CN107856757A - A kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform - Google Patents
A kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform Download PDFInfo
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- CN107856757A CN107856757A CN201711138244.6A CN201711138244A CN107856757A CN 107856757 A CN107856757 A CN 107856757A CN 201711138244 A CN201711138244 A CN 201711138244A CN 107856757 A CN107856757 A CN 107856757A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
A kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform, it is related to a kind of robot foot.The present invention solves the problems, such as that big climbable gradient robot foot is present and is difficult to ensure that the slope of heavy grade is climbed up by robot.Leg adpting flange is assembled together with ankle joint and the two forms revolute pair, and the lower end of joint seating is affixed by spring damper and the upper end in milling cutter type vola；Bearing mounting flange bottom is embedded in the bottom in milling cutter type vola by the big bearing of suit, there is small bearing in the top of bearing mounting flange, overload-release clutch is from top to bottom successively set at the center of milling cutter type vola with the live spindle, live spindle top is arranged on bearing mounting flange by small bearing, the lower end of live spindle is fixedly connected with milling cutter type vola, the upper end of live spindle is fixedly connected with the lower end of overload-release clutch by mounting flange, and output shaft and the overload-release clutch centre bore of decelerator are installed togather.The present invention is used for legged type robot.
Description
Technical field
The present invention relates to a kind of robot ambulation foot, and in particular to a kind of milling cutter type that can actively change soft landform is climbed greatly
Gradient robot foot.
Background technology
Robot move mode is mainly several including wheeled, crawler type, sufficient formula etc., relative to wheeled and crawler type machine
Device people, legged type robot have more preferable landform adaptability and obstacle climbing ability in complicated rugged mountain environment.In anti-danger
In the disaster relief and peril processing, legged type robot has irreplaceable advantage.But legged type robot be different from it is wheeled or
Caterpillar type robot has larger ground bond area, and the sufficient end of legged type robot and contact area of ground are smaller, often
Generation vola and the slope adhesive force not enough phenomenon of skidding, and existing legged type robot is seldom independent in design studies
Consider influence of the adhesion property to its exercise performance of foot, but the mere contact face on when sufficient end is robot ambulation and ground, grind
Big adhesive force, the high-adaptability foot end technology of heavy-load robot are studied carefully as the key component of overall design.
The method for increasing robot foot adhesive force is usually to design increase vola subsidiary body, just as the nail of mountaineer
Sub- footwear can increase that vola adhesive force is the same, and its essence is all frictional force by increasing vola and contact surface and soil to vola
The passive earth pressure of subsidiary body improves its adhesive ability, but when the gradient in mountain environment is when more than 30~40 degree,
Tangential propulsive force needed for robot foot exceeded ground cohesive force and internal friction angle caused by power, merely by optimizing and setting
The method of meter increase vola subsidiary body has been difficult to ensure that the slope of heavy grade is climbed up by robot.Therefore, the present invention is according to machine
Structure principle, for the soft landform of heavy grade, a kind of robot foot that can actively change local landform is devised, by destroying machine
The local landform of device people's foot attachment position, reduces the actual angle of robot foot bottom and level ground, and then machine is reduced or eliminated
Device people is stable enough to adhere to required tangential forces, ensures that the stable of robot foot adheres to by holding power as far as possible.
To sum up, existing big climbable gradient robot foot is difficult to ensure that the slope of heavy grade is climbed up by robot.
