CN106938675B - 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
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- CN106938675B CN106938675B CN201710306711.5A CN201710306711A CN106938675B CN 106938675 B CN106938675 B CN 106938675B CN 201710306711 A CN201710306711 A CN 201710306711A CN 106938675 B CN106938675 B CN 106938675B
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- toe
- sliding block
- spring
- pedestal
- sole
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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, several toe groups, several motors and flippers, wherein, it is connected between the sole pedestal and toe group for hinge, the motor is connected on sole pedestal, and motor output end is connect with the toe group, is connected between adjacent two toes group by flippers.The present invention can by grabbing act on the effectively flowing of limitation underfooting soil, flippers structure and can further increase contact area, prevent the excessive depression of foot, robot, robot is made more efficiently to walk 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 robotic technology field.
Background technique
Currently, 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, contact it more efficiently with ground, depression can be better protected from.How to leg formula
Sole, toe and the flippers structure of robot are targetedly designed and are improved, and are improved foot's depression situation of robot, are
An important factor for robot well moves under complicated weak soil environment.
Summary of the invention
In order to overcome the drawbacks of the prior art, the present invention provides a kind of telescopic Foot sole structure of robot of toe, can
Contact area can be further increased, prevent robot foot by by grabbing acting on the effectively flowing of limitation underfooting soil, flippers structure
The excessive depression in portion, makes robot more efficiently walk under the environment such as weak soil.
A kind of telescopic Foot sole structure of robot of toe, including sole pedestal, several toe groups, several motors and foot
Web, wherein connected between the sole pedestal and toe group for hinge, the motor is connected on sole pedestal, and motor exports
End is connect with the toe group, is connected between adjacent two toes group by flippers；
The sole pedestal includes sole upper cover, sole pedestal, and the sole upper cover and sole pedestal are connected；
The toe group includes the first toe, the second toe, third toe, and the first toe top connects the first toe case
It is equipped with sliding slot on the inner wall of lid, the second toe case lid of the second toe top connection, first toe and the second toe, it is described
The head end of second toe and third toe passes through key and sliding axis connection, the sliding axle respectively with first toe and the
Sliding slot cooperation on two toe inner walls is slidably connected；
Toe driving mechanism is mounted in first toe and the second toe, the toe driving in first toe
Mechanism includes middle springs, sliding block pedestal, sliding block, the first sliding block spring, the second sliding block spring, upper lateral spring, lower lateral spring, same
Band, connector, belt wheel are walked, described middle springs one end is connected with the first toe head end, and the other end is connected with sliding block pedestal, described
Sliding block pedestal and the sliding slot of the first toe inner wall are slidably connected, along being connected on first sliding block spring one end and sliding block pedestal,
Along being connected on the other end and sliding block, second sliding block spring one end is connected with sliding block pedestal lower edge, the other end and sliding block lower edge
It is connected, the sliding block and connector are cooperatively connected, and the head end of second toe and third toe is connected with connector, described
One end of upper lateral spring and lower lateral spring is connected with the first toe head end, and the other end is connected with synchronous belt, the synchronous belt
It is engaged with the belt wheel being connected on the second toe or third toe head end by key, the toe driving structure in second toe
It is identical as the toe driving structure in the first toe.
Preferably, the middle springs, the first sliding block spring and upper lateral spring are SMA spring.
Preferably, second sliding block spring and lower lateral spring use SMA spring or common spring.
Preferably, the number of toe group is 3~5, and the number of the motor is identical as 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.
The utility model has the advantages that the present invention is using a kind of telescopic Foot sole structure of robot of toe, it can be achieved that sufficiently connecing with ground
Touching, increases the stability of walking；The difference of multiple groups SMA spring and common spring can be passed through by the angle of motor control toe group
Dynamic principle and the collective effect of synchronous belt convert it can in three kinds of states, be suitable for the ground of flat road surface, hollow
And the Various Complexes such as weak soil environment road surface；Synergistic effect 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, is effectively prevented the depression of foot, robot,
Improve walking ability of the robot in complex environment.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is toe assembly diagrammatic cross-section of the invention；
Fig. 3 is toe original state diagrammatic cross-section of the invention；
Fig. 4 is hinged partial schematic diagram between toe of the invention；
Fig. 5 is the partial schematic diagram of sliding block and connector cooperation of the invention；
Fig. 6 is the partial schematic diagram that sliding block and connector of the invention are detached from；
Fig. 7 is one schematic diagram of sole assembled state of the invention；
Fig. 8 is two schematic diagram of sole assembled state of the invention；
Fig. 9 is three schematic diagram of sole assembled state of the invention；
In figure: 1- sole pedestal, 2- toe group, 3- motor, 4- flippers；101- sole upper cover, 102- sole pedestal；
The first toe of 201-, 202- the first toe case lid, 203- middle springs, 204- sliding block pedestal, 205- sliding block, the first sliding block of 206-
Spring, the second sliding block spring of 207-, the upper lateral spring of 208-, lateral spring under 209-, 210- synchronous belt, 211- connector, 212- are sliding
Moving axis, 213- key, 214- belt wheel, the second toe of 215-, 216- the second toe case lid, 217- third toe.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is merely a part but not all of the embodiments of the present application.Based on the embodiment in the application, this field is common
The application protection all should belong in technical staff's every other embodiment obtained without making creative work
Range.
