CN106995018A - Bionical foot - Google Patents
Bionical foot Download PDFInfo
- Publication number
- CN106995018A CN106995018A CN201710356188.7A CN201710356188A CN106995018A CN 106995018 A CN106995018 A CN 106995018A CN 201710356188 A CN201710356188 A CN 201710356188A CN 106995018 A CN106995018 A CN 106995018A
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- Prior art keywords
- shaft hole
- rotary shaft
- positioning
- bionical foot
- hole
- Prior art date
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- 210000002683 foot Anatomy 0.000 claims abstract description 39
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 25
- 210000000078 claw Anatomy 0.000 claims description 25
- 210000004907 gland Anatomy 0.000 claims description 7
- 239000011148 porous material Substances 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 5
- 210000003423 ankle Anatomy 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000008093 supporting effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of bionical foot, has：Support base, it has semi-cylindrical in configuration, there is the first opening on the axial plane of the semi-cylindrical in configuration, first opening intersects with the two ends end face of the semi-cylindrical in configuration into load side wall of the lateral openings with being connected the lateral openings at relative two, and the center of first opening is provided with rotary shaft hole；Ankle-joint, it is rotatably held in first opening and in the rotary shaft hole, the side of the ankle-joint has a drive division for being used for driving the support base rotation, the drive division be rotatably held in the lateral openings and close to the load side wall.Make robot motion's flexibly stable bionical foot the invention provides a kind of rotation enabling capabilities with forward swing and side-sway.
Description
Technical field
It is a kind of bionical foot specifically the invention belongs to robotic technology field.
Background technology
With the fast development of robot technology, people are further added by for the functional requirement one of robot, are no longer satisfied with
Traditional clumsy concept.For this reason, it may be necessary to which all parts of robot have the bionical performance of height, with the altitude simulation mankind or dynamic
The multi-joint flexible motion of thing.
In robot technology, robot foot section is a kind of crucial structural portion, the shifting for supporting and performing robot
Dynamic and rotation.Traditional robot foot section function is very single, it is impossible to meet the flexible motion needs of robot.Particularly Gao Fang
During raw quadruped robot is applied, robot foot section is needed often in face of complicated landform, to its robust motion and flexibly
Property proposes very high request, it is necessary to have the rotation enabling capabilities of forward swing and side-sway.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of bionical foot, the rotation with forward swing and side-sway
Enabling capabilities, motion is flexibly steady.
The purpose of the present invention is achieved through the following technical solutions：
A kind of bionical foot, has：
Support base, it, which has on semi-cylindrical in configuration, the axial plane of the semi-cylindrical in configuration, has the first opening, described the
One opening intersects into lateral openings at relative two with the two ends end face of the semi-cylindrical in configuration with being connected the lateral openings
Load side wall, it is described first opening center be provided with rotary shaft hole；
Ankle-joint, it is rotatably held in first opening and the rotary shaft hole, the side of the ankle-joint
With the drive division for driving the support base rotation, the drive division is rotatably held in the lateral openings and connect
The nearly load side wall.
As the improvement of above-mentioned technical proposal, the center of the rotary shaft hole has locating shaft, and the ankle-joint has
Positioning shaft hole, the positioning shaft sleeve is in the positioning shaft hole.
As the further improvement of above-mentioned technical proposal, the rotary shaft hole has round platform pore structure, the round platform hole
Big end is located at the rotary shaft hole close to one end of the ankle-joint.
As the further improvement of above-mentioned technical proposal, the ankle-joint includes shank connecting portion with connecting located at the shank
Rotation axle portion in socket part：
The shank connecting portion is used to connect robot shank, and the rotation axle portion center has the positioning shaft hole,
The rotation axle portion is rotatably held in the rotary shaft hole.
As the further improvement of above-mentioned technical proposal, the rotation axle portion has positioning end and the rotation of integrally connected
Axle：
The positioning end is used to connect the shank connecting portion, and with the drive division, the positioning end is rotatably
It is held in first opening, the rotary shaft is rotatably held in the rotary shaft hole.
