（3）；
The sole structure（1）Including upper sole（101）And lower footplate（102）；The lower footplate（102）If being equipped with stem piston
Hole（103）；The upper sole（101）It is sleeved on lower footplate（102）Top, inside be airtight cavity and be full of hydraulic oil；
The toe structure（3）Including piston（301）, piston rod（302）, toe valve（303）And damper（304）；The work
Plug（301）It is inserted into lower footplate（102）Piston hole（103）In, the piston rod（302）Top connect piston（301）, bottom
Connect several toe valves（303）, the piston rod（302）It can be along piston hole（103）It moves back and forth, to realize toe structure
（3）Relative to sole structure（1）Do stretching motion, the piston rod（302）, toe valve（303）And damper（304）It cuts with scissors two-by-two
It connects, each toe valve（303）Between pass through flippers（305）It is mutually bonded；
The ankle structure（2）Including fixing bracket（201）, cylinder（202）, ankle shell（203）And ankle core（204）；Institute
State ankle shell（203）And fixing bracket（201）It is fixed in sole（101）On, the ankle core（204）It is nested in ankle shell
（203）It is interior, the ankle shell（203）One cylinder-bore one of upper setting（206）, the ankle core（204）Several cylinder-bores are set
Two（207）；The cylinder（202）One end is connected to fixing bracket（201）On, the other end is inserted into cylinder-bore one（206）And cylinder
Hole two（207）In, cylinder（202）By with ankle shell（203）With ankle core（204）The cylinder-bore on surface, which matches, carrys out control machine
The steering of device people.
2. the legged mobile robot foot device according to claim 1 with terrain self-adaptive ability, it is characterised in that：It is described
Toe valve（303）On be provided with filtration hole（306）, contain water strainer in filtration hole（307）, toe structure can be discharged（3）Under
Water.
3. the legged mobile robot foot device according to claim 1 with terrain self-adaptive ability, it is characterised in that：It is described
Ankle shell（203）For bowl structure, a post holes is arranged in top（208）, the ankle core（204）It is nested in ankle including one
Shell（203）The core print seat of interior bowl structure（204-1）With the core bar of column structure（204-2）, the core bar（204-2）It is pierced by column
Hole（208）.
4. the legged mobile robot foot device according to claim 1 with terrain self-adaptive ability, it is characterised in that：It is described
Ankle core（204）Bottom also set up a cushion（205）, ankle core（204）It being capable of Local Contraction cushion（205）With foot
Slap structure（1）The inclination of certain angle occurs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610968167.6A CN106428288B (en) | 2016-10-28 | 2016-10-28 | Robot foot device with terrain self-adaptive ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610968167.6A CN106428288B (en) | 2016-10-28 | 2016-10-28 | Robot foot device with terrain self-adaptive ability |
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| Publication Number | Publication Date |
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| CN106428288A CN106428288A (en) | 2017-02-22 |
| CN106428288B true CN106428288B (en) | 2018-09-21 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042518B (en) * | 2017-04-18 | 2019-05-14 | 哈尔滨工业大学 | A kind of bionical frog software flippers with torsion open and close movement form |
| CN107128391B (en) * | 2017-05-04 | 2019-01-22 | 河海大学常州校区 | It is a kind of with the robot sole that can wind flippers |
| CN107128392B (en) * | 2017-05-04 | 2019-02-15 | 河海大学常州校区 | A kind of pneumatic type robot sole adapting to soft ground |
| CN114228861B (en) * | 2022-01-07 | 2023-11-10 | 江苏大学 | Toe-web cooperative variable-area anti-sinking bionic foot and bionic machinery |
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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 |
| JP2979170B2 (en) * | 1997-03-06 | 1999-11-15 | 滝沢 茂男 | caster |
| JP3652643B2 (en) * | 2001-12-25 | 2005-05-25 | 本田技研工業株式会社 | Landing shock absorber for legged mobile robot |
| CN101767614B (en) * | 2010-01-11 | 2011-06-08 | 重庆大学 | Toe structure of robot |
| CN102390451B (en) * | 2011-10-14 | 2012-12-19 | 北京航空航天大学 | Camel foot simulated mechanical foot device |
| CN102514649A (en) * | 2011-12-29 | 2012-06-27 | 北京航空航天大学 | Humanoid robot foot plate mechanism with multiple degrees of freedom |
| CN104627264B (en) * | 2014-12-04 | 2017-01-25 | 河海大学常州校区 | Flexible bionic robot foot |
| CN104465059B (en) * | 2014-12-04 | 2016-09-28 | 河海大学常州校区 | The servo-actuated pressuring flat device of coiled strip |
| CN205256502U (en) * | 2015-12-25 | 2016-05-25 | 河海大学常州校区 | Flexibility has foot of robot structure of topography self -adaptation function |
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