As shown in figure 1-9, the telescopic Foot sole structure of robot of a kind of toe, including sole pedestal 1, several toe groups
2, several motors 3 and flippers 4, wherein connected between the sole pedestal 1 and toe group 2 for hinge, the motor 3 is connected in
On sole pedestal 1, and 3 output end of motor is connect with the toe group 2, is connected between adjacent two toes group 2 by flippers 4；
The sole pedestal 1 includes sole upper cover 101, sole pedestal 102, and the sole upper cover 101 and sole pedestal
102 are connected；
The toe group 2 includes the first toe 201, the second toe 215, third toe 217, and 201 top of the first toe connects
The first toe case lid 202 is connect, 215 top of the second toe connects the second toe case lid 216, first toe 201 and crus secunda
It is equipped with sliding slot on the inner wall of toe 215, the head end of second toe 215 and third toe 217 passes through key 213 and sliding axle
212 connections, the sliding axle 212 connect with the sliding slot cooperation sliding on 215 inner wall of first toe 201 and the second toe respectively
It connects；
Toe driving mechanism is mounted in first toe 201 and the second toe 215, in first toe 201
Toe driving mechanism include middle springs 203, sliding block pedestal 204, sliding block 205, the first sliding block spring 206, the second sliding block bullet
Spring 207, upper lateral spring 208, lower lateral spring 209, synchronous belt 210, connector 211, belt wheel 214, described 203 one end of middle springs
It is connected with 201 head end of the first toe, the other end is connected with sliding block pedestal 204, in the sliding block pedestal 204 and the first toe 201
The sliding slot of wall is slidably connected, along connected, the other end and sliding block 205 on described first sliding block spring, 206 one end and sliding block pedestal 204
On along be connected, described second sliding block spring, 207 one end is connected with 204 lower edge of sliding block pedestal, the other end and 205 lower edge phase of sliding block
Even, the sliding block 205 is cooperatively connected with connector 211, the head end of second toe 215 and third toe 217 with connection
Part 211 is connected, and one end of the upper lateral spring 208 and lower lateral spring 209 is connected with 201 head end of the first toe, and the other end is equal
It is connected with synchronous belt 210, the synchronous belt 210 is connected on 217 head end of the second toe 215 or third toe with by key 213
Belt wheel 214 engage, the toe driving structure in second toe 215 in the first toe 201 toe driving structure phase
Together.
Preferably, the middle springs 203, the first sliding block spring 206 and upper lateral spring 208 are SMA spring.
Preferably, second sliding block spring 207 and lower lateral spring 209 use SMA spring or common spring.
Preferably, the number of toe group 2 is 3~5, and the number of the motor 3 is identical as 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.
Working principle of the present invention is as follows:
According to the complex situations on ground, different working conditions may be selected and work, state one is toe systolic, flippers
Contraction state, state two are toe systolic, flippers extended state；State three is toe in grabbing type, flippers extended state；
State one may be selected on flat ground to work, when soil property is more lax, state two may be selected and work, when complete
State three may be selected when being in weak soil environment such as desert entirely to work；When its when being contacted with ground, can be achieved by the driving of motor
Flexible, the transformation between realization state one and state two of flippers；Sliding block SMA spring (the first sliding block spring) and sliding block ball
Spring (the second sliding block spring) is as the differential driving mechanism cooperated between sliding block and connector；Upper lateral spring (SMA), lower lateral spring
(common) is as the differential driving mechanism rotated between toe；Middle springs (SMA) are as the driving mechanism slided between toe；Pass through
The elongation and rotation of toe, Ji Keshi can be achieved in the drive of the Differential Driving principle and synchronous belt of SMA spring and common spring
Present condition two arrives the transformation of state three.
State three is accomplished by
First sliding block spring (SMA) 206 and the second sliding block spring (common) 207 are as between sliding block 205 and connector 211
The differential driving mechanism of cooperation；Upper lateral spring (SMA) 208, lower lateral spring (common) 209 are as the Differential Driving rotated between toe
Mechanism；Middle springs (SMA) 203 are as the driving mechanism slided between toe.
Toe original state is as follows, and middle springs (SMA) 203 are in former long status, upper lateral spring (SMA) 208 and under
Lateral spring (common) 209 is all in compressive state.
When being contacted with ground, to 206 electrified regulation of the first sliding block spring (SMA), the first sliding block spring (SMA) elongation,
Under the action of the first sliding block spring (SMA) 206, sliding block 205 and connector 211 cooperate；Then to middle springs (SMA) 203
Electrified regulation, middle springs (SMA) 203 can be changed to elongation state；Since connector 211 and third toe 217 are connected, in centre
Under the driving force effect of spring (SMA) 203, sliding block pedestal 204 can be slided along the sliding slot of 215 inner wall of the second toe, to push
Third toe 217 is slided along the second toe 215, makes lateral spring (SMA) 208 and lower lateral spring (common) 209 that can all restore former
It is long；When middle springs 203(SMA) reaches longest state and upper lateral spring (SMA) 208 and the recovery of lower lateral spring (common) 209
When former long, i.e. the elongation movement of realization toe, and third toe 217 also reaches hinged by sliding axle 212 with the second toe 215
State.