As the further improvement of above-mentioned technical proposal, the rotary shaft hole has round platform pore structure, the rotary shaft tool
There is frustum cone structure, the gap that there is gap value to be not more than 2mm between the rotary shaft hole and the rotary shaft coordinates.
As the further improvement of above-mentioned technical proposal, the locating shaft is two grades with the first shaft part and the second shaft part
Multi-diameter shaft：
Second shaft part is provided with circular cone on first shaft part between first shaft part and the positioning shaft hole
Roller bearing, is provided with needle roller thrust bearing between second shaft part and the positioning shaft hole.
As the further improvement of above-mentioned technical proposal, the positioning shaft hole include keeping the first positioning shaft hole of connection with
Second positioning shaft hole：
First positioning shaft hole is provided with the taper roll bearing in the rotary shaft；
Second positioning shaft hole is provided with the needle roller thrust bearing, the needle roller thrust in the positioning end
The one end of bearing away from the support base is provided with the bearing gland for being used for compressing the needle roller thrust bearing.
As the further improvement of above-mentioned technical proposal, the circular arc side of the semi-cylindrical in configuration has multiple support claws
Portion, the support claw is to be formed in circular arc side through removing material.
As the further improvement of above-mentioned technical proposal, the circular arc side of the semi-cylindrical in configuration is additionally provided with for wrapping up institute
The bumper housings of support claw are stated, side of the bumper housings away from the support claw is outside curved surfaces, the buffering
The side of shell close to the support claw has the engaging portion for being used for fastening with the support claw, the two of the semi-cylindrical in configuration
End end face is provided with the shell pressing plate for being used for compressing the bumper housings.
The beneficial effects of the invention are as follows：
(1) there is support base, support base has semi-cylindrical in configuration, with the circular arc lateral support of semi-cylindrical in configuration in ground
Face is connected, thus, in the swing of robot lower limb, and bionical foot can be tilted along circular arc side, and famous dictum is adjusted in time
The support angle thought, makes the movable steady of robot particularly quadruped robot；
(2) there is the ankle-joint being rotatably held in support base, in the sideshake of robot lower limb, ankle is closed
Section can in time rotate and drive support base to turn to, and bionical foot can adjust to the corresponding angle of side-sway that there is provided preferably rapidly
Support, so as to realize the left-right rotation of robot particularly quadruped robot.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the overall schematic for the bionical foot that the embodiment of the present invention 1 is provided；
Fig. 2 is the first partial exploded view of the bionical foot that the embodiment of the present invention 1 is provided；
Fig. 3 is the structural representation of the support base for the bionical foot that the embodiment of the present invention 1 is provided；
Fig. 4 is the second partial exploded view of the bionical foot that the embodiment of the present invention 1 is provided；
Fig. 5 is the 3rd partial exploded view of the bionical foot that the embodiment of the present invention 1 is provided；
Fig. 6 is the structural representation of the rotation axle portion for the bionical foot that the embodiment of the present invention 1 is provided；
Fig. 7 is the cross section structure diagram of the rotation axle portion for the bionical foot that the embodiment of the present invention 1 is provided.
Main element symbol description：
The bionical foots of 1000-, 0100- support bases, 0110- semi-cylindrical in configuration, 0111- axial planes, 0112- first ends
Face, 0113- second end faces, 0114- circular arcs side, 0120- first is open, 0121- lateral openings, 0130- load side walls,
0140- rotary shaft holes, 0150- locating shafts, the shaft parts of 0151- first, the shaft parts of 0152- second, 0160- support claws, 0200- ankles are closed
Section, 0210- shank connecting portions, 0220- rotation axle portions, 0221- positioning ends, 0221a- drive divisions, 0222- rotary shafts, 0230- is fixed
Position axis hole, the positioning shaft holes of 0231- first, the positioning shaft holes of 0232- second, 0300- taper roll bearings, 0400- needle roller thrust axles
Hold, 0500- bearing glands, 0600- bumper housings, 0700- shell pressing plates.
