CN108100074A - A kind of foot structure of robot - Google Patents
A kind of foot structure of robot Download PDFInfo
- Publication number
- CN108100074A CN108100074A CN201711417286.3A CN201711417286A CN108100074A CN 108100074 A CN108100074 A CN 108100074A CN 201711417286 A CN201711417286 A CN 201711417286A CN 108100074 A CN108100074 A CN 108100074A
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- CN
- China
- Prior art keywords
- foot
- arch
- disc spring
- robot
- heel
- 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.)
- Granted
Links
- 210000002683 foot Anatomy 0.000 claims abstract description 96
- 210000004744 fore-foot Anatomy 0.000 claims abstract description 20
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims description 11
- 210000000474 heel Anatomy 0.000 abstract description 27
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 6
- 210000003423 ankle Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of foot structure of robot, is related to robotic technology field.The foot structure of robot includes shank and arch of foot plate, and one end of arch of foot plate is hinged by ankle-joint and shank, and in addition both ends are rotatablely connected respectively with heel and forefoot；Ankle-joint, heel and forefoot are interior to be equipped at least one disc spring, and disc spring is connected with arch of foot plate.The present invention sets heel and forefoot by the foot in robot, and pass through disc spring by the two and arch of foot plate elastic connection, so that the foot of robot more has flexibility and stability, so as to solve the problems, such as the foot structure stability of existing robot, flexibility and buffering scarce capacity.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of foot structures of robot.
Background technology
Legged type robot is one of direction of current robot field forefront, with traditional wheeled robot or tracked machine
Device people compares, and legged type robot relies on its unique features of movement, adapts to the ground environments of various situations, especially it is rugged not
Flat road surface, the passage for having barrier etc. are with a wide range of applications.The foot structure of robot makes legged type robot
Important component, play the role of to the movement of legged type robot extraordinary.Therefore, the foot of legged type robot is designed
Portion's structure is most important.
The greatest difficulty that can be run into legged type robot walking process includes stability, flexibility and buffer capacity.Surely
Qualitative steady and posture the balance that can ensure legged type robot movement, it is a variety of that flexibility can adapt to legged type robot
Landform, buffer capacity can reduce the damage to fuselage parts when robot lands, and beneficial to the stabilization for improving robot
Property and flexibility.These performances are required for the sufficient formula structure of robot to provide solution.
The advantages of foot of legged type robot is frequently with spherical, cylindrical or plate shape structure at present, this structure be
Rigidity is big, convenient for the installation for detection device of contacting to earth.But this structure does not meet bionics, flexibility and stability are relatively
Difference, and lack the buffering effect for being similar to the biological structures such as heel string, sole during landing, it is more demanding to the protecting against shock of hardware,
Energy loss is also larger.
It would therefore be highly desirable to a kind of new robot foot section structure solves the above problems.
The content of the invention
It is steady to solve the foot structure of existing robot it is an object of the invention to provide a kind of foot structure of robot
Qualitative, the problem of flexibility and buffer capacity are insufficient.
In order to achieve the above object, the present invention uses following technical scheme：
A kind of foot structure of robot, including：
Shank；
Arch of foot plate, its one end are hinged by ankle-joint and shank, and in addition both ends rotate with heel and forefoot connect respectively
It connects；
Ankle-joint, heel and forefoot are interior to be equipped at least one disc spring, and disc spring is connected with arch of foot plate.
Preferably, being equipped with first rotating shaft in ankle-joint, the periphery of first rotating shaft is equipped with the first disc spring, first rotating shaft
Respectively with the first disc spring and arch of foot plate key connection.
Preferably, being connected between first rotating shaft and shank by rolling bearing, bearing cap, axis are equipped with outside rolling bearing
It holds and is covered on shank.
Preferably, heel and forefoot are interior to be equipped with the second shaft, the periphery of the second shaft is equipped with the second dish type bullet
Spring, the second shaft respectively with the second disc spring and arch of foot plate key connection.
Preferably, heel and forefoot are additionally provided with supporting rack, the outside of supporting rack is equipped with non-slip mat；Supporting rack with
The both ends of second shaft are affixed by I-shaped plate, and I-shaped plate is threadedly coupled with supporting rack.
Preferably, supporting rack is connected with arch of foot plate by thrust bearing, arch of foot plate and the second shaft pass through sliding bearing
Connection.
Preferably, the first disc spring and the second disc spring are including inner ring, outer ring and positioned at inner ring and outer ring
Between elastic sheet.
Preferably, inner ring offers the keyway being connected with first rotating shaft or with the second shaft, outer ring offers and arch of foot
The threaded hole of plate connection.
Preferably, rigidity of the rigidity of the elastic sheet of the first disc spring than the elastic sheet of the second disc spring
Greatly.
