CN107416065A - A kind of adaptive vola mechanism of quadruped robot - Google Patents
A kind of adaptive vola mechanism of quadruped robot Download PDFInfo
- Publication number
- CN107416065A CN107416065A CN201710634698.6A CN201710634698A CN107416065A CN 107416065 A CN107416065 A CN 107416065A CN 201710634698 A CN201710634698 A CN 201710634698A CN 107416065 A CN107416065 A CN 107416065A
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- CN
- China
- Prior art keywords
- sole
- adaptive
- quadruped robot
- slipmat
- head cap
- 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
-
- 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
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adaptive vola mechanism of quadruped robot, from top to bottom include upper sole and sole, it is connected between the upper sole and sole by some equally distributed hexagon socket head cap screws, the damping spring being cased with every hexagon socket head cap screw between upper sole and sole；Every hexagon socket head cap screw is flexibly connected by plain radial bearing with the upper sole.The present invention can solve the problems, such as generally rigid vola landform adaptability difference by the spring structure between two pieces of soles and plain radial bearing, be advantageous to the adjustment of robot pose, improve robot to the adaptability of complicated ground and the life-span of robot component.Adaptive ability is strong, easy to adjust quick, portable good, simple in construction easily to realize and be easy to safeguard.
Description
Technical field
The present invention relates to the adaptive vola mechanism in quadruped robot field, more particularly to a kind of quadruped robot.
Background technology
Robot foot designs have become a vital task of legged type robot design, and its 26S Proteasome Structure and Function influences machine
The kinetic stability of device people and flexibility, and the adaptability to complex environment.Traditional method is typically to be designed to just
Body, robot is without any buffer unit and directly and ground shock.This design will reduce the life-span of robot component,
It is irregular to shake the control device that also damage robot.Rigid foot's design is unfavorable for the adjustment of robot pose,
Robot is reduced to the adaptability of complicated ground and reduces the life-span of robot component.So design a kind of adaptive ability
By force, it is easy to adjust quick, it is portable good, and it is easy to the quadruped robot sole structure of maintenance necessary.
The content of the invention
The adaptive vola of the quadruped robot of the present invention aims to overcome that the deficiencies in the prior art, there is provided
One kind adapts to various landform, the adaptive vola mechanism that small obstacle remains to keep robot fuselage parallel is run into, to solve one
As rigid vola landform adaptability it is weak and the problem of the life-span is low.
The invention solves above-mentioned technical problem used by new technical scheme be realized in：
The adaptive vola mechanism of a kind of quadruped robot, from top to bottom including upper sole and sole, the upper sole and pin
Be connected between bottom plate by some equally distributed hexagon socket head cap screws, be cased with every hexagon socket head cap screw positioned at upper sole and
Damping spring between sole；Every hexagon socket head cap screw is flexibly connected by plain radial bearing with the upper sole.
Further, it is connected between the upper sole and sole by three equally distributed hexagon socket head cap screws.
Further, the sole is installed on the hexagon socket head cap screw by variable-diameter block, and the variable-diameter block is solid up and down
Surely there is the stop nut being engaged with the hexagon socket head cap screw.
Further, the bottom surface of described sole is evenly arranged with some replaceable slip-proofing devices.
Further, described slip-proofing device includes the slipmat of three pieces of columns, and the slipmat 4 is uniformly divided in triangle
Cloth.
Further, described slipmat is using rubber antiskid pad, PVC slipmat, PU slipmat, AB glue slipmat, silicon
Glue slipmat or magic power glue slipmat.
Further, the hollow-out parts for mitigating deadweight are provided with described upper sole and sole.
Further, described sole is circular plate-like shape structure.
Further, described upper sole and sole are aluminum alloy materials.
Compared with prior art, the present invention can solve one by the spring structure between two pieces of soles and plain radial bearing
As rigid vola landform adaptability difference the problem of, be advantageous to the adjustment of robot pose, improve robot to complicated ground
The life-span of adaptability and robot component.Adaptive ability is strong, easy to adjust quick, portable good, simple in construction easily real
Now and it is easy to safeguard.
