CN107284550A - A kind of heavily loaded lightweight flexible machinery foot - Google Patents
A kind of heavily loaded lightweight flexible machinery foot Download PDFInfo
- Publication number
- CN107284550A CN107284550A CN201710432789.1A CN201710432789A CN107284550A CN 107284550 A CN107284550 A CN 107284550A CN 201710432789 A CN201710432789 A CN 201710432789A CN 107284550 A CN107284550 A CN 107284550A
- Authority
- CN
- China
- Prior art keywords
- heavily loaded
- connection member
- lightweight flexible
- mechanical foot
- isoprene rubber
- Prior art date
- 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
-
- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of heavily loaded lightweight flexible machinery foot, including connection member, joint component, vola part.Connection member mainly realizes the connection between mechanical foot and leg.Articular portion has four symmetrical springs, its equivalent movement is a Hooke's hinge, two free degree motions can be realized, so that machinery foot preferably adapts to complicated landform, isoprene rubber material has been used as bolster in buffer portion, the function of antidetonation buffering can be played under by large impact, sole portion has used urethane rubber materials to have certain antiskid function, and sufficient contact portion has raised particle to increase vola adhesive force.
Description
Technical field
The invention belongs to mechanical design field, it is related to a kind of heavily loaded lightweight flexible machinery foot.
Background technology
Traditional legged type robot from the way of contact on ground is realized by different machinery foots.Common machinery
Foot is generally sphere foot or simple flat surface, curved surface foot, and is subject to the damping devices such as secondary spring.It is such machinery foot structure with
Function is all by a relatively simple, is largely only suitable for walking in rigid ground grading, and the walking effect on complex road surface
It is poor, it is impossible to be well adapted for landform.It is less specifically designed for the machinery foot designed under case of heavy load both at home and abroad at present, it is most
Mechanical foot is all tradition machinery foot.It can realize that heavy duty, complicated ground walking, flexible property machinery foot are general at present
With larger weight, many problems are caused to the walking movement of robot and the dynamic of legged type robot is greatly reduced
Performance.So under case of heavy load, the design tool of the machinery foot of the flexible free degree of lightweight is of great significance.
The content of the invention
The invention aims to solve the above problems, mainly to heavy duty, the requirement of lightweight, while disclosure satisfy that suitable again
Should complicated landform, damping under conditions of the secondary requirement such as anti-skidding, it is proposed that a kind of heavily loaded lightweight flexible Mechanical foot device, is adapted to
Walking under the dynamic and load landform of heavily loaded legged type robot.
A kind of heavily loaded lightweight flexible machinery foot of the present invention, including connection member, joint component, vola part；
Mechanical foot is connected with the leg of robot outside connection member, the connection of internal and joint component is main to realize heavy duty
Lightweight flexible machinery foot and the linkage function of legged type robot leg, and realize the effect of fast replacement system；
Joint component is fixed on below connection member, including four identical elastic sponges, four identical springs, one
The bolster of isoprene rubber material, and a carbon fiber connector.Four identical elastic sponges and spring are arranged on same
Position is compressed together, and one end and connection member are fixed, and one end and isoprene rubber bolster are fixed.The motions of four springs it is equivalent into
For a Hooke's hinge (two intersecting rotary freedoms).Isoprene rubber bolster one end is connected with spring, the other end and vola
Part is connected.
Vola part is mainly the contact realized between mechanical foot and ground, including an anti-skidding heelpiece of polyurethane rubber.
Described connection member main material is aluminium alloy, and aluminium alloy is relatively easy processing and density in metal material
It is low, and ensure that being rigidly connected for the mechanical sufficient and lower leg portion of heavily loaded lightweight flexible.
Described elastic sponge is used for the position for fixing spring, and the density of elastic sponge is low, and the intensity of this part
Ensured by spring, so the elastic sponge of this part reduces the weight of mechanical foot.Four spring centers are symmetrically installed, composition
The equivalent movement of elastic joint be similar to Hooke's hinge (two intersecting rotary motions), can be adapted under complex environment inclined-plane or
Person's different terrain, and whole elastic sponge and spring also act the effect of certain elastic buffer.
