CN106938675A - A kind of telescopic Foot sole structure of robot of toe - Google Patents
A kind of telescopic Foot sole structure of robot of toe Download PDFInfo
- Publication number
- CN106938675A CN106938675A CN201710306711.5A CN201710306711A CN106938675A CN 106938675 A CN106938675 A CN 106938675A CN 201710306711 A CN201710306711 A CN 201710306711A CN 106938675 A CN106938675 A CN 106938675A
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- toe
- sliding block
- spring
- sole
- robot
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of telescopic Foot sole structure of robot of toe, including sole pedestal, some toe groups, some motors and flippers, wherein, it is chain connection between the sole pedestal and toe group, the motor is connected on sole pedestal, and motor output end is connected with the toe group, it is connected between adjacent two toes group by flippers.The present invention can by grabbing act on effectively limitation underfooting soil flowing, and flippers structure can further increase contact area, prevent the excessive depression of foot of robot, robot is more efficiently walked under the environment such as weak soil.
Description
Technical field
The present invention relates to a kind of telescopic Foot sole structure of robot of toe, belong to robotics.
Background technology
At present, the move mode of robot mainly has wheeled, crawler type, leg formula.In face of complex environments such as marsh, deserts
When, robot is especially prominent for the adjustment of landform, and the adaptability of legged mobile robot is stronger, if to legged mobile robot
Foot structure further design, it is more efficiently contacted with ground, depression can be better protected from.How to leg formula
Sole, toe and the flippers structure of robot targetedly design and improve, and are improved foot's depression situation of robot, are
The key factor that robot is well moved under complicated weak soil environment.
The content of the invention
In order to overcome the defect of prior art, the present invention provides a kind of telescopic Foot sole structure of robot of toe, can
Effectively limitation underfooting soil flowing by grabbing is acted on, flippers structure can further increase contact area, prevent robot foot
The excessive depression in portion, makes robot more efficiently be walked under the environment such as weak soil.
A kind of telescopic Foot sole structure of robot of toe, including sole pedestal, some toe groups, some motors and pin
Web, wherein, it is chain connection between the sole pedestal and toe group, the motor is connected on sole pedestal, and motor is exported
End is connected with the toe group, is connected between adjacent two toes group by flippers；
The sole pedestal includes lid on sole, lid is connected with sole base on sole base, and the sole；
The toe group includes the first toe, the second toe, the 3rd toe, and the first toe top connects the first toe case lid, the
Two toe tops to connect and be equipped with chute, described second on the second toe case lid, the inwall of first toe and the second toe
The head end of toe and the 3rd toe is connected by key with sliding axle, the sliding axle respectively with first toe and crus secunda
Chute on toe inwall, which coordinates, to be slidably connected；
The toe drive mechanism in toe drive mechanism, first toe is mounted in first toe and the second toe
Including middle springs, sliding block pedestal, sliding block, the first sliding block spring, the second sliding block spring, upper lateral spring, lower lateral spring, synchronization
Band, connector, belt wheel, described middle springs one end are connected with the first toe head end, and the other end is connected with sliding block pedestal, the cunning
Block pedestal is connected with the slide of the first toe inwall, along being connected on described first sliding block spring one end and sliding block pedestal, separately
Along being connected on one end and sliding block, described second sliding block spring one end is connected with sliding block pedestal lower edge, the other end and sliding block lower edge phase
Even, the sliding block and connector are connected, and the head end of second toe and the 3rd toe is connected with connector, it is described on
One end of lateral spring and lower lateral spring with the first toe head end be connected, the other end is connected with Timing Belt, the Timing Belt and
By key belt wheel on the second toe or the 3rd toe head end is connected in engage, the toe driving structure in second toe with
Toe driving structure in first toe is identical.
Preferably, the middle springs, the first sliding block spring and upper lateral spring are SMA springs.
Preferably, second sliding block spring and lower lateral spring use SMA springs or common spring.