Preferably, arch of foot plate and the junction of ankle-joint, heel and forefoot are equipped with microswitch.
Beneficial effects of the present invention：
The present invention sets heel and front foot by providing a kind of foot structure of robot, using the foot in robot
The palm, and pass through disc spring by the two and arch of foot plate elastic connection so that the foot of robot more has flexibility, stability
And buffer capacity；Using disc spring inner ring respectively with first rotating shaft or the second shaft key connection and utilize outer ring and foot
Bend plate connection, may be such that arch of foot plate and heel or rotated with forefoot and generate moment of elasticity, then pass through design first
The thickness of the elastic sheet of the elastic sheet of disc spring and the second disc spring, further, the elasticity of the first disc spring
The rigidity of thin slice is bigger than the rigidity of the elastic sheet of the second disc spring, and the two is made to reach different elastic stiffness, meets machine
People foot difference joint is to the demands of different elastic stiffness, to realize in the form of multi-motion；The outside of supporting rack is equipped with non-slip mat,
The frictional force between robot foot section and ground can be improved, improves the stability of robot；Pass through the opening and closing shape of microswitch
State, it can be determined that the state that robot foot section lands.
Description of the drawings
Now embodiments of the present invention will be described with reference to appended attached drawing only by way of example, wherein
Fig. 1 is the schematic diagram of the one of state of foot structure for the robot that embodiment of the present invention provides；
Fig. 2 is the schematic diagram of another state of the foot structure of robot of embodiment of the present invention offer；
Fig. 3 is the sectional view of ankle in Fig. 1；
Fig. 4 is the sectional view of heel in Fig. 1；
Fig. 5 is the structure diagram of the disc spring of the foot structure of robot.
In figure：
1st, shank；2nd, arch of foot plate；3rd, ankle-joint；4th, heel；5th, forefoot；7th, microswitch；
31st, first rotating shaft；32nd, rolling bearing；33rd, bearing cap；311st, key；
41st, the second shaft；42nd, supporting rack；43rd, non-slip mat；44th, I-shaped plate；45th, thrust bearing；46th, sliding bearing；
61st, the first disc spring；62nd, the second disc spring；63rd, inner ring；64th, outer ring；65th, elastic sheet；631st, keyway；
641st, threaded hole.
Specific embodiment
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.
As depicted in figs. 1 and 2, the foot structure of robot includes shank 1 and arch of foot plate 2, and one end of arch of foot plate 2 passes through ankle
Joint 3 is hinged with shank 1, and in addition both ends are rotatablely connected respectively with heel 4 and forefoot 5.Arch of foot plate 2 is using hollow out design
Stiffener plate is composed, and on the premise of 2 intensity of arch of foot plate is ensured, reduces the weight of foot structure.Arch of foot plate 2 is closed with ankle
The junction of section 3, heel 4 and forefoot 5 is equipped with microswitch 7, particularly, arch of foot plate 2 and heel 4 and forefoot 5
The microswitch 7 of connection is arranged on arch of foot plate 2, and the microswitch 7 that arch of foot plate 2 is connected with ankle-joint 3 is arranged on ankle-joint 3
On.When robot foot section lands, heel 4, forefoot 5 can be rotated compared with arch of foot plate 2, and arch of foot plate 2 closes again compared with ankle
Section 3 rotates, so that when difference lands state, the microswitch 7 at foot different parts is accessed, and is judged with this
The state that lands of robot foot section.It can be seen that it is by art technology that microswitch 7 is arranged on the different parts of foot
After personnel's careful consideration, and through a large amount of simulated experiments, acquisition is made the creative labor, it is comprehensive also to allow for robot foot section
The technique effect of conjunction and set.It is illustrated by taking walking as an example：1) when foot does not land also in the air, three fine motions are opened
7 are closed to disconnect；2) foot just contacts ground, but does not stand firm completely also, and heel 4 lands stress at this time, the fine motion of heel 4
7 connection of switch, other two microswitches 7 disconnect；3) after foot is stood firm on ground, the microswitch 7 and heel of ankle-joint 3
4 microswitch 7 connects；4) foot prepare to exit ground and in stand firm state when, the microswitch 7 of ankle-joint 3 and before
The microswitch 7 of toe 5 connects；5) when foot will leave ground, the microswitch 7 of front toe 5 connects, other two switches
It disconnects.
As shown in figure 3, Fig. 3 is the sectional view at ankle-joint 3.Ankle-joint 3 is and small by arranged on its internal first rotating shaft 31
Leg 1 is rotatablely connected by rolling bearing 32, and the outside of rolling bearing 32 is equipped with snap ring, and the periphery of snap ring is equipped with bearing cap, so as to
First rotating shaft 31 and rolling bearing 32 are preferably protected, herein, the type of bearing is not defined, rolling bearing 32 is preferred
Embodiment.Specifically, as shown in figure 5, disc spring includes inner ring 63, outer ring 64 and elastic sheet 65, disc spring
The keyway 631 being connected with first rotating shaft 31 is offered on inner ring 63, the threaded hole being connected with arch of foot plate 2 is offered on outer ring 64
641, elastic sheet 65 can be reached not between inner ring 63 and outer ring 65 by the thickness of design flexibility thin slice 65
With elastic stiffness, meet the needs of robot foot section difference joint is to different elastic stiffness, to realize in the form of multi-motion..