Described isoprene rubber elastic properties of materials is big, and impact resistance instead of original conventional metal material, drop to a certain extent
Low mechanical sufficient weight, and in legged type robot dynamic motion, serve shock proof effect so that the impact in vola
Power is not applied directly to the leg of legged type robot, alleviates the crucial impact failure of legged type robot, the cylinder on basis
The removal procedure of honeycombed has been carried out in structure to upper surface, weight is so not only alleviated, while there is provided elastic sponge
Installation site, simplifies mechanism.The part weaker to isoprene rubber bolster stress has carried out appropriate stripping and slicing processing, alleviates
Appropriate weight.Described carbon fibre material light weight, intensity is high, instead of original conventional metal material, it is ensured that joint
The bulk strength of part and the weight for reducing mechanical foot, and there is provided the interface of heelpiece can be changed.
The material that described anti-skidding heelpiece is used is polyurethane rubber, relative to other materials, and its intensity is high, and
Wearability is good, is more suitable for the material as legged type robot and ground contact.And the bottom of anti-skidding heelpiece in order to anti-skidding and
Increase the adhesive force in vola, the bottom surface of anti-skidding heelpiece is processed the particle of projection than with suitably add the thick of anti-skidding heelpiece
Degree.
The material in various pieces of described heavily loaded lightweight flexible machinery foot is all the material of relatively conventional metal lightweight,
Crucial stress connector use be all high intensity material, in the case where ensure that the bulk strength of mechanical foot, to whole machine
Tool has all carried out lightization processing enough.
The advantage of the invention is that：
(1) device of the present invention can be arranged on heavy duty legged type robot foot so that robot heavy grade,
Can steadily it be walked on out-of-flatness ground, light weight provides certain damping, buffering effect in dynamic row, improves machine
Dynamic locomopion performance of the people on heavy grade, out-of-flatness ground；
(2) device of the present invention can play certain anti-skidding effect in legged type robot walking；
(3) device of the present invention, which can facilitate, uses in different legged type robots changing.
Brief description of the drawings
Fig. 1 is a kind of front view of heavily loaded lightweight flexible machinery foot of the present invention；
Fig. 2 is that a kind of heavily loaded lightweight flexible machinery foot of the present invention faces semi-cutaway；
Fig. 3 is a kind of top view of heavily loaded lightweight flexible machinery foot of the present invention；
Fig. 4 is the connection member structural representation of the present invention；
Fig. 5 is the joint component structural representation of the present invention；
Fig. 6 is the vola part structural representation of the present invention；
Fig. 7 is that the present invention lands deformation schematic diagram；
In figure：
1- connection member 2- joint component 3- volas part
The bolster of 201- elastic sponge 202- spring 203- isoprene rubbers
The connector of 204- carbon fibers
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention is a kind of heavily loaded lightweight flexible Mechanical foot device, as shown in Figure 1, Figure 2, Figure 3 shows, including connection member 1, pass
Save part 2, vola part 3；
Connection member 1 is as shown in figure 4, connection member 1 is an overall processing part, and rapidoprint is aluminium alloy, workpiece
Above have a cylindrical pocket, slot is mainly connected with the robot leg of simple cylinder, and there are two bolts slot both sides
Positioning hole, for being fixedly connected with effect.The latter half of workpiece is a big disk, and the cylinder of disk and top half is inserted
Increase reinforcement between groove to increase intensity.Four bolts hole are arranged symmetrically on big disk, bolt hole is elastic extra large in order to fix
The position of silk floss 201.
Joint component 2 as shown in figure 5, including elastic sponge 201, spring 202, isoprene rubber bolster 203, carbon fiber
Connector 204.
Elastic sponge 201 is cylinder, there is the fixed hole used at two ends, and the big disk of one end and connection member 1 passes through
Increase bond area after bolt insertion, two devices are connected using seccotine, the connector 204 of one end and carbon fiber passes through spiral shell
Increase bond area after bolt insertion, two devices are connected using seccotine, elastic sponge 201 is enclosed on inside spring 202, and
Through the bolster 203 of isoprene rubber.