The content of the invention
The present invention exists for the existing big climbable gradient robot foot of solution is difficult to ensure that the slope of heavy grade is climbed up by robot
The problem of, and then a kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform is provided.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：
The big climbable gradient robot foot of milling cutter type that can actively change soft landform of the present invention includes dc motor 10, subtracted
Fast device 9, decelerator mounting flange 6, overload-release clutch 19, mounting flange 20, live spindle 5, small bearing 4, big bearing 2, axle
Hold mounting flange 3, milling cutter type vola 1, spring damper, joint seating 15, ankle joint 16, leg adpting flange 17 and six
Dimensional force sensor 18；The leg adpting flange 17 is assembled together with ankle joint 16 and the two formation revolute pair, and described six
Dimensional force sensor 18 is fixed by screws on the upper surface of leg adpting flange 17, and the ankle joint 16 is arranged on articular branches
On seat 15, the lower end of the joint seating 15 is affixed by spring damper and the upper end in milling cutter type vola 1；
The bottom of bearing mounting flange 3 is embedded in the bottom in milling cutter type vola 1, bearing Method for Installation by the big bearing 2 of suit
The top of orchid 3 is embedded with small bearing 4, and the overload-release clutch 19 is from top to bottom successively set on milling cutter with the live spindle 5
At the center of formula vola 1, the top of live spindle 5 by small bearing 4 be arranged on bearing mounting flange 3 on, the lower end of live spindle 5 with
Milling cutter type vola 1 is fixedly connected, and the upper end of live spindle 5 is fixed with the lower end of overload-release clutch 19 by mounting flange 20 to be connected
Connect, the lower sleeve 8 of spring damper is fixed on by cylinder head bolt 7 and decelerator mounting flange 6 and bearing mounting flange 3
Together, decelerator 9 is fixed by screws on decelerator mounting flange 6, output shaft and the center of overload-release clutch 19 of decelerator 9
Hole is installed togather, and the lower end of the dc motor 10 is arranged on the upper end of decelerator 9,10, the dc motor
In in the lower sleeve 8 of spring damper, six-dimension force sensor 18 electrically connects with dc motor 10.
Further, the spring damper is mainly by upper bush 14, lower sleeve 8, shock-absorbing spring 13, rubber washer
12nd, six dive keys 11 are formed, and the upper end of upper bush 14 is packed on the lower surface of joint seating 15, the bottom of joint seating 15
The top dead center position of end and upper bush 14 leaves is embedded in upper bush for the through hole through wire, the top of lower sleeve 8
14 bottom, the top of lower sleeve 8 are uniformly fixed with six dive keys 11 along its circumferencial direction, and upper bush bottom is along its circumference
Direction is uniformly provided with six bar shaped slideways being engaged with dive key 11, and dive key 11 is slided up and down along bar shaped slideway, subtracted
The spring 13 that shakes is arranged in the cavity of lower sleeve 8 and upper bush 14, and the bottom of shock-absorbing spring 13 is solidly set on decelerator mounting flange 6
On, the top of shock-absorbing spring 13 keeps being in contact with the inside top of upper bush 14 in the presence of initial tension of spring, the rubber blanket
Circle 12 is adhesively fixed on the top end face of lower sleeve 8.
Further, the bottom of lower sleeve 8 is provided with outer, and being uniformly machined with six installations along its circumferencial direction on outer connects
Hole is connect, lower sleeve 8 is fixed on the upper surface of decelerator mounting flange 6 by six cylinder head bolts 7, on milling cutter type vola 1
Inward flange its circumferencial direction in end face is machined with annular groove, and the lower surface outward flange of lower sleeve 8 is machined with along its circumferencial direction and milling
The annular dust seal groove that the annular groove in blade vola 1 is engaged.
Further, the sword odontoid on the circumference of milling cutter type vola 1 is cylindrical screw formula, the upper and lower ends of milling cutter type vola 1
Technique chamfering is machined with, the lower surface in milling cutter type vola 1 is machined with grid connected in star, the lower surface centre bit in milling cutter type vola 1
Put and be machined with dowel hole, the upper end of live spindle 5 is flange outer, and connecting hole, live spindle 5 are threaded at the top of flange outer
For ladder shape shaft, the bottom of live spindle 5 is provided with keyway, and the bottom of live spindle 5 is machined with center threaded securing bores, milling cutter type foot
Bottom 1 and the shaft end of live spindle 5 are fixed by screw 21 and pad 22, and milling cutter type vola 1 can be around whole sufficient vertical axis revolution.