Specifically, set on the axle body of first rotating shaft 31 there are one keyway, arch of foot plate 2 is located at the centre position of first rotating shaft 31
Place also offers keyway, while the keyway 631 with being opened up on the inner ring 63 of the disc spring of 2 both sides of arch of foot plate coordinates, altogether
Key connection is carried out with by key 311.It is understood that multiple keyways are also provided on the axle body of first rotating shaft 31, wherein
It is attached at the both sides inside shank 1 and is respectively provided with a keyway, and coordinate with the keyway 631 on disc spring inner ring 63 into line unit and connect
It connects.It will also be appreciated that on the axle body of first rotating shaft 31, one and keyway are respectively provided in the both sides being attached inside shank 1
The protrusion of 631 cooperations so that first rotating shaft 31 is rotatably connected with the first disc spring 61.
As shown in figure 4, Fig. 4 is the sectional view at heel 4, it is to be understood that the structure of heel 4 and forefoot 5
Design it is identical, therefore attached drawing omit forefoot 5 sectional view.Heel 4 is by the second shaft 41 arranged on its inside, with arch of foot plate
2 are rotatablely connected by sliding bearing 46.Selected as rolling bearing is may be otherwise, but due to the structural volume shared by rolling bearing
Compared to sliding bearing bigger, in order to save the space of heel 4, preferably the second shaft 41 passes through cunning with arch of foot plate 2 herein
Dynamic bearing 46 is rotatablely connected.
Specifically, the outside of heel 4 is equipped with supporting rack 42, for protecting and supporting the component inside heel 4, prevents
It is polluted into impurity.One layer of non-slip mat 43 is wrapped up in the outside of supporting rack 42, and non-slip mat 43 is made of rubber material, not only increased
Frictional force between heel 4 and ground, while rubber material also has certain vibration absorption ability, can avoid robot foot
There are larger vibrations in portion.The both sides of supporting rack 42 are equipped with I-shaped plate 44, the intermediate riser shelf of I-shaped plate 44 and the second shaft 41
Both sides are clamped, and are fixed by screws on supporting rack 42 so that the second shaft 41 is integrally formed with supporting rack 42, jointly with foot
Bow plate 2 is rotatablely connected.
Specifically, opened up in the middle position of the second shaft 41 there are one keyway (not shown), and with the second disk
62 key connection of shape spring.It is understood that the middle position in the second shaft 41 is equipped with protrusion, with the second disc spring 62
It is engaged by clamping.Second disc spring 62 is located at the centre of 2 end of arch of foot plate, and passes through threaded hole 641 and connect with 2 screw thread of arch of foot plate
It connects.
Specifically, arch of foot plate 2 is connected with supporting rack 42 by thrust bearing 45, and thrust bearing 45 limits 41 He of the second shaft
The axial displacement of supporting rack 42 preferably bears the axial force generated when heel 4 moves.
Specifically, the present invention can be subtracted well using the mode that disc spring is set inside Robot foot mechanism
The impact of robot is faced when small machine people walks, and then reduces the damage that robot parts are subject to.At the same time, pass through
The thickness of design flexibility thin slice 65 so that the rigidity of the elastic sheet 65 of the first disc spring 61 is than the bullet of the second disc spring 62
The rigidity of property thin slice 65 is big, meets the needs of robot foot section difference joint is to different elastic stiffness, to realize multi-motion shape
State.Again, by using ankle-joint 3, heel 4 and forefoot 5 microswitch 7 different mode of communicating, come judge work as
When robot foot section motion state.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating example of the present invention, and it is pair to be not
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (10)
1. a kind of foot structure of robot, which is characterized in that including：
Shank (1)；
Arch of foot plate (2), its one end is hinged by ankle-joint (3) and the shank (1), in addition both ends respectively with heel (4) and
Forefoot (5) is rotatablely connected；
The ankle-joint (3), the heel (4) and the forefoot (5) are interior to be equipped at least one disc spring, the disk
Shape spring is connected with the arch of foot plate (2).
2. the foot structure of robot according to claim 1, which is characterized in that first is equipped in the ankle-joint (3)
Shaft (31), the periphery of the first rotating shaft (31) are equipped with the first disc spring (61), the first rotating shaft (31) respectively with institute
State the first disc spring (61) and the arch of foot plate (2) key connection.