The middle warp of spring 202 should select similar with the diameter of elastic sponge 201, in actual installation modification, can be with
The middle warp of the spring 202 first determined, coordinates the diameter of modification spring sponge 201 after installing so that spring sponge 201 inserts spring
There is appropriate radial load after sponge 201, realize the effect of similar interference fit, the demand such as intensity is carried out according to different situations
Selection, spring 202 is enclosed on outside elastic sponge 201, and passes through the bolster 203 of isoprene rubber.
The global shape of bolster 203 of isoprene rubber is cylinder, and diameter is identical with the big disk diameter of connection member 1.
The bolster 203 of isoprene rubber has the honeycombed hole of arrangement regulation in top half, and cellular hole number can be according to actual big
Small and intensity carries out quantitative modification, is distributed and is distributed using mode substantially symmetrical about its central axis, wherein must have four it is symmetrical,
Internal diameter is more than the through hole of the external diameter of spring 202, for passing through for elastic sponge 201 and spring 202.In the bolster of isoprene rubber
203 the latter half, which increases symmetrical stripping and slicing, to be used to reduce overall weight.
The connector 204 of carbon fiber is generally cylindrical, and thickness is mainly designed according to intensity, diameter and isoprene rubber
Bolster 203 diameter it is identical.The connector 204 of carbon fiber has the bolt hole of fixed elastic sponge 201 and fixed isoamyl rubber
The bolt hole of the bolster 203 of glue.
Vola part 3 is as shown in fig. 6, including the anti-skidding heelpiece 301 of polyurethane rubber.
The material of vola part 3 is the anti-skidding heelpiece of polyurethane rubber, generally cylindrical, the connection of upper surface and carbon fiber
Part 204 is connected with glue, is only stressed not by pulling force, lower surface processing protuberant particles, for prevent foot and ground slip and
Increase vola adhesive force.
The schematic diagram such as Fig. 7 of the present invention on out-of-flatness ground during stress.The motion of four springs 202 causes connection member
The motion of a Hooke's hinge is equivalent between 1 and vola part 3, machinery foot is in out-of-flatness movement over ground, due to by ground
Interaction pressure between face and leg so that four springs produce assymmetrical deformation, four groups of springs 202 and elastic sponge 201
Comprehensive deformation be axial bending and the composite deformation being compressed axially, the size being compressed axially is relevant with actual stress, axially
Posture between the degree and ground and robot leg of bending is relevant, so as far as possible plantar surface and ground can mutually be pasted
Closely, vola attaching surface is considerably increased.Secondly isoprene rubber bolster 203 in the case where spring 202 is by large impact,
The joint of bolster 203 of connection member 1 and isoprene rubber, by the shock proof characteristic of isoprene rubber material, can subtract significantly
Buffer, serves the effect in antidetonation and protection legged type robot joint.
The characteristics of present invention has heavy duty, lightweight, elasticity foot, described heavily loaded lightweight flexible Mechanical foot device has following
Function：
1st, heavily loaded lightweight flexible machinery foot is applied to the foot of large-scale heavy duty legged type robot.
2nd, heavily loaded lightweight flexible machinery foot has symmetrical four springs, equivalent movement be one by tatc Hooke reamers function, can
Adapt to complicated landform.
3rd, heavily loaded lightweight flexible machinery foot has shock proof isoprene rubber material, had under large impact spring large deformation
Certain shock resistance effect.
4th, the mechanical foot of heavily loaded lightweight flexible and ground contact portion have the particle of projection, with certain antiskid function.
Claims (8)
1. a kind of heavily loaded lightweight flexible Mechanical foot device, including connection member, joint component, vola part；
Mechanical foot is connected with the leg of robot outside connection member, heavily loaded lightweight bullet is realized in the connection of internal and joint component
Property machinery foot and legged type robot leg connection, and realize quick-replaceable；
Joint component includes four identical elastic sponges, four identical springs, the bolsters and connector of isoprene rubber；
Elastic sponge is located at spring inner, and the bolster of isoprene rubber is provided with honeycombed hole, and four elastic sponges are that the center of circle is symmetrical
Distribution, spring passes through honeycombed hole, elastic sponge one end connection member, other end connection connector, motion of four springs etc.
Effect turns into a Hooke's hinge, and isoprene rubber bolster lower surface is connected with connector, and connector is also connected with vola part connection.
