CN107128392A - A kind of pneumatic type robot sole of adaptation soft ground - Google Patents
A kind of pneumatic type robot sole of adaptation soft ground Download PDFInfo
- Publication number
- CN107128392A CN107128392A CN201710306680.3A CN201710306680A CN107128392A CN 107128392 A CN107128392 A CN 107128392A CN 201710306680 A CN201710306680 A CN 201710306680A CN 107128392 A CN107128392 A CN 107128392A
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- China
- Prior art keywords
- toe plate
- air bag
- sole
- bottom cover
- toe
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a kind of pneumatic type robot sole of adaptation soft ground, including upper bottom, air guide post, some upper toe plates, some lower toe plates, air bag, lower bottom cover, some SMA springs.When the present invention is contacted with ground, swelling gasbag compression exhaust, play a part of bumper and absorbing shock, SMA springs, which are powered, simultaneously extends, toe plate is outwards deployed, and with the increase of exposure level, the working face of contact is participated in also in increase, increase contact area, two working faces of lower sole are in obtuse angle, so that surrounding soil is brought together into below sole by it when contacting to a certain extent into claw-like, play poly- native fixation, improve the stability of robot foot ramus volaris profundus support, when leaving ground, SMA springs are powered off, airway tube is ventilated into air bag, the swelling state that sole is returned to before contact, prepare contact next time, there is buffering shockproof for the contact every time with soft ground, the process of the poly- solid soil of soil, it ensure that the stability of sole walking support.
Description
Technical field
The present invention relates to a kind of pneumatic type robot sole of adaptation soft ground, belong to robotic technology field.
Background technology
At present, the move mode of robot mainly has wheeled, crawler type and leg formula, and field work specialized robot is walked
In still suffer from more problem.When in face of complex environments such as marsh, deserts, robot particularly dashes forward for the adjustment of landform
Go out, Conventional drum robot is difficult to solve the problem, although the requirement to landform can be greatly lowered in caterpillar type robot,
There is also very flexible, maintenance cost is high the shortcomings of；Legged mobile robot can realize different actions due to every leg, can rely on
The coordination of leg, is discretely contacted with Different Ground, therefore the landform adaptability of legged mobile robot is stronger.Improve leg formula machine
The sole of device people and the design of toe structure, improve the anti-depression performance of its foot, are to improve machine under complicated weak soil environment
The important channel of device people's walking stability.
The content of the invention
In order to overcome the defect of prior art, the present invention provides a kind of pneumatic type robot sole of adaptation soft ground,
Improve robot to the adaptability of soft ground situation, strengthen the reliability of its ground supports, make its in weak soil etc. intricately
There is more stable locomotor activity under shape environment.
A kind of pneumatic type robot sole of adaptation soft ground, if including upper bottom, air guide post, some upper toe plates,
Dry lower toe plate, air bag, lower bottom cover, some SMA springs；The suitable for reading and lower mouth of the air bag is sealed with upper bottom and lower bottom cover respectively
Connection；The upper toe plate is hinged with upper bottom periphery, while the lateral surface bonding connection of upper toe plate lower surface and air bag, institute
Lower toe plate is stated to be hinged with lower bottom cover periphery, while lower toe plate upper surface is connected with the bonding of air bag lateral surface, the upper toe
It is hinge connection between plate and lower toe plate；The air guide post two ends are separately mounted to the central hole of bottom and lower bottom cover,
And be connected with lower bottom cover, the SMA springs are arranged in air bag, and SMA spring one ends are socketed on air guide post, and the other end is solid
It is connected on air bag madial wall.
Preferably, the lower toe plate includes the first work toe plate and the second work toe plate, and the first work toe
Plate is fixedly connected in obtuse angle with the second work toe plate, lower bottom cover bottom surface, the first work toe plate bottom surface and the of lower toe plate
Two work toe plate bottom surfaces are working face.
