CN108100074B - Foot structure of robot - Google Patents
Foot structure of robot Download PDFInfo
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- CN108100074B CN108100074B CN201711417286.3A CN201711417286A CN108100074B CN 108100074 B CN108100074 B CN 108100074B CN 201711417286 A CN201711417286 A CN 201711417286A CN 108100074 B CN108100074 B CN 108100074B
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- robot
- arch plate
- heel
- foot structure
- foot
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- 210000002683 foot Anatomy 0.000 claims abstract description 58
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 22
- 238000005096 rolling process Methods 0.000 claims description 11
- 210000004744 fore-foot Anatomy 0.000 claims description 10
- 210000001503 joint Anatomy 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000001361 achilles tendon Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
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
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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 foot structure of a robot, and relates to the technical field of robots. The foot structure of the robot comprises a shank and an arch plate, one end of the arch plate is hinged with the shank through an ankle joint, and the other two ends of the arch plate are respectively connected with a heel and a front sole in a rotating manner; at least one disk spring is arranged in each of the ankle joint, the heel and the front sole, and the disk springs are connected with the arch plate. The invention arranges the heel and the front sole on the foot of the robot and elastically connects the heel and the front sole with the arch plate through the disk spring, so that the foot of the robot has more flexibility and stability, thereby solving the problems of insufficient stability, flexibility and buffering capacity of the foot structure of the existing robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a foot structure of a robot.
Background
The foot type robot is one of the foremost directions in the field of robots at present, and compared with the traditional wheeled robot or crawler robot, the foot type robot can adapt to ground environments of various situations by virtue of the unique moving characteristics of the foot type robot, and particularly has wide application prospects in the aspects of rugged road surfaces, channels with obstacles and the like. The foot structure of the robot enables important components of the foot type robot to have different and common effects on the motion of the foot type robot. Therefore, it is important to design the foot structure of the legged robot.
The greatest difficulties encountered during walking of a legged robot include stability, flexibility, and cushioning ability. Stability can guarantee the steady of sufficient robot motion and the balance of gesture, and the flexibility can make sufficient robot adapt to multiple topography, and buffer capacity can reduce the damage to fuselage spare part when the robot lands to do benefit to the stability and the flexibility that improve the robot. These capabilities all require the foot structure of the robot to provide a solution.
At present, the foot of the foot type robot adopts a spherical, cylindrical or plate-shaped structure, and the structure has the advantages of high rigidity and convenience for installing a ground contact detection device. However, the structure is not in accordance with bionics, the flexibility and the stability are relatively poor, the buffering effect similar to biological structures such as achilles tendon and sole is lacked when the sole falls to the ground, the anti-impact requirement on hardware is high, and the energy loss is also large.
Therefore, a new robot foot structure is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a foot structure of a robot, which aims to solve the problems of insufficient stability, flexibility and buffering capacity of the foot structure of the existing robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a foot structure of a robot, comprising:
a lower leg;
one end of the arch plate is hinged with the shank through an ankle joint, and the other two ends of the arch plate are respectively in rotating connection with the heel and the front sole;
at least one disk spring is arranged in each of the ankle joint, the heel and the front sole, and the disk springs are connected with the arch plate.
Preferably, a first rotating shaft is arranged in the ankle joint, a first disc spring is arranged on the periphery of the first rotating shaft, and the first rotating shaft is connected with the first disc spring and the arch plate through keys respectively.
Preferably, the first rotating shaft is connected with the lower leg through a rolling bearing, a bearing cover is arranged outside the rolling bearing, and the bearing cover is arranged on the lower leg.
Preferably, a second rotating shaft is arranged in each of the heel and the forefoot, a second disc spring is arranged on the periphery of the second rotating shaft, and the second rotating shaft is in key connection with the second disc spring and the arch plate respectively.
Preferably, the heel and the front sole are provided with support frames, and the outsides of the support frames are provided with anti-skid pads; the support frame is fixedly connected with two ends of the second rotating shaft through I-shaped plates, and the I-shaped plates are in threaded connection with the support frame.
Preferably, the support frame is connected with the arch plate through a thrust bearing, and the arch plate is connected with the second rotating shaft through a sliding bearing.
Preferably, the first disc spring and the second disc spring each include an inner ring, an outer ring, and an elastic sheet located between the inner ring and the outer ring.