Further, the overload-release clutch 19 is frictional light-duty torque limiter, and the output shaft of decelerator 9, which passes through, puts down
Key 6 coordinates with the centre bore of overload-release clutch 19 to be installed, and flange terminal pad 20, institute are clamped between the frictional disk of overload-release clutch 19
Flange terminal pad 20 is stated to be fixed together by screw and the upper end of live spindle 5, the circumference bottom surface of the top groove of live spindle 5 with
Gap is left between overload-release clutch 19.
Further, force signal control machine people's foot internal direct current in the horizontally and vertically direction of six-dimension force sensor 18 is electronic
The startup and stopping of machine 10.
Further, the small bearing 4 and big bearing 2 are while bear the angular contact ball of axial load and radial load
Bearing.
Further, the decelerator mounting flange 6 and bearing mounting flange 3 are made by aluminum alloy materials.
The present invention has the advantages that compared with prior art：
First, the of the invention milling cutter type big climbable gradient robot foot design and installation that can actively change soft landform milling cutter type
Vola, by the rotation milling in vola, the soft domatic soil of heavy grade can be effectively destroyed, changes local landform, reduced
The actual grade angle of foot attachment position, ensure the stable attachment of robot foot；
2nd, the of the invention milling cutter type big climbable gradient robot foot design and installation that can actively change soft landform vibration damping bullet
It spring device, can effectively slow down robot hard impact of the ground reaction force to robot leg structure in the process of walking, protect
The leg joint of robot, improve the service life of key components and parts；
3rd, the big climbable gradient robot foot of milling cutter type that can actively change soft landform of the invention designs in transmission mechanism
Friction-type safety clutch is mounted with, therefore it is possible to prevente effectively from generation overload danger in the course of work, protects motor and subtract
Fast device；
4th, the of the invention milling cutter type big climbable gradient robot foot design and installation that can actively change soft landform ankle-joint
It turning gear, can effectively strengthen the landform adaptability of robot foot, increase robot foot and the bond area on ground, improve machine
The adhesive ability of device people foot.
Brief description of the drawings
Fig. 1 is the main sectional view of the big climbable gradient robot foot of milling cutter type that can actively change soft landform of the present invention；
Fig. 2 is the left view of the big climbable gradient robot foot of milling cutter type that can actively change soft landform of the present invention；
Fig. 3 is the top view of the big climbable gradient robot foot of milling cutter type that can actively change soft landform of the present invention；
Fig. 4 is Fig. 1 A-A to schematic cross-section；
Fig. 5 is the partial enlarged drawing in milling cutter type vola in Fig. 1.
Embodiment
Embodiment one：As shown in Fig. 1~5, the milling cutter type that can actively change soft landform of present embodiment is big
Climbable gradient robot foot includes dc motor 10, decelerator 9, decelerator mounting flange 6, overload-release clutch 19, adpting flange
Disk 20, live spindle 5, small bearing 4, big bearing 2, bearing mounting flange 3, milling cutter type vola 1, spring damper, articular branches
Seat 15, ankle joint 16, leg adpting flange 17 and six-dimension force sensor 18；The leg adpting flange 17 and ankle joint 16
It is assembled together and the two forms revolute pair, the six-dimension force sensor 18 is fixed by screws in the upper of leg adpting flange 17
On end face, the ankle joint 16 is arranged on joint seating 15, and the lower end of the joint seating 15 passes through spring damper
It is affixed with the upper end in milling cutter type vola 1；
The bottom of bearing mounting flange 3 is embedded in the bottom in milling cutter type vola 1, bearing Method for Installation by the big bearing 2 of suit
The top of orchid 3 is embedded with small bearing 4, and the overload-release clutch 19 is from top to bottom successively set on milling cutter with the live spindle 5
At the center of formula vola 1, the top of live spindle 5 by small bearing 4 be arranged on bearing mounting flange 3 on, the lower end of live spindle 5 with
Milling cutter type vola 1 is fixedly connected, and the upper end of live spindle 5 is fixed with the lower end of overload-release clutch 19 by mounting flange 20 to be connected
Connect, the lower sleeve 8 of spring damper is fixed on by cylinder head bolt 7 and decelerator mounting flange 6 and bearing mounting flange 3
Together, decelerator 9 is fixed by screws on decelerator mounting flange 6, output shaft and the center of overload-release clutch 19 of decelerator 9
Hole is installed togather, and the lower end of the dc motor 10 is arranged on the upper end of decelerator 9,10, the dc motor
In in the lower sleeve 8 of spring damper, six-dimension force sensor 18 electrically connects with dc motor 10.