Preferably, the upper and lower surface center of the upper bottom and lower bottom cover is equipped with raised round platform, wherein, under upper bottom
Raised round platform on surface and bottom cap upper surface is respectively positioned on inside air bag, and the raised round platform in inside air bag is provided with appearance
Receive the grooves of SMA springs.
Preferably, the air guide post is hollow, and the raised round platform of bottom cap upper surface has circumference side with air guide post junction
To air guide channel.
Preferably, the groove of upper bottom and lower bottom cover provided with the upper and lower opening closing connection of supply capsule.
Preferably, the upper toe plate, lower toe plate are corresponding with SMA number springs, have three groups.
Preferably, the bladder shape is cylindrical type.
Beneficial effect：The present invention uses a kind of pneumatic type robot sole of adaptation soft ground, when it is contacted with ground
When, swelling gasbag compression exhaust plays a part of bumper and absorbing shock, and the elongation while SMA springs are powered, toe plate is outwards deployed, and
And with the increase of exposure level, participate in the working face of contact also in increase, increase contact area, two works of lower sole
Make face in obtuse angle so that surrounding soil is brought together into below sole by it when contacting to a certain extent into claw-like, play poly- soil solid
Soil effect, improves the stability of robot foot ramus volaris profundus support, when leaving ground, and SMA springs power-off, airway tube leads into air bag
Gas, the swelling state that sole is returned to before contact prepares contact next time, has slow for the contact every time with soft ground
Rush the process of shockproof, the poly- solid soil of soil, it is ensured that the stability of sole walking support.
Brief description of the drawings
Fig. 1 is the robot sole swelling state schematic diagram of the present invention；
Fig. 2 is the robot sole compressive state schematic diagram of the present invention；
Fig. 3 is the robot sole internal mechanism schematic diagram of the present invention；
Fig. 4 is the robot sole leftover bits and pieces toe board structure schematic diagram of the present invention；
Wherein, toe plate under the upper bottoms of 1-, 2- air guide posts, the upper toe plates of 3-, 4-, the work toe plates of 401- first, 402- second
Work toe plate, 5- air bags, 6- lower bottom covers, 7-SMA springs.
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 Figures 1 to 3, the pneumatic type robot sole of a kind of adaptation soft ground, including upper bottom 1, air guide post 2,
Some upper toe plates 3, some lower toe plates 4, air bag 5, lower bottom cover 6, some SMA springs 7；The suitable for reading and lower mouth of air bag 5 point
It is not tightly connected with upper bottom 1 and lower bottom cover 6；The upper toe plate 3 is hinged with the upper periphery of bottom 1, while the following table of upper toe plate 3
Face is connected with the lateral surface bonding of air bag 5, and the lower toe plate 4 is hinged with the periphery of lower bottom cover 6, while the upper surface of lower toe plate 4
It is connected with the bonding of the lateral surface of air bag 5, is hinge connection between the upper toe plate 3 and lower toe plate 4；The two ends of air guide post 2
The central hole of bottom 1 and lower bottom cover 6 is separately mounted to, and is connected with lower bottom cover 6, the SMA springs 7 are arranged on air bag
It is interior, and the one end of SMA springs 7 is socketed on air guide post 2, the other end is connected on the madial wall of air bag 5.
Preferably, as shown in figure 4, the lower toe plate 4 includes the first work work toe plate of toe plate 401 and second,
And first work toe plate 401 be fixedly connected in obtuse angle with second toe plate 402 that works, lower bottom cover 6 bottom surface, lower toe plate 4
The first work bottom surface of toe plate 401 and the second work toe plate 402 bottom surface are working face.
Preferably, the upper and lower surface center of the upper bottom 1 and lower bottom cover 6 is equipped with raised round platform, wherein, upper bottom
Raised round platform on 1 lower surface and the upper surface of lower bottom cover 6 is respectively positioned on inside air bag, and on the raised round platform inside air bag 5
Provided with the groove for accommodating SMA springs 7.
Preferably, the air guide post 2 is hollow, and there is circumference side raised round platform and the junction of air guide post 2 of the upper surface of lower bottom cover 6
To air guide channel.