Embodiment
For the ease of understanding the present invention, bionical foot is described more fully below with reference to relevant drawings.Accompanying drawing
In give the preferred embodiment of bionical foot.But, bionical foot can be realized by many different forms, not limited
In embodiment described herein.On the contrary, the purpose for providing these embodiments is to make to the disclosure of bionical foot more
It is thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also have element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when,
In the absence of intermediary element.Term as used herein " vertically ", " level ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Herein description is intended merely in the term used in the description of bionical foot
The purpose of specific embodiment, it is not intended that the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Embodiment 1
Fig. 1~3 are please referred to, bionical foot 1000 has support base 0100.Support base 0100 has semicolumn
Structure 0110, specifically, semi-cylindrical in configuration 0110 refer to the column for extending scanning along its plane normal direction by plane semicircle
Body.Semi-cylindrical in configuration 0110 has axial plane 0111, first end face 0112, second end face 0113 and circular arc side 0114, wherein,
Axial plane 0111 refers to the plane that the diameter of a circle of plane half extends along plane normal direction.
There is the first opening 0120, the first opening 0120 can be a variety of knots on the axial plane 0111 of semi-cylindrical in configuration 0110
Configuration formula, in the present embodiment, the first opening 0120 is preferably circular hole.In another embodiment, the first opening 0120 may be used also
To be the other shapes such as round platform hole.
First opening 0120 intersects with the two ends end face of semi-cylindrical in configuration 0110 into lateral openings 0121 at relative two
Load side wall 0130 with being connected lateral openings 0121.Specifically, lateral openings 0121 are located at first end face 0112 and the respectively
On biend 0113, and connected via the load side wall 0130 positioned at separation both sides.That is, the circumferential of the first opening 0120
Shape is broken at lateral openings 0121, without full circumferences.
The center of first opening 0120 is provided with rotary shaft hole 0140.Specifically, the first opening 0120 and rotary shaft hole
0140 forms a shoulder hole structure, and with coaxial relation.First opening 0120 and the junction of rotary shaft hole 0140 have one
Step plane, available for realizing planar support.
Rotary shaft hole 0140 can have multiple hole planform, to adapt to different use environments.In the present embodiment, it is excellent
Selection of land, rotary shaft hole 0140 has round platform pore structure, and the big end of round platform hole is located at rotary shaft hole 0140 close to ankle-joint 0200
One end.
Specifically, round platform pore structure refers to, the hole wall of rotary shaft hole 0140 has truncated conical shape.Wherein, round platform refer to
One plane parallel to circular cone bottom surface removes truncated cone, the part between the bottom surface and section that are intercepted.In round platform hole two ends, hole
The larger one end in footpath is big end, and the less one end in aperture is small end.In other words, rotary shaft hole 0140 is from the first opening 0120 to circle
Arc side 0114 and the characteristic continuously successively decreased with aperture.
Preferably, the center of rotary shaft hole 0140 has locating shaft 0150, the axially position for realizing revolving part.Tool
Body, the bottom of the spin shaft hole 0140 of locating shaft 0150 and stretch out, and there is coaxial relation with rotary shaft hole 0140, from
And in the annular cavernous structure of formation in rotary shaft hole 0140.
Preferably, locating shaft 0150 is two grades of multi-diameter shafts with the first shaft part 0151 and the second shaft part 0152.Wherein,
Two shaft parts 0152 are located at the first shaft part 0151, and the diameter of axle of the second shaft part 0152 is less than the first shaft part 0151, with two grades of multi-diameter shafts
Structure and improve the connection convenience between hole axle, and make locating shaft 0150 that there is preferably structural strength.
The position relationship of first shaft part 0151 and the second shaft part 0152 is according to decision is actually needed, in the present embodiment, preferably
Ground, the first shaft part 0151 and the second shaft part 0152 have coaxial relation, realize coaxial rotation and avoid the structure of eccentric moment from breaking
It is bad.
Preferably, the circular arc side 0114 of semi-cylindrical in configuration 0110 has multiple support claws 0160, supports claw 0160
To be formed in circular arc side 0114 through removing material.