Embodiment two：As depicted in figs. 1 and 2, spring damper described in present embodiment is mainly by upper bush
14th, 12, six lower sleeve 8, shock-absorbing spring 13, rubber washer dive keys 11 form, and the upper end of upper bush 14 is packed in joint
On the lower surface of bearing 15, the bottom of joint seating 15 and the top dead center position of upper bush 14 are left for through wire
Through hole, the top of lower sleeve 8 are embedded in the bottom of upper bush 14, and the top of lower sleeve 8 is uniformly fixed with six along its circumferencial direction
Individual dive key 11, upper bush bottom are uniformly provided with six bar shaped slideways being engaged with dive key 11 along its circumferencial direction,
Dive key 11 is slided up and down along bar shaped slideway, and shock-absorbing spring 13 is arranged in the cavity of lower sleeve 8 and upper bush 14, vibration damping bullet
The bottom of spring 13 is solidly set on decelerator mounting flange 6, and the top of shock-absorbing spring 13 is kept and upper set in the presence of initial tension of spring
14 inside tops of cylinder are in contact, and the rubber washer 12 is adhesively fixed on the top end face of lower sleeve 8.Or by upper bush 14 with
Lower sleeve 8 merges into a fixed stop sleeve, by the way that the whole height of robot foot can be reduced after simplification, then by
The mode of increase buffering accessory structure on the bottom surface of milling cutter type vola 1.It is so designed that, the effectiveness in vibration suppression of robot foot can be reached.
Other compositions and annexation are identical with embodiment one.
Embodiment three：As shown in Figure 1 and Figure 5, the bottom of present embodiment lower sleeve 8 is provided with outer, on outer
Six installation connecting holes are uniformly machined with along its circumferencial direction, lower sleeve 8 is fixed on decelerator by six cylinder head bolts 7 and consolidated
On the upper surface for determining flange 6, upper surface inward flange its circumferencial direction of milling cutter type vola 1 is machined with annular groove, the lower end of lower sleeve 8
Face outward flange is machined with the annular dust seal groove being engaged with the annular groove in milling cutter type vola 1 along its circumferencial direction.So
Design, milling cutter type vola 1 and extraneous sealing and dust-proof effect can be played.Other compositions and annexation and specific embodiment party
Formula one or two is identical.
Embodiment four：As shown in Figure 1 and Figure 5, the sword odontoid on the circumference of present embodiment milling cutter type vola 1 is
Cylindrical screw formula, the upper and lower ends of milling cutter type vola 1 are machined with technique chamfering, and the lower surface in milling cutter type vola 1 is machined with grid-shaped
Groove, the lower surface center in milling cutter type vola 1 are machined with dowel hole, and the upper end of live spindle 5 is flange outer, flange outer
Top is threaded connecting hole, and live spindle 5 is ladder shape shaft, and the bottom of live spindle 5 is provided with keyway, the bottom of live spindle 5
Portion is machined with center threaded securing bores, and milling cutter type vola 1 and the shaft end of live spindle 5 are fixed by screw 21 and pad 22, milling
Blade vola 1 can be around whole sufficient vertical axis revolution.It is so designed that, milling cutter type vola 1 can be around whole sufficient vertical axis revolution, machine
For device people foot in the course of work of climbing, the rotation milling for relying primarily on milling cutter type vola 1 spends destruction Soil Slope, change office
Portion's landform, reduce the local gradient.Other compositions and annexation are identical with embodiment three.