To be interfered when avoiding rotation, the first sliding block spring (SMA) 206 is powered off and is cooled down, sliding block 205 and connector are made
211 are detached from, and then power off and cool down to middle springs (SMA) 203, and middle springs (SMA) 203 restore former long, make sliding block pedestal 204
Return to initial position；Then upper lateral spring (SMA) 208 is heated, under the driving force effect of upper lateral spring (SMA) 208, driving
Synchronous belt 210 and belt wheel 214 rotate, and lower lateral spring (common) 209 is shunk, and belt wheel 214 drives third toe 217 to rotate
Realize that third toe 217 relative to the rotation of the second toe 215, realizes solid soil movement.
The elongation and rotational action of opposite first toe 201 of the second toe 215 may be implemented in same principle.
Technology in the present invention about technological means and control energization power-off to SMA spring electrified regulation 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 those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to 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, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of telescopic Foot sole structure of robot of toe, it is characterised in that: the sole structure include sole pedestal (1),
Several toe groups (2), several motors (3) and flippers (4), wherein be hinge between the sole pedestal (1) and toe group (2)
Connection, the motor (3) is connected on sole pedestal (1), and motor (3) output end is connect with the toe group (2), and adjacent two
It is connected between toe group (2) by flippers (4)；
The sole pedestal (1) includes sole upper cover (101), sole pedestal (102), and the sole upper cover (101) and sole
Pedestal (102) is connected；
The toe group (2) includes the first toe (201), the second toe (215), third toe (217), the first toe (201)
Top connects the first toe case lid (202), and the second toe (215) top connects the second toe case lid (216), first toe
(201) and on the inner wall of the second toe (215) sliding slot, the head of second toe (215) and third toe (217) are equipped with
End is connect with sliding axle (212) by key (213) respectively, the sliding axle (212) respectively with first toe (201) and
Sliding slot cooperation on second toe (215) inner wall is slidably connected；
Toe driving mechanism, first toe (201) are mounted in first toe (201) and the second toe (215)
Interior toe driving mechanism include 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), synchronous belt (210), connector (211), belt wheel
(214), described middle springs (203) one end is connected with the first toe (201) head end, and the other end is connected with sliding block pedestal (204),
The sliding block pedestal (204) and the sliding slot of the first toe (201) inner wall are slidably connected, described first sliding block spring (206) one end
With on sliding block pedestal (204) along being connected, along being connected on the other end and sliding block (205), described second sliding block spring (207) one end with
Sliding block pedestal (204) lower edge is connected, and the other end is connected with sliding block (205) lower edge, and the sliding block (205) is matched with connector (211)
It closes and connects, the head end of second toe (215) and third toe (217) is connected with connector (211), the upper lateral spring
(208) with one end of lower lateral spring (209) with the first toe (201) head end be connected, the other end with synchronous belt (210) phase
Even, the synchronous belt (210) is connected in the belt wheel on the second toe (215) or third toe (217) head end with by key (213)
(214) it engages, the toe driving structure in second toe (215) and the toe driving structure phase in the first toe (201)
Together.
2. the telescopic Foot sole structure of robot of a kind of toe according to claim 1, it is characterised in that: the intermediate bullet
Spring (203), the first sliding block spring (206) and upper lateral spring (208) are SMA spring.
3. the telescopic Foot sole structure of robot of a kind of toe according to claim 1, it is characterised in that: described second is sliding
Block spring (207) and lower lateral spring (209) use SMA spring 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 be 3~5, the number of the motor (3) is identical as the number of toe group (2).
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) number of the second toe (215) is 0~2 in.
6. the telescopic Foot sole structure of robot of a kind of toe according to claim 1, it is characterised in that: the flippers
It (4) is 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 |
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| Publication Number | Publication Date |
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| CN106938675A CN106938675A (en) | 2017-07-11 |
| CN106938675B true CN106938675B (en) | 2019-03-19 |
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| 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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Families Citing this family (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 |
| CN109278892B (en) * | 2018-10-16 | 2020-08-07 | 北京理工大学 | Cat-claw-imitated anti-skidding humanoid robot foot |
| CN109367645B (en) * | 2018-11-13 | 2020-06-23 | 北京理工大学 | Humanoid robot foot mechanism for buffering and stability augmentation |
| 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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|---|---|---|---|---|
| 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 |
| 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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2017
- 2017-05-04 CN CN201710306711.5A patent/CN106938675B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN205706947U (en) * | 2016-05-04 | 2016-11-23 | 昆明理工大学 | A kind of fire-fighting robot step device |
| 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 |
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| CN106938675A (en) | 2017-07-11 |
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