Preferably, the number of toe group is 3~5, and the number of the motor is identical with the number of toe group.
Preferably, the number of the second toe is 0~2 in each toe group.
Preferably, the flippers is fold shape.
Beneficial effect：The present invention uses a kind of telescopic Foot sole structure of robot of toe, can be achieved fully to connect with ground
Touch, increase the stability of walking；Multigroup SMA springs and the difference of common spring can be passed through by the angle of motor control toe group
Dynamic principle and the collective effect of Timing Belt make it to enter line translation in three kinds of states, are suitable for flat road surface, the ground of hollow
And the Various Complex road surface such as weak soil environment；Synergy can be achieved to grab ground effect between the multiple toes of robot, and in toe
Flippers is set between group, further increases contact area, the flowing of soil can be slowed down, the depression of foot of robot is effectively prevented,
Improve locomotor activity of the robot in complex environment.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the toe assembling diagrammatic cross-section of the present invention；
Fig. 3 is the toe original state diagrammatic cross-section of the present invention；
Fig. 4 be the present invention toe between be hinged partial schematic diagram；
Fig. 5 is the sliding block and the partial schematic diagram of connector cooperation of the present invention；
Fig. 6 is the sliding block and the partial schematic diagram of connector disengaging of the present invention；
Fig. 7 is the schematic diagram of sole confined state one of the present invention；
Fig. 8 is the schematic diagram of sole confined state two of the present invention；
Fig. 9 is the schematic diagram of sole confined state three of the present invention；
In figure：1- sole pedestals, 2- toe groups, 3- motors, 4- flippers；Covered on 101- soles, 102- sole bases；201-
One toe, 202- the first toe case lids, 203- middle springs, 204- sliding block pedestals, 205- sliding blocks, the sliding block springs of 206- first,
Lateral spring under the sliding block springs of 207- second, the upper lateral springs of 208-, 209-, 210- Timing Belts, 211- connectors, 212- sliding axles,
213- keys, 214- belt wheels, the toes of 215- second, 216- the second toe case lids, the toes of 217- the 3rd.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the application, it is real below in conjunction with the application
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present application is clearly and completely described, it is clear that described implementation
Example only some embodiments of the present application, rather than whole embodiments.Based on the embodiment in the application, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to the application protection
Scope.
As shown in Fig. 1~9, a kind of telescopic Foot sole structure of robot of toe, including sole pedestal 1, some toe groups
2nd, some motors 3 and flippers 4, wherein, it is chain connection between the sole pedestal 1 and toe group 2, the motor 3 is connected in
On sole pedestal 1, and the output end of motor 3 is connected with the toe group 2, is connected between adjacent two toes group 2 by flippers 4；
The sole pedestal 1 includes lid 101 on sole, lid 101 is consolidated with sole base 102 on sole base 102, and the sole
Even；
The toe group 2 includes the first toe 201, the second toe 215, the 3rd toe 217, the top of the first toe 201 connection the
One toe case lid 202, the top of the second toe 215 connects the second toe case lid 216, the toe 215 of the first toe 201 and second
Inwall on be equipped with chute, the head end of the toe 217 of the second toe 215 and the 3rd is connected by key 213 with sliding axle 212
Connect, the sliding axle 212 coordinates with the chute on the inwall of 201 and second toe of the first toe 215 respectively to be slidably connected；
The pin in toe drive mechanism, first toe 201 is mounted in the toe 215 of first toe 201 and second
Toe drive mechanism includes middle springs 203, sliding block pedestal 204, sliding block 205, the first sliding block spring 206, the second sliding block spring
207th, upper lateral spring 208, lower lateral spring 209, Timing Belt 210, connector 211, belt wheel 214, described one end of middle springs 203 with
The head end of first toe 201 is connected, and the other end is connected with sliding block pedestal 204, the inwall of 204 and first toe of sliding block pedestal 201
Slide connection, along being connected on described one end of first sliding block spring 206 and sliding block pedestal 204, the other end with sliding block 205
Along being connected, described one end of second sliding block spring 207 is connected with the lower edge of sliding block pedestal 204, and the other end is connected with the lower edge of sliding block 205,
The sliding block 205 is connected with connector 211, and the head end of the toe 217 of the second toe 215 and the 3rd is and connector
211 are connected, and one end of the upper lateral spring 208 and lower lateral spring 209 is connected with the head end of the first toe 201, the other end with
Timing Belt 210 is connected, and the Timing Belt 210 by key 213 with being connected on the second toe 215 or the head end of the 3rd toe 217
Belt wheel 214 is engaged, and the toe driving structure in second toe 215 is identical with the first toe 201 toe driving structure.