Specifically, in the present embodiment, three groups of support claws 0160 are distributed with along circular arc side 0114.In one group of support claw
In portion 0160, it is distributed, and can has identical or not along the axially direction parallel to semi-cylindrical in configuration 0110 between each claw
Same width dimensions.Further, each claw in circular arc side 0114 on, through along semi-cylindrical in configuration 0110 axially or radially and
Material is removed, so as to form the space structure with gap.
Further preferably, the circular arc side 0114 of semi-cylindrical in configuration 0110 is additionally provided with for wrapping up the slow of support claw 0160
Shell 0600 is rushed, side of the bumper housings 0600 away from support claw 0160 is curved surfaces, the close support of bumper housings 0600
The side of claw 0160 has the engaging portion for being used for fastening with support claw 0160.
Specifically, the curved surfaces of bumper housings 0600 are regular flat surface, can be also surface-treated through frosted etc., with suitable
Answer different use occasions.Engaging portion and the structure of support claw 0160 are adapted, and the two fastening tightly reliably connects into one
Binding structure.The material of bumper housings 0600 can be a variety of, and e.g. rubber, wear-resisting silica gel etc. have buffering and enabling capabilities
Material type.Thus, bumper housings 0600 provide good protection and buffering for support claw 0160, improve bionical foot 1000
Service life.
Further, the two ends end face of semi-cylindrical in configuration 0110 is provided with the shell pressing plate for being used for compressing bumper housings 0600
0700。
Fig. 1 and Fig. 4~7 are please referred to, bionical foot 1000 also has ankle-joint 0200.Ankle-joint 0200 is rotatably
It is held in the first opening 0120 and in rotary shaft hole 0140, the side of ankle-joint 0200, which has, is used to drive support base 0100 to revolve
The drive division 0221a turned, drive division 0221a be rotatably held in lateral openings 0121 and close to load side wall 0130.
Specifically, the one end of ankle-joint 0200 connection robot shank, the other end is rotatably held in support base 0100
On.Drive division 0221a can be the bulge-structure stretched out from the side of ankle-joint 0200, can be with carrying in rotary course
Mechanical Contact occurs for side wall 0130.
When side-sway occurs for robot shank, ankle-joint 0200 is driven by it and synchronous rotary.Drive division 0221a is closed with ankle
The rotation of section 0200 and rotate, and move closer to load side wall 0130.When drive division 0221a comes in contact with load side wall 0130
When, drive division 0221a applies active force to load side wall 0130, and makes the support base 0100 at the place of load side wall 0130 immediately
Rotate, so as to realize the side-sway turning function of bionical foot 1000.
In an exemplary embodiment, drive division 0221a size is less than the A/F of lateral openings 0121, makes
Drive division 0221a is rotatably held in lateral openings 0121 and rotates freely space with certain.Here, ankle-joint 0200
There is certain space that rotates freely relative to support base 0100, ankle-joint 0200 has adjustable rotary freedom, carried
For the rotation adjustment space between ankle-joint 0200 and support base 0100, make bionical foot 1000 more flexible.
Preferably, ankle-joint 0200 includes shank connecting portion 0210 and the rotation axle portion on shank connecting portion 0210
0220.Shank connecting portion 0210 is used to connect robot shank, and ankle-joint 0200 is had the fortune synchronous with robot shank
Dynamic state.The center of rotation axle portion 0220 has positioning shaft hole 0230, and rotation axle portion 0220 is rotatably held in rotary shaft
In hole 0140.
Further preferably, rotation axle portion 0220 has the positioning end 0221 and rotary shaft 0222 of integrally connected.So-called one
Connection, refers to there is the kinetic characteristic of one between positioning end 0221 and rotary shaft 0222, its type of attachment can be detachable
Be fixedly connected or non-removable be integrally formed or welding structure.
Wherein, positioning end 0221 is used to connect shank connecting portion 0210, and with drive division 0221a, positioning end 0221 can
Rotatably it is held in the first opening 0120.Specifically, in an exemplary embodiment, positioning end 0221 has discoid
Structure, has drive division 0221a at positioned opposite two from its circumference side.