Embodiment five：As shown in Figure 1 and Figure 5, overload-release clutch 19 described in present embodiment is frictional light-duty
Torque limiter, the output shaft of decelerator 9 is coordinated by flat key 6 and the centre bore of overload-release clutch 19 to be installed, overload-release clutch 19
Frictional disk between be clamped with flange terminal pad 20, the flange terminal pad 20 is fixed on by screw and the upper end of live spindle 5
Together, gap is left between the circumference bottom surface of the top groove of live spindle 5 and overload-release clutch 19.It is so designed that, works as milling cutter type
Because during stuck outside environmental elements, overload-release clutch 19 can disconnect the power output of decelerator 9 in vola 1, protection motor and
Overload damage will not occur for decelerator.Other compositions and annexation are identical with embodiment one, two or four.
Embodiment six：As shown in figure 1, present embodiment six-dimension force sensor 18 horizontally and vertically direction power letter
The startup and stopping of number control machine people's foot internal direct current motor 10.It is so designed that, can be controlled by six-dimension force sensor 18
The startup and stopping of robot foot internal direct current motor 10 processed.Other compositions and annexation and the phase of embodiment five
Together.
Embodiment seven：As shown in Figure 1 and Figure 5, small bearing 4 and big bearing 2 are simultaneously described in present embodiment
Bear the angular contact ball bearing of axial load and radial load.It is so designed that, radial load and axial load, energy can be born simultaneously
Work at higher rotational speeds.Other compositions and annexation are identical with embodiment one, two, four or six.
Embodiment eight：As shown in Figure 1 and Figure 5, decelerator mounting flange 6 described in present embodiment and bearing installation
Flange 3 is made by aluminum alloy materials.It is so designed that, corrosion resistance and good that there is the advantages of low temperature resistant, intensity is high, light weight.
Other compositions and annexation are identical with embodiment seven.
The above description of this invention is illustrative and not restrictive, and those skilled in the art understands, will in right
Many modifications, change or equivalent can be carried out to it by asking within the spirit and scope of restriction, but they fall within wound of the present invention
In the protection domain made.
Operation principle：
Six-dimension force sensor 18 is arranged on leg adpting flange 16 by screw, by six-dimension force sensor 18 it is horizontal and
The startup and stopping of force signal control machine people's foot internal direct current motor 10 of vertical direction, robot is in actual walking process
In, the motor pattern using the size of the angle of gradient as Variable Control robot foot, if landform is that common plane or the ratio of slope are relatively flat
Gently sloping surface, then robot be in normal walking mode, the not rotary work of active drive milling cutter type vola 1, now ankle joint 16
In passive joint state, leg adpting flange 17 can freely swing certain angle around ankle joint 16, ensure that robot foot can
To adapt to possible broken terrain change under common terrain environment, when robot faces heavy grade slope, according to machine
People can climbable gradient empirical value, if the angle of gradient switches to climbing pattern more than 20~30 degree, by the walking manner of robot,
Ankle joint 16 is converted into Active Control Mode simultaneously, and the force signal collected by six-dimension force sensor 18 is to robot
Dc motor 10 inside foot is driven control, when robot foot is in swing phase, six-dimension force sensor 18 is vertical
The force signal that direction and horizontal direction are gathered is set to zero point, and now dc motor 10 does not rotate, downward in robot foot
During falling, by controlling ankle joint 16 robot foot is kept state straight down, when robot foot touch it is domatic,
When the force signal of the vertical direction of six-dimension force sensor 18 is changed into non-zero and reaches certain threshold value, robot foot stops falling, together
When send control signal and dc motor 10 is started working, motor output torque is increased by decelerator 9, then by safety from
Clutch 19 and live spindle 5 impart power to milling cutter type vola 1, and milling cutter type vola 1 is rotated with certain speed, passed through simultaneously
Control machine people leg makes robot foot be moved forward with certain speed, and robot foot can mills out one piece on heavy grade is domatic
Local horizontal face, or the local slope of one piece of grade elimination is milled out, robot foot is in forward swing milling process, six-dimensional force sensing
The force signal of the horizontal direction of device 18 can constantly increase, when the enough robot foots of part plan size that robot foot mills out stablize it is attached
When, the force signal of the now horizontal direction of six-dimension force sensor 18 is set in advance as max-thresholds, is sent after reaching the threshold value