Preferably, the middle springs 203, the first sliding block spring 206 and upper lateral spring 208 are SMA springs.
Preferably, second sliding block spring 207 and lower lateral spring 209 use SMA springs or common spring.
Preferably, the number of toe group 2 is 3~5, and the number of the motor 3 is identical with the number of toe group 2.
Preferably, the number of second toe is 0~2 in each toe group 2.
Preferably, the flippers 4 is fold shape.
The operation principle of the present invention is as follows：
According to the complex situations on ground, different working conditions may be selected and is operated, state one is toe systolic, flippers contraction
State, state two is toe systolic, flippers extended configuration；State three is that toe is in grab ground type, flippers extended configuration；
State one may be selected on flat ground to be operated, when soil property is more lax, state two may be selected and works, when complete place
State three may be selected when weak soil environment such as desert to work；When it is contacted with ground, flippers can be achieved by the driving of motor
It is flexible, realize the conversion between state one and state two；Sliding block SMA springs（First sliding block spring）With sliding block common spring
（Second sliding block spring）It is used as the differential driving mechanism coordinated between sliding block and connector；Upper lateral spring（SMA）, lower lateral spring
（Commonly）It is used as the differential driving mechanism rotated between toe；Middle springs（SMA）It is used as the drive mechanism slided between toe；Pass through
The elongation and rotation of toe can be achieved in the drive of the Differential Driving principle and Timing Belt of SMA springs and common spring, you can real
Present condition two arrives the conversion of state three.
The realization of state three is as follows：
First sliding block spring（SMA）206 and second sliding block spring（Commonly）207 coordinate as between sliding block 205 and connector 211
Differential driving mechanism；Upper lateral spring（SMA）208th, lower lateral spring（Commonly）209 are used as the Differential Driving machine rotated between toe
Structure；Middle springs（SMA）203 are used as the drive mechanism slided between toe.
Toe original state is as follows, middle springs（SMA）203 in former long status, upper lateral spring（SMA）208 and under
Lateral spring（Commonly）209 all in compressive state.
When being contacted with ground, to the first sliding block spring（SMA）206 electrified regulations, the first sliding block spring（SMA）Elongation,
In the first sliding block spring（SMA）In the presence of 206, sliding block 205 coordinates with connector 211；Then to middle springs（SMA）203
Electrified regulation, middle springs（SMA）203 can be changed into elongation state；Because the toe 217 of connector 211 and the 3rd is connected, in centre
Under the driving force effect of spring (SMA) 203, sliding block pedestal 204 can along the inwall of the second toe 215 slide, so as to promote
3rd toe 217 is slided along the second toe 215, makes lateral spring（SMA）208 and lower lateral spring（Commonly）209 can all recover former
It is long；When middle springs 203（SMA）Reach most long status and upper lateral spring（SMA）208 and lower lateral spring（Commonly）209 recover
When former long, that is, the elongation action of toe is realized, and the 3rd toe 217 is also reached by sliding axle 212 with the second toe 215 and is hinged
State.