3. the foot structure of robot according to claim 2, which is characterized in that the first rotating shaft (31) with it is described small
It is connected between leg (1) by rolling bearing (32), bearing cap (33), the bearing cap is equipped with outside the rolling bearing (32)
(33) it is arranged on the shank (1).
4. the foot structure of robot according to claim 2, which is characterized in that the heel (4) and the front foot
Slap (5) in be equipped with the second shaft (41), the periphery of second shaft (41) is equipped with the second disc spring (62), described second
Shaft (41) respectively with second disc spring (62) and the arch of foot plate (2) key connection.
5. the foot structure of robot according to claim 4, which is characterized in that the heel (4) and the front foot
The palm (5) is additionally provided with supporting rack (42), and the outside of support frame as described above (42) is equipped with non-slip mat (43)；Support frame as described above (42) and institute
It is affixed by I-shaped plate (44) to state the both ends of the second shaft (41), the I-shaped plate (44) connects with support frame as described above (42) screw thread
It connects.
6. the foot structure of robot according to claim 5, which is characterized in that support frame as described above (42) and the arch of foot
Plate (2) is connected by thrust bearing (45), and the arch of foot plate (2) is connected with second shaft (41) by sliding bearing (46)
It connects.
7. the foot structure of robot according to claim 4, which is characterized in that first disc spring (61) and institute
Stating the second disc spring (62) includes inner ring (63), outer ring (64) and positioned at the inner ring (63) and the outer ring (64) it
Between elastic sheet (65).
8. the foot structure of robot according to claim 7, which is characterized in that the inner ring (63) offer with it is described
First rotating shaft (31) or the keyway (631) being connected with second shaft (41), the outer ring (64) offer and the arch of foot
The threaded hole (641) of plate (2) connection.
9. the foot structure of robot according to claim 7, which is characterized in that the bullet of first disc spring (61)
The rigidity of property thin slice (65) is bigger than the rigidity of the elastic sheet (65) of second disc spring (62).
10. according to the foot structure of robot according to any one of claims 1 to 9, which is characterized in that the arch of foot plate
(2) it is equipped with microswitch (7) with the junction of the ankle-joint (3), the heel (4) and the forefoot (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711417286.3A CN108100074B (en) | 2017-12-25 | 2017-12-25 | Foot structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711417286.3A CN108100074B (en) | 2017-12-25 | 2017-12-25 | Foot structure of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108100074A true CN108100074A (en) | 2018-06-01 |
| CN108100074B CN108100074B (en) | 2020-06-05 |
Family
ID=62212760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711417286.3A Active CN108100074B (en) | 2017-12-25 | 2017-12-25 | Foot structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108100074B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879420A (en) * | 2021-08-30 | 2022-01-04 | 中国北方车辆研究所 | Passively switched anti-slip foot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050077856A1 (en) * | 2001-12-25 | 2005-04-14 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
| JP3649865B2 (en) * | 1997-07-23 | 2005-05-18 | 本田技研工業株式会社 | Leg structure of legged mobile robot |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN104890758A (en) * | 2015-06-30 | 2015-09-09 | 湖州市千金宝云机械铸件有限公司 | Walking robot foot unit |
| CN104590417B (en) * | 2014-12-26 | 2016-11-23 | 合肥工业大学 | A kind of humanoid robot foot section |
| CN107187512A (en) * | 2017-05-31 | 2017-09-22 | 地壳机器人科技有限公司 | Human-imitating double-foot walking robot |
-
2017
- 2017-12-25 CN CN201711417286.3A patent/CN108100074B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3649865B2 (en) * | 1997-07-23 | 2005-05-18 | 本田技研工業株式会社 | Leg structure of legged mobile robot |
| US20050077856A1 (en) * | 2001-12-25 | 2005-04-14 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN104590417B (en) * | 2014-12-26 | 2016-11-23 | 合肥工业大学 | A kind of humanoid robot foot section |
| CN104890758A (en) * | 2015-06-30 | 2015-09-09 | 湖州市千金宝云机械铸件有限公司 | Walking robot foot unit |
| CN107187512A (en) * | 2017-05-31 | 2017-09-22 | 地壳机器人科技有限公司 | Human-imitating double-foot walking robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879420A (en) * | 2021-08-30 | 2022-01-04 | 中国北方车辆研究所 | Passively switched anti-slip foot |
| CN113879420B (en) * | 2021-08-30 | 2023-12-05 | 中国北方车辆研究所 | Passively switched anti-skid foot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108100074B (en) | 2020-06-05 |
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Denomination of invention: The foot structure of a robot Effective date of registration: 20231228 Granted publication date: 20200605 Pledgee: China Minsheng Banking Corp Shanghai branch Pledgor: SIASUN Co.,Ltd. Registration number: Y2023310000940 |