Preferably, the groove of upper bottom 1 and lower bottom cover 6 provided with the upper and lower opening closing connection of supply capsule 5.
Preferably, the upper toe plate 3, lower toe plate 4 are corresponding with the number of SMA springs 7, have three groups.
Preferably, the air bag 5 is shaped as cylindrical type.
The operation principle of the present invention is as follows：
Before sole landing, guide gas column 2 is passed through gas, and gas passes sequentially through the air guide channel of air guide post 2 and the upper surface of lower bottom cover 6
Into in air bag 5, now, SMA springs 7 are powered off, as shown in figure 1, sole reaches swelling state, when being contacted with ground, airway tube 2
Stop ventilation, with the increasing with ground exposure level, compressing gasbag 5 discharges air from airway tube 2, upper bottom 1 and bottom
Lid 6 is moved closer to, now, and the energization elongation of SMA springs 7 play the guiding role, and upper toe plate 3 and lower toe plate 4 are deployed to surrounding, connect
Contacting surface is the bottom surface of lower bottom cover 6, the bottom surface of lower toe plate 4 and medial surface by the increase of the bottom surface of lower bottom cover 6, increases contact area, three groups
The medial surface of lower toe plate 4 closes up soil to sole underface in claw-like, plays stable fixation, as shown in Figure 1-2, often
One complete gait action sole is containing expansion and compression two states.
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 (7)
1. a kind of pneumatic type robot sole of adaptation soft ground, it is characterised in that：Including upper bottom (1), air guide post (2),
Some upper toe plates (3), some lower toe plates (4), air bag (5), lower bottom cover (6), some SMA springs (7)；The air bag (5)
Suitable for reading and lower mouth is tightly connected with upper bottom (1) and lower bottom cover (6) respectively；The upper toe plate (3) is cut with scissors with upper bottom (1) periphery
Connect, while upper toe plate (3) lower surface is connected with the lateral surface bonding of air bag (5), the lower toe plate (4) and lower bottom cover (6)
Periphery is hinged, while lower toe plate (4) upper surface is connected with the bonding of air bag (5) lateral surface, the upper toe plate (3) and lower toe
It is hinge connection between plate (4)；Air guide post (2) two ends are separately mounted to the centre bore of bottom (1) and lower bottom cover (6)
Place, and be connected with lower bottom cover (6), the SMA springs (7) are arranged in air bag, and SMA springs (7) one end is socketed in air guide post
(2) on, the other end is connected on air bag (5) madial wall.
2. a kind of pneumatic type robot sole of adaptation soft ground according to claim 1, it is characterised in that：Under described
Toe plate（4）Including the first work toe plate（401）With the second work toe plate（402）, and the first work toe plate（401）With
Second work toe plate（402）It is fixedly connected in obtuse angle, lower bottom cover (6) bottom surface, lower toe plate（4）First work toe
Plate（401）Bottom surface and the second work toe plate（402）Bottom surface is working face.
3. a kind of pneumatic type robot sole of adaptation soft ground according to claim 1, it is characterised in that：On described
The upper and lower surface center of bottom (1) and lower bottom cover (6) is equipped with raised round platform, wherein, upper bottom (1) lower surface and lower bottom cover
（6）Raised round platform on upper surface is respectively positioned on inside air bag, and in the internal raised round platform of air bag (5) provided with receiving SMA
The groove of spring (7).
4. a kind of pneumatic type robot sole of adaptation soft ground according to claim 3, it is characterised in that：It is described to lead
Gas column (2) is hollow, and there is the air guide channel of circumferencial direction raised round platform and air guide post (2) junction of lower bottom cover (6) upper surface.
5. a kind of pneumatic type robot sole of adaptation soft ground according to claim 1, it is characterised in that：Upper bottom
(1) it is provided with supply capsule (5) upper and lower opening with lower bottom cover (6) and closes the groove connected.
6. a kind of pneumatic type robot sole of adaptation soft ground according to claim 1, it is characterised in that：On described
Toe plate (3), lower toe plate (4) are corresponding with SMA springs (7) number, have three groups.