To be interfered when avoiding and rotating, to the first sliding block spring（SMA）206 power-off coolings, make sliding block 205 and connector
211 depart from, then to middle springs（SMA）203 power-off coolings, middle springs（SMA）203 recover former long, make sliding block pedestal 204
Return to initial position；Then to upper lateral spring（SMA）208 heating, in upper lateral spring（SMA）Under 208 driving force effect, driving
Timing Belt 210 and belt wheel 214 are rotated, lower lateral spring（Commonly）209 shrink, and belt wheel 214 drives the 3rd toe 217 to rotate, you can
Rotation of the 3rd toe 217 relative to the second toe 215 is realized, solid soil action is realized.
Same principle can realize elongation and the rotational action of relative first toe 201 of the second toe 215.
The technology powered off that is powered in the present invention on the technological means to SMA spring electrified regulations and control is ability
The conventional technical means that field technique personnel are grasped, is described in detail so not adding.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (6)
1. a kind of telescopic Foot sole structure of robot of toe, it is characterised in that：The Sole mechanism includes sole pedestal（1）、
Some toe groups（2）, some motors（3）And flippers（4）, wherein, the sole pedestal（1）With toe group（2）Between be hinge
Connection, the motor（3）It is connected in sole pedestal（1）On, and motor（3）Output end and the toe group（2）Connection, adjacent two
Toe group（2）Between pass through flippers（4）It is connected；
The sole pedestal（1）Including being covered on sole（101）, sole base（102）, and covered on the sole（101）With sole
Base（102）It is connected；
The toe group（2）Including the first toe（201）, the second toe（215）, the 3rd toe（217）, the first toe（201）
Top connects the first toe case lid（202）, the second toe（215）Top connects the second toe case lid（216）, first toe
（201）With the second toe（215）Inwall on be equipped with chute, second toe（215）With the 3rd toe（217）Head
End respectively passes through key（213）With sliding axle（212）Connection, the sliding axle（212）Respectively with first toe（201）With
Second toe（215）Chute on inwall, which coordinates, to be slidably connected；
First toe（201）With the second toe（215）Inside it is mounted on toe drive mechanism, first toe（201）
Interior toe drive mechanism includes middle springs（203）, sliding block pedestal（204）, sliding block（205）, the first sliding block spring（206）、
Second sliding block spring（207）, upper lateral spring（208）, lower lateral spring（209）, Timing Belt（210）, connector（211）, belt wheel
（214）, the middle springs（203）One end and the first toe（201）Head end is connected, the other end and sliding block pedestal（204）It is connected,
The sliding block pedestal（204）With the first toe（201）The slide connection of inwall, first sliding block spring（206）One end
With sliding block pedestal（204）On along be connected, the other end and sliding block（205）On along be connected, second sliding block spring（207）One end with
Sliding block pedestal（204）Lower edge is connected, the other end and sliding block（205）Lower edge is connected, the sliding block（205）With connector（211）Match somebody with somebody
Close connection, second toe（215）With the 3rd toe（217）Head end and connector（211）It is connected, the upper lateral spring
（208）With lower lateral spring（209）One end be connected with the head end of the first toe 201, the other end is and Timing Belt（210）It is connected,
The Timing Belt（210）With passing through key（213）It is connected in the belt wheel on the second toe 215 or the head end of the 3rd toe 217（214）Nibble
Close, second toe（215）Interior toe driving structure and the first toe（201）Interior toe driving structure is identical.
2. the telescopic Foot sole structure of robot of a kind of toe according to claim 1, it is characterised in that：The middle bullet
Spring（203）, the first sliding block spring（206）With upper lateral spring（208）It is SMA springs.
3. the telescopic Foot sole structure of robot of a kind of toe according to claim 1, it is characterised in that：Described second slides
Block spring（207）With lower lateral spring（209）Using SMA springs or common spring.
4. the telescopic Foot sole structure of robot of a kind of toe according to claim 1, it is characterised in that：Toe group 2
Number is 3~5, the motor（3）Number and toe group（2）Number it is identical.
5. the telescopic Foot sole structure of robot of a kind of toe according to claim 1, it is characterised in that：Each toe group
（2）In the second toe（215）Number be 0~2.