Rotary shaft 0222 is rotatably held in rotary shaft hole 0140, can have a variety of axle construction forms, and with rotation
The structure type matching of axis hole 0140.In this embodiment, it is preferred that, rotary shaft 0222 has frustum cone structure, with matching rotation
The round platform pore structure of axis hole 0140.Further, between rotary shaft hole 0140 and rotary shaft 0222 there is gap value to be not more than 2mm
Gap coordinate, rotary motion therebetween is more smoothed out.
Further preferably, positioning shaft hole 0230 includes the first positioning shaft hole 0231 and the second positioning shaft hole for keeping connection
0232.In the present embodiment, between the first positioning shaft hole 0231 and the second positioning shaft hole 0232 and provided with dividing plate, dividing plate is provided with
Through hole for connecting the first positioning shaft hole 0231 and the second positioning shaft hole 0232, and through hole is available for locating shaft 0150 to pass through
And be piercing in the second positioning shaft hole 0232.
Wherein, the first positioning shaft hole 0231 is in rotary shaft 0222, and is provided with loading bearing.Loading bearing can be many
Type, it is preferable that loading bearing is taper roll bearing 0300.Specifically in the present embodiment, because locating shaft 0150 has
First shaft part 0151 and the second shaft part 0152, are provided with taper roll bearing between the first shaft part 0151 and positioning shaft hole 0230
0300, obtain more preferably supporting effect to match the structure of locating shaft 0150.
Wherein, taper roll bearing 0300 belongs to divergence type bearing, and the inside and outside circle of bearing is respectively provided with tapered raceway, more
The frustum cone structure for rotary shaft 0222 of fitting.In other words, the rotary shaft 0222 with frustum cone structure, axially has taper knot along it
Structure, and there is more preferably fiting effect with taper roll bearing 0300.Further, the taper and taper roller of rotary shaft 0222
The raceway taper of bearing 0300 is consistent.
Second positioning shaft hole 0232 is provided with loading bearing in positioning end 0221.Herein, it is preferable that loading bearing
For needle roller thrust bearing 0400.Wherein, needle roller thrust bearing 0400 has thrust function, can bear axial load, and using rolling
Pin can further compress radial dimension as rolling element, make structure more compact.
Specifically in the present embodiment, needle roller thrust bearing 0400 is located between the second shaft part 0152 and positioning shaft hole 0230.
Further, the one end of needle roller thrust bearing 0400 away from support base 0100, which is provided with, is used to compress needle roller thrust bearing 0400
Bearing gland 0500.Bearing gland 0500 is used for axial compression needle roller thrust bearing 0400, prevents needle roller thrust bearing 0400 from sending out
Raw axial float.
More specifically, locating shaft 0150 is provided with along its axial threaded connection hole, bearing gland 0500 is provided with countersunk head
Hole, threaded fastener through counter sink and lock onto in threaded connection hole, make bearing gland 0500, needle roller thrust bearing 0400 with
The axial restraint of locating shaft 0150.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without
It is that therefore, other examples of exemplary embodiment can have different values as limitation.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore limitation of the scope of the invention can not be interpreted as.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of bionical foot, it is characterised in that have：
Support base, it, which has on semi-cylindrical in configuration, the axial plane of the semi-cylindrical in configuration, has the first opening, and described first opens
Mouth intersects into lateral openings at relative two with the two ends end face of the semi-cylindrical in configuration with being connected holding for the lateral openings
Side wall is carried, the center of first opening is provided with rotary shaft hole；
Ankle-joint, it is rotatably held in first opening and in the rotary shaft hole, the side of the ankle-joint has
Drive division for driving support base rotation, the drive division be rotatably held in the lateral openings and close to institute
State load side wall.
2. bionical foot according to claim 1, it is characterised in that the center of the rotary shaft hole has locating shaft,
The ankle-joint has positioning shaft hole, and the positioning shaft sleeve is in the positioning shaft hole.
3. bionical foot according to claim 1, it is characterised in that the rotary shaft hole has round platform pore structure, described
The big end of round platform hole is located at the rotary shaft hole close to one end of the ankle-joint.