2. provided with circle above a kind of heavily loaded lightweight flexible Mechanical foot device according to claim 1, described connection member
Column slots, slot is connected with robot leg, is disk below connection member, provided with reinforcement between disk and cylindrical pocket
Muscle.
3. a kind of heavily loaded lightweight flexible Mechanical foot device according to claims 1 or 2, described connection member uses aluminium
Alloy material.
4. a kind of heavily loaded lightweight flexible Mechanical foot device according to claim 1, described connector uses carbon fiber material
Material.
5. a kind of heavily loaded lightweight flexible Mechanical foot device according to claim 1, described elastic sponge is cylinder,
There is a fixed hole used at two ends, and the big disk of one end and connection member increases bond area after being inserted by bolt, uses strength
Glue connects two devices, and the connector of one end and carbon fiber increases bond area after being inserted by bolt, is made using seccotine
Two device connections.
6. a kind of heavily loaded lightweight flexible Mechanical foot device according to claim 1, described spring sponge insertion spring sea
There is radial load after silk floss, realize the effect of interference fit.
7. a kind of heavily loaded lightweight flexible Mechanical foot device according to claim 1, the honeycombed hole of described isoprene rubber
Quantity be determined according to actual size and intensity, be distributed by the way of substantially symmetrical about its central axis, wherein have four be the center of circle pair
Claim distribution, honeycombed hole internal diameter is more than the external diameter of spring, and the latter half of the bolster of isoprene rubber is cut provided with symmetrical
Block.
8. a kind of heavily loaded lightweight flexible Mechanical foot device according to claim 1, described vola part gathers provided with one
Urethane rubber antiskid heelpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710432789.1A CN107284550B (en) | 2017-06-09 | 2017-06-09 | Heavy-load light elastic mechanical foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710432789.1A CN107284550B (en) | 2017-06-09 | 2017-06-09 | Heavy-load light elastic mechanical foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107284550A true CN107284550A (en) | 2017-10-24 |
| CN107284550B CN107284550B (en) | 2020-04-14 |
Family
ID=60097831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710432789.1A Active CN107284550B (en) | 2017-06-09 | 2017-06-09 | Heavy-load light elastic mechanical foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107284550B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098949A (en) * | 2019-12-18 | 2020-05-05 | 南京涵曦月自动化科技有限公司 | Leg and foot elastic device of foot type robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5421426A (en) * | 1992-11-05 | 1995-06-06 | Commissariat A L'energie Atomique | Walking robot foot |
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| CN101537858A (en) * | 2009-04-13 | 2009-09-23 | 北京航空航天大学 | Rotating-arm type vibration and suction mechanism |
| CN102991601A (en) * | 2012-12-09 | 2013-03-27 | 郑州轻工业学院 | Two-degree-of-freedom humanoid ankle joint |
| CN105480036A (en) * | 2015-11-30 | 2016-04-13 | 北京机械设备研究所 | Intelligent amphibious robot |
| CN105966489A (en) * | 2016-06-03 | 2016-09-28 | 中国计量大学 | Robot leg capable of bouncing and with adsorbable foot end |
-
2017
- 2017-06-09 CN CN201710432789.1A patent/CN107284550B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5421426A (en) * | 1992-11-05 | 1995-06-06 | Commissariat A L'energie Atomique | Walking robot foot |
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| CN101537858A (en) * | 2009-04-13 | 2009-09-23 | 北京航空航天大学 | Rotating-arm type vibration and suction mechanism |
| CN102991601A (en) * | 2012-12-09 | 2013-03-27 | 郑州轻工业学院 | Two-degree-of-freedom humanoid ankle joint |
| CN105480036A (en) * | 2015-11-30 | 2016-04-13 | 北京机械设备研究所 | Intelligent amphibious robot |
| CN105966489A (en) * | 2016-06-03 | 2016-09-28 | 中国计量大学 | Robot leg capable of bouncing and with adsorbable foot end |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098949A (en) * | 2019-12-18 | 2020-05-05 | 南京涵曦月自动化科技有限公司 | Leg and foot elastic device of foot type robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107284550B (en) | 2020-04-14 |
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