Order makes dc motor 10 be stopped, and now robot foot can is adhered in the regional area stabilization of grade elimination, by
Swing phase is converted to support phase, and dc motor 10 is always maintained at stop state when robot foot is in support phase, until again
During in swing phase horizontally and vertically direction force signal return zero point after just repeat before order circulation, similarly for polypody machine
Device people, as long as setting the motion gait of robot, by controlling the circulation of swing phase robot foot to reduce local slope using this
The working method at angle is spent, with regard to tangential force required when each support foot stabilization is adhered to can be reduced or eliminated, and then ensures whole machine
The slope for climbing up heavy grade that device people can stablize, due to the power limited of dc motor 10, and place subtracts for security consideration
Installed overload-release clutch 19 additional between fast device 9 and live spindle 5, when the work of robot foot is with a varied topography, in soil if
Hard impurity may cause the stuck stalling in milling cutter type vola, and overload-release clutch 19 can play a part of overload protection, and disconnection subtracts
The connection of fast device 9 and live spindle 5, protection key components and parts are not damaged by, while work as the horizontal direction power of six-dimension force sensor 18
Signal reaches threshold value in advance, and can also send order makes dc motor 10 be stopped, and is controlled and adjusted by robot leg
Robot foot so far, constitutes a kind of big climbable gradient machine of the milling cutter type that can actively change soft landform to suitable attachment position
The basic functional principle of device people foot.
Claims (8)
1. a kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform, the big climbable gradient robot foot include
Dc motor (10), decelerator (9), decelerator mounting flange (6), overload-release clutch (19), mounting flange (20), rotation
Main shaft (5), small bearing (4), big bearing (2), bearing mounting flange (3), milling cutter type vola (1), spring damper, articular branches
Seat (15), ankle joint (16), leg adpting flange (17) and six-dimension force sensor (18)；It is characterized in that：The leg connects
Acting flange (17) is assembled together with ankle joint (16) and the two forms revolute pair, and the six-dimension force sensor (18) passes through spiral shell
Nail is fixed on the upper surface of leg adpting flange (17), and the ankle joint (16) is arranged on joint seating (15), described
The lower end of joint seating (15) is affixed by spring damper and the upper end of milling cutter type vola (1)；
Bearing mounting flange (3) bottom is embedded in the bottom of milling cutter type vola (1), bearing installation by the big bearing (2) of suit
The top of flange (3) is embedded with small bearing (4), and the overload-release clutch (19) and the live spindle (5) are from top to bottom successively
It is arranged at milling cutter type vola (1) center, live spindle (5) top is arranged on bearing mounting flange (3) by small bearing (4)
On, the lower end of live spindle (5) is fixedly connected with milling cutter type vola (1), upper end and the overload-release clutch (19) of live spindle (5)
Lower end be fixedly connected by mounting flange (20), the lower sleeve (8) of spring damper is by cylinder head bolt (7) with subtracting
Fast device mounting flange (6) and bearing mounting flange (3) are fixed together, and decelerator (9) is fixed by screws in decelerator and fixed
On flange (6), output shaft and overload-release clutch (19) centre bore of decelerator (9) are installed togather, the direct current drive
The lower end of machine (10) is arranged on the upper end of decelerator (9), and the dc motor (10) is located at the lower sleeve of spring damper
(8) in, six-dimension force sensor (18) electrically connects with dc motor (10).
2. the milling cutter type big climbable gradient robot foot according to claim 1 that can actively change soft landform, its feature exist
In：The spring damper mainly by upper bush (14), lower sleeve (8), shock-absorbing spring (13), rubber washer (12), six
Dive key (11) is formed, and the upper end of upper bush (14) is packed on the lower surface of joint seating (15), joint seating (15)
The top dead center position of bottom and upper bush (14) leaves to be embedded in for the through hole through wire, the top of lower sleeve (8)
The bottom of upper bush (14), lower sleeve (8) top are uniformly fixed with six dive keys (11), upper bush along its circumferencial direction
Bottom is uniformly provided with six bar shaped slideways being engaged with dive key (11) along its circumferencial direction, and dive key (11) is along bar shaped
Slideway is slided up and down, and shock-absorbing spring (13) is arranged in the cavity of lower sleeve (8) and upper bush (14), shock-absorbing spring (13) bottom
It is solidly set on decelerator mounting flange (6), the holding of shock-absorbing spring (13) top and upper bush in the presence of initial tension of spring
(14) inside top is in contact, and the rubber washer (12) is adhesively fixed on the top end face of lower sleeve (8).