Brief description of the drawings
Fig. 1 is the overall structure schematic front view of the embodiment of the present invention.
Fig. 2 is the overall structure schematic perspective view of the embodiment of the present invention.
The label declaration of parts in schematic diagram：
1- damping springs, 2- stop nuts, 3- soles, 4- slipmat, 5- variable-diameter blocks, 6- plain radial bearings, the upper soles of 7-,
8- hexagon socket head cap screws.
Embodiment
Below in conjunction with the accompanying drawings, technical scheme is described further.
As depicted in figs. 1 and 2, the adaptive vola mechanism of a kind of quadruped robot, from top to bottom including upper sole 7 and circle
The sole 3 of shape platy structure, it is connected between the upper sole 7 and sole 3 by three equally distributed hexagon socket head cap screws 8
Connect, the damping spring 1 being cased with every hexagon socket head cap screw 8 between upper sole 7 and sole 3；Every hexagon socket head cap screw 8
It is flexibly connected by plain radial bearing 6 with the upper sole 7.
The sole 3 is installed on the hexagon socket head cap screw 8 by variable-diameter block 5, the variable-diameter block be fixed with about 5 with
The stop nut 2 that the hexagon socket head cap screw 8 is engaged, also effectively prevent from loosening after screwing.
The bottom surface of described sole 3 is evenly arranged with the slipmat 4 of three pieces of replaceable columns, for increase and road surface
Frictional force, the slipmat 4 is uniformly distributed in triangle, anti-skidding using rubber antiskid pad, PVC slipmat, PU slipmat, AB glue
Pad, silica-gel antiskid pad or magic power glue slipmat.
In addition, being provided with hollow-out parts on described upper sole 7 and sole 3, while mechanical strength is not influenceed, subtract
Light dead-weight.
In the present embodiment, described upper sole 7 and sole 3 are aluminum alloy materials, can further mitigate vola mechanism
Deadweight.
, can be by selecting the damping spring 1 of different coefficient of elasticity for different heavy burdens and pavement behavior, or pass through
Stop nut 2 suitably adjusts the distance of sole 7 and sole 3 to be adapted to, and larger or road surface of such as bearing a heavy burden is concavo-convex tighter
In weight, the larger damping spring of coefficient of elasticity can be selected or make sole 7 and the spacing of sole 3 slightly larger, so as to effectively absorb
Impulsive force.
1 operation principle and process for being expanded on further the present embodiment below in conjunction with the accompanying drawings：
The present embodiment is installed on to the foot of quadruped robot by upper sole 7.When the road surface of robot motion to out-of-flatness,
Three pieces of slipmat 4 on sole 7 can be that robot motion improves enough frictional force, and pass through damping spring 1 and centripetal
Oscillating bearing 6 makes relative motion between sole 7 and hexagon socket head cap screw 8, is adapted to various landform and when running into small obstacle
It can still keep fuselage to balance, effectively absorb impulsive force, be advantageous to the adjustment of robot pose, improve robot to complicated ground
Adaptability and robot component life-span.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
Other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
All any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (9)
- A kind of 1. adaptive vola mechanism of quadruped robot, it is characterised in that：From top to bottom include upper sole (7) and sole (3), it is connected between the upper sole (7) and sole (3) by some equally distributed hexagon socket head cap screws (8), in every The damping spring (1) being cased with hex bolts (8) between upper sole (7) and sole (3)；Every hexagon socket head cap screw (8) it is flexibly connected by plain radial bearing (6) with the upper sole (7).
- 2. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The upper sole (7) It is connected between sole (3) by three equally distributed hexagon socket head cap screws (8).
- 3. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：The sole (3) It is installed on by variable-diameter block (5) on the hexagon socket head cap screw (8), the variable-diameter block (5) is fixed with and the interior hexagonal spiral shell up and down The stop nut (2) that bolt (8) is engaged.
- 4. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：Described sole (3) bottom surface is evenly arranged with some replaceable slip-proofing devices.