7. a kind of pneumatic type robot sole of adaptation soft ground according to claim 1, it is characterised in that：The gas
Capsule（5）It is shaped as cylindrical type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306680.3A CN107128392B (en) | 2017-05-04 | 2017-05-04 | A kind of pneumatic type robot sole adapting to soft ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306680.3A CN107128392B (en) | 2017-05-04 | 2017-05-04 | A kind of pneumatic type robot sole adapting to soft ground |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107128392A true CN107128392A (en) | 2017-09-05 |
| CN107128392B CN107128392B (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710306680.3A Active CN107128392B (en) | 2017-05-04 | 2017-05-04 | A kind of pneumatic type robot sole adapting to soft ground |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628140A (en) * | 2017-11-10 | 2018-01-26 | 吉林大学 | A kind of bionic mechanical foot |
| CN107813981A (en) * | 2017-12-14 | 2018-03-20 | 江苏永钢集团有限公司 | A kind of baling press weighting distribution wheel buffer unit |
| CN108820070A (en) * | 2018-08-16 | 2018-11-16 | 西南科技大学 | A kind of robot foot end structure |
| CN110588827A (en) * | 2019-08-16 | 2019-12-20 | 内蒙古工业大学 | Crawling robot based on SMA drive |
| CN114659012A (en) * | 2022-02-28 | 2022-06-24 | 江苏苏环生态科技有限公司 | Handheld GPS for measurement |
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| FR2839443A1 (en) * | 2002-05-13 | 2003-11-14 | Francois Geli | Self-propelling boots, skates or artificial feet for able bodied or disabled persons and robots, comprise fixed upper members and centrally pivoted lower members actuated by a compressed air bag |
| EP1466704A1 (en) * | 2001-12-25 | 2004-10-13 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
| CN105644650A (en) * | 2015-12-30 | 2016-06-08 | 哈尔滨工业大学 | Pneumatic-electric combined driving flexible biped robot |
| CN105835986A (en) * | 2016-06-02 | 2016-08-10 | 哈尔滨工业大学 | Variable-rigidity foot system of biped robot |
| CN106428287A (en) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | Foot structure of flexible-legged robot with double cavity air bag toes |
| CN106428288A (en) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | Robot foot device with self-adaptive capability to terrains |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1466704A1 (en) * | 2001-12-25 | 2004-10-13 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
| FR2839443A1 (en) * | 2002-05-13 | 2003-11-14 | Francois Geli | Self-propelling boots, skates or artificial feet for able bodied or disabled persons and robots, comprise fixed upper members and centrally pivoted lower members actuated by a compressed air bag |
| CN105644650A (en) * | 2015-12-30 | 2016-06-08 | 哈尔滨工业大学 | Pneumatic-electric combined driving flexible biped robot |
| CN105835986A (en) * | 2016-06-02 | 2016-08-10 | 哈尔滨工业大学 | Variable-rigidity foot system of biped robot |
| CN106428287A (en) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | Foot structure of flexible-legged robot with double cavity air bag toes |
| CN106428288A (en) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | Robot foot device with self-adaptive capability to terrains |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628140A (en) * | 2017-11-10 | 2018-01-26 | 吉林大学 | A kind of bionic mechanical foot |
| CN107628140B (en) * | 2017-11-10 | 2023-10-27 | 吉林大学 | Bionic mechanical foot |
| CN107813981A (en) * | 2017-12-14 | 2018-03-20 | 江苏永钢集团有限公司 | A kind of baling press weighting distribution wheel buffer unit |
| CN108820070A (en) * | 2018-08-16 | 2018-11-16 | 西南科技大学 | A kind of robot foot end structure |
| CN110588827A (en) * | 2019-08-16 | 2019-12-20 | 内蒙古工业大学 | Crawling robot based on SMA drive |
| CN114659012A (en) * | 2022-02-28 | 2022-06-24 | 江苏苏环生态科技有限公司 | Handheld GPS for measurement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107128392B (en) | 2019-02-15 |
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