3. the milling cutter type big climbable gradient robot foot according to claim 1 or 2 that can actively change soft landform, its feature
It is：Lower sleeve (8) bottom is provided with outer, and being uniformly machined with six along its circumferencial direction on outer installs connecting holes, traps
Cylinder (8) is fixed on the upper surface of decelerator mounting flange (6) by six cylinder head bolts (7), milling cutter type vola (1) upper end
Inward flange its circumferencial direction in face is machined with annular groove, and lower sleeve (8) lower surface outward flange is machined with along its circumferencial direction and milling
The annular dust seal groove that the annular groove in blade vola (1) is engaged.
4. the milling cutter type big climbable gradient robot foot according to claim 3 that can actively change soft landform, its feature exist
In：Sword odontoid on milling cutter type vola (1) circumference is cylindrical screw formula, and milling cutter type vola (1) upper and lower ends are machined with technique
Chamfering, the lower surface of milling cutter type vola (1) are machined with grid connected in star, the lower surface center processing of milling cutter type vola (1)
There is dowel hole, live spindle (5) upper end is flange outer, is threaded connecting hole at the top of flange outer, live spindle (5) is
Ladder shape shaft, live spindle (5) bottom are provided with keyway, and live spindle (5) bottom is machined with center threaded securing bores, milling cutter type
Vola (1) and the shaft end of live spindle (5) are fixed by screw (21) and pad (22), and milling cutter type vola (1) can be around whole sufficient
Vertical axis turns round.
5. the big climbable gradient robot foot of the milling cutter type that can actively change soft landform according to claim 1,2 or 4, it is special
Sign is：The overload-release clutch (19) is frictional light-duty torque limiter, and the output shaft of decelerator (9) passes through flat key (6)
Coordinate with overload-release clutch (19) centre bore and install, flange terminal pad is clamped between the frictional disk of overload-release clutch (19)
(20), the flange terminal pad (20) is fixed together by screw and live spindle (5) upper end, recessed at the top of live spindle (5)
Gap is left between the circumference bottom surface of groove and overload-release clutch (19).
6. the milling cutter type big climbable gradient robot foot according to claim 5 that can actively change soft landform, its feature exist
In：The startup of six-dimension force sensor (18) horizontally and vertically force signal control machine people's foot internal direct current motor (10) in direction
And stopping.
7. the big climbable gradient robot foot of the milling cutter type that can actively change soft landform according to claim 1,2,4 or 6, its
It is characterised by：The small bearing (4) and big bearing (2) are while bear the angular contact ball axle of axial load and radial load
Hold.
8. the milling cutter type big climbable gradient robot foot according to claim 7 that can actively change soft landform, its feature exist
In：The decelerator mounting flange (6) and bearing mounting flange (3) are made by aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711138244.6A CN107856757B (en) | 2017-11-16 | 2017-11-16 | A kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711138244.6A CN107856757B (en) | 2017-11-16 | 2017-11-16 | A kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform |
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| Publication Number | Publication Date |
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| CN107856757A true CN107856757A (en) | 2018-03-30 |
| CN107856757B CN107856757B (en) | 2019-11-05 |
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| CN201711138244.6A Active CN107856757B (en) | 2017-11-16 | 2017-11-16 | A kind of big climbable gradient robot foot of milling cutter type that can actively change soft landform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116161141A (en) * | 2023-04-21 | 2023-05-26 | 成都理工大学 | Self-resetting damping foot end of heavy-load six-foot robot |
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