4. bionical foot according to claim 2, it is characterised in that the ankle-joint includes shank connecting portion with being located at institute
The rotation axle portion on shank connecting portion is stated, the shank connecting portion is used to connect robot shank, the rotation axle portion center
With the positioning shaft hole, the rotation axle portion is rotatably held in the rotary shaft hole.
5. bionical foot according to claim 4, it is characterised in that the rotation axle portion has the positioning end of integrally connected
With rotary shaft, the positioning end is used to connect the shank connecting portion, and with the drive division, the positioning end is rotatably
It is held in first opening, the rotary shaft is rotatably held in the rotary shaft hole.
6. bionical foot according to claim 5, it is characterised in that the rotary shaft hole has round platform pore structure, described
Rotary shaft has frustum cone structure, and the gap that there is gap value to be not more than 2mm between the rotary shaft hole and the rotary shaft coordinates.
7. bionical foot according to claim 5, it is characterised in that the locating shaft is with the first shaft part and the second axle
Two grades of multi-diameter shafts of section, second shaft part is on first shaft part, between first shaft part and the positioning shaft hole
Provided with taper roll bearing, needle roller thrust bearing is provided between second shaft part and the positioning shaft hole.
8. bionical foot according to claim 7, it is characterised in that the positioning shaft hole includes keeping the first of connection to determine
Position axis hole and the second positioning shaft hole：First positioning shaft hole is provided with the taper roll bearing in the rotary shaft；
Second positioning shaft hole is in the positioning end, and provided with the needle roller thrust bearing, and the needle roller thrust bearing is remote
One end of the support base is provided with the bearing gland for being used for compressing the needle roller thrust bearing.
9. bionical foot according to claim 1, it is characterised in that the circular arc side of the semi-cylindrical in configuration has multiple
Claw is supported, the support claw is to be formed in circular arc side through removing material.
10. bionical foot according to claim 9, it is characterised in that the circular arc side of the semi-cylindrical in configuration is additionally provided with
Bumper housings for wrapping up the support claw, side of the bumper housings away from the support claw is curved surfaces,
The bumper housings have the engaging portion for being used for fastening with the support claw, the semicircle close to the side of the support claw
The two ends end face of rod structure is provided with the shell pressing plate for being used for compressing the bumper housings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710356188.7A CN106995018A (en) | 2017-05-19 | 2017-05-19 | Bionical foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710356188.7A CN106995018A (en) | 2017-05-19 | 2017-05-19 | Bionical foot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106995018A true CN106995018A (en) | 2017-08-01 |
Family
ID=59434809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710356188.7A Pending CN106995018A (en) | 2017-05-19 | 2017-05-19 | Bionical foot |
Country Status (1)
| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533081A (en) * | 2018-12-29 | 2019-03-29 | 深圳市优必选科技有限公司 | Robot and foot structure thereof |
| CN113460186A (en) * | 2021-05-17 | 2021-10-01 | 中国北方车辆研究所 | Robot foot end |
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| JPH1133941A (en) * | 1997-07-23 | 1999-02-09 | Honda Motor Co Ltd | Structure of leg for leg type moving robot |
| CN103303388A (en) * | 2013-07-08 | 2013-09-18 | 北京理工大学 | Omni directional and self-adaptation elastic foot of four-footed robot |
| CN104401416A (en) * | 2014-12-11 | 2015-03-11 | 吉林大学 | Rigid-flexible coupling buffer bionic foot |
| CN206813145U (en) * | 2017-05-19 | 2017-12-29 | 沃奇（北京）智能科技有限公司 | Bionical foot |
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- 2017-05-19 CN CN201710356188.7A patent/CN106995018A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109533081A (en) * | 2018-12-29 | 2019-03-29 | 深圳市优必选科技有限公司 | Robot and foot structure thereof |
| CN113460186A (en) * | 2021-05-17 | 2021-10-01 | 中国北方车辆研究所 | Robot foot end |
| CN113460186B (en) * | 2021-05-17 | 2022-09-02 | 中国北方车辆研究所 | Robot foot end |
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