6. the telescopic Foot sole structure of robot of a kind of toe according to claim 1, it is characterised in that：The flippers
（4）For fold shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306711.5A CN106938675B (en) | 2017-05-04 | 2017-05-04 | A kind of telescopic Foot sole structure of robot of toe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306711.5A CN106938675B (en) | 2017-05-04 | 2017-05-04 | A kind of telescopic Foot sole structure of robot of toe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106938675A true CN106938675A (en) | 2017-07-11 |
| CN106938675B CN106938675B (en) | 2019-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710306711.5A Active CN106938675B (en) | 2017-05-04 | 2017-05-04 | A kind of telescopic Foot sole structure of robot of toe |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310656A (en) * | 2017-08-27 | 2017-11-03 | 刘哲 | A kind of walking robot |
| CN107554638A (en) * | 2017-08-27 | 2018-01-09 | 刘哲 | A kind of strong walking robot foot device of earth-grasping force |
| CN108415330A (en) * | 2018-03-13 | 2018-08-17 | 哈尔滨理工大学 | Bio-robot foot end design method |
| CN109278892A (en) * | 2018-10-16 | 2019-01-29 | 北京理工大学 | A kind of anti-skidding anthropomorphic robot foot of imitative ram's horn |
| CN109367645A (en) * | 2018-11-13 | 2019-02-22 | 北京理工大学 | A kind of humanoid robot foot section mechanism that buffering increasing is steady |
| CN112429105A (en) * | 2020-11-16 | 2021-03-02 | 江苏大学 | Rigid-flexible coupling bionic anti-sinking energy-saving buffering walking wheel |
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| US5758734A (en) * | 1996-01-19 | 1998-06-02 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
| CN101767614A (en) * | 2010-01-11 | 2010-07-07 | 重庆大学 | Toe structure of robot |
| CN104260801B (en) * | 2014-10-20 | 2016-05-18 | 哈尔滨工业大学 | A kind of walking of the legged type robot heavy grade towards hard mountain environment foot |
| CN205686506U (en) * | 2016-06-24 | 2016-11-16 | 无锡商业职业技术学院 | A kind of based on Embedded quadruped robot |
| CN205706947U (en) * | 2016-05-04 | 2016-11-23 | 昆明理工大学 | A kind of fire-fighting robot step device |
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| EP0433091B1 (en) * | 1989-12-14 | 1995-03-15 | Honda Giken Kogyo Kabushiki Kaisha | Foot structure for legged walking robot |
| US5758734A (en) * | 1996-01-19 | 1998-06-02 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
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| CN104260801B (en) * | 2014-10-20 | 2016-05-18 | 哈尔滨工业大学 | A kind of walking of the legged type robot heavy grade towards hard mountain environment foot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310656A (en) * | 2017-08-27 | 2017-11-03 | 刘哲 | A kind of walking robot |
| CN107554638A (en) * | 2017-08-27 | 2018-01-09 | 刘哲 | A kind of strong walking robot foot device of earth-grasping force |
| CN108415330A (en) * | 2018-03-13 | 2018-08-17 | 哈尔滨理工大学 | Bio-robot foot end design method |
| CN109278892A (en) * | 2018-10-16 | 2019-01-29 | 北京理工大学 | A kind of anti-skidding anthropomorphic robot foot of imitative ram's horn |
| CN109367645A (en) * | 2018-11-13 | 2019-02-22 | 北京理工大学 | A kind of humanoid robot foot section mechanism that buffering increasing is steady |
| CN112429105A (en) * | 2020-11-16 | 2021-03-02 | 江苏大学 | Rigid-flexible coupling bionic anti-sinking energy-saving buffering walking wheel |
| CN112429105B (en) * | 2020-11-16 | 2021-10-12 | 江苏大学 | Rigid-flexible coupling bionic anti-sinking energy-saving buffering walking wheel |
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|---|---|
| CN106938675B (en) | 2019-03-19 |
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