- 5. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：Described slip-proofing device Slipmat (4) including three pieces of columns, the slipmat (4) are uniformly distributed in triangle.
- 6. the adaptive vola mechanism of quadruped robot according to claim 5, it is characterised in that：Described slipmat (4) rubber antiskid pad, PVC slipmat, PU slipmat, AB glue slipmat, silica-gel antiskid pad or magic power glue slipmat are used.
- 7. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：Described upper sole (7) hollow-out parts for mitigating deadweight and on sole (3) are provided with.
- 8. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：Described sole (3) it is circular plate-like shape structure.
- 9. the adaptive vola mechanism of quadruped robot according to claim 1, it is characterised in that：Described upper sole (7) and sole (3) is aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710634698.6A CN107416065A (en) | 2017-07-29 | 2017-07-29 | A kind of adaptive vola mechanism of quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710634698.6A CN107416065A (en) | 2017-07-29 | 2017-07-29 | A kind of adaptive vola mechanism of quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107416065A true CN107416065A (en) | 2017-12-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710634698.6A Pending CN107416065A (en) | 2017-07-29 | 2017-07-29 | A kind of adaptive vola mechanism of quadruped robot |
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| Country | Link |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101428656A (en) * | 2008-12-16 | 2009-05-13 | 吉林大学 | Underactuated biped robot multi-mode underactuated elastic foot with lateral degrees of freedom |
| CN102001370A (en) * | 2010-11-10 | 2011-04-06 | 哈尔滨工业大学 | Foot mechanism of torobot |
| KR101201452B1 (en) * | 2012-04-06 | 2012-11-14 | 이춘우 | foot structure of humanoid robot |
| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN203946189U (en) * | 2014-07-10 | 2014-11-19 | 武汉大学 | A kind of foot module for walking robot |
| CN104890756A (en) * | 2015-06-09 | 2015-09-09 | 江苏科技大学 | Mechanical structure of three-dimensional human-simulated biped walking robot and walking method |
| CN105015641A (en) * | 2015-07-09 | 2015-11-04 | 大连理工大学 | Foot mechanism with high load bearing of foot type robot |
| CN106002955A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Three-freedom-degree walk device for building construction transfer robot |
| CN106404232A (en) * | 2016-11-23 | 2017-02-15 | 华南理工大学 | Three-dimensional force sensor with shock absorption function for robot walking mechanisms |
| CN207360449U (en) * | 2017-07-29 | 2018-05-15 | 华南理工大学 | A kind of adaptive vola mechanism of quadruped robot |
-
2017
- 2017-07-29 CN CN201710634698.6A patent/CN107416065A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101428656A (en) * | 2008-12-16 | 2009-05-13 | 吉林大学 | Underactuated biped robot multi-mode underactuated elastic foot with lateral degrees of freedom |
| CN102001370A (en) * | 2010-11-10 | 2011-04-06 | 哈尔滨工业大学 | Foot mechanism of torobot |
| KR101201452B1 (en) * | 2012-04-06 | 2012-11-14 | 이춘우 | foot structure of humanoid robot |
| CN103287523A (en) * | 2013-05-06 | 2013-09-11 | 中国科学技术大学 | Composite transformation mobile robot combining elastic foot and wheel type motion mechanism |
| CN203946189U (en) * | 2014-07-10 | 2014-11-19 | 武汉大学 | A kind of foot module for walking robot |
| CN104890756A (en) * | 2015-06-09 | 2015-09-09 | 江苏科技大学 | Mechanical structure of three-dimensional human-simulated biped walking robot and walking method |
| CN105015641A (en) * | 2015-07-09 | 2015-11-04 | 大连理工大学 | Foot mechanism with high load bearing of foot type robot |
| CN106002955A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Three-freedom-degree walk device for building construction transfer robot |
| CN106404232A (en) * | 2016-11-23 | 2017-02-15 | 华南理工大学 | Three-dimensional force sensor with shock absorption function for robot walking mechanisms |
| CN207360449U (en) * | 2017-07-29 | 2018-05-15 | 华南理工大学 | A kind of adaptive vola mechanism of quadruped robot |
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