Preferably, the inner ring is provided with a key groove connected with the first rotating shaft or the second rotating shaft, and the outer ring is provided with a threaded hole connected with the arch plate.
Preferably, the elastic sheet of the first disc spring has a higher rigidity than the elastic sheet of the second disc spring.
Preferably, the joints of the arch plate, the ankle joint, the heel and the forefoot are all provided with micro switches.
The invention has the beneficial effects that:
the invention provides a foot structure of a robot, wherein a heel and a front sole are arranged on the foot of the robot, and the heel and the front sole are elastically connected with an arch plate through a disc spring, so that the foot of the robot has more flexibility, stability and buffering capacity; the inner rings of the disc springs are respectively connected with the first rotating shaft or the second rotating shaft in a key mode, the outer rings of the disc springs are connected with the arch plate, the arch plate and the heel or the front sole can rotate to generate elastic torque, and the rigidity of the elastic sheet of the first disc spring is larger than that of the elastic sheet of the second disc spring by designing the thicknesses of the elastic sheet of the first disc spring and the elastic sheet of the second disc spring, so that the first disc spring and the second disc spring achieve different elastic rigidities, the requirements of different joints of the robot foot on different elastic rigidities are met, and multiple movement forms are achieved; the anti-slip pad is arranged outside the support frame, so that the friction force between the feet of the robot and the ground can be improved, and the stability of the robot is improved; the state of the robot foot landing can be judged through the opening and closing state of the micro switch.
Drawings
Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which
FIG. 1 is a schematic view of one of the states of a foot structure of a robot provided by an embodiment of the present invention;
FIG. 2 is a schematic view of another state of a foot structure of a robot provided by an embodiment of the present invention;
FIG. 3 is a cross-sectional view of the ankle joint of FIG. 1;
FIG. 4 is a cross-sectional view of the heel of FIG. 1;
fig. 5 is a schematic structural view of a belleville spring of a foot structure of the robot.
In the figure:
1. a lower leg; 2. an arch plate; 3. an ankle joint; 4. a heel; 5. a forefoot; 7. a microswitch;
31. a first rotating shaft; 32. a rolling bearing; 33. a bearing cap; 311. a key;
41. a second rotating shaft; 42. a support frame; 43. a non-slip mat; 44. i-shaped plates; 45. a thrust bearing; 46. a sliding bearing;
61. a first disc spring; 62. a second disc spring; 63. an inner ring; 64. an outer ring; 65. an elastic sheet; 631. a keyway; 641. a threaded bore.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in figures 1 and 2, the foot structure of the robot comprises a lower leg 1 and an arch plate 2, one end of the arch plate 2 is hinged with the lower leg 1 through an ankle joint 3, and the other two ends are respectively connected with a heel 4 and a forefoot 5 in a rotating way. The arch plate 2 is formed by combining reinforcing rib plates with hollow designs, and the weight of the foot structure is reduced on the premise of ensuring the strength of the arch plate 2. The joints of the arch plate 2 and the ankle joint 3, the heel 4 and the sole 5 are all provided with a microswitch 7, particularly, the microswitch 7 connected with the heel 4 and the sole 5 of the foot of the arch plate 2 is arranged on the arch plate 2, and the microswitch 7 connected with the ankle joint 3 of the arch plate 2 is arranged on the ankle joint 3. When the robot foot lands on the ground, the heel 4 and the front sole 5 rotate relative to the arch plate 2, and the arch plate 2 rotates relative to the ankle joint 3, so that the micro switches 7 at different parts of the foot are contacted in different landing states, and the landing state of the robot foot is judged according to the contact. It can be seen that the micro switch 7 is arranged on different parts of the foot, which is obtained through creative work through a large number of simulation experiments after being deeply considered by the skilled person, and is also set in consideration of the comprehensive technical effect of the foot of the robot. The following explanation is given taking the walking posture as an example: 1) when the foot is not landed in the air, the three micro switches 7 are all switched off; 2) the foot just contacts the ground, but the foot does not stand stably completely, at the moment, the heel 4 touches the ground and is stressed, the micro switch 7 of the heel 4 is communicated, and the other two micro switches 7 are disconnected; 3) after the foot stands stably on the ground, the microswitch 7 of the ankle joint 3 is communicated with the microswitch 7 of the heel 4; 4) when the foot is ready to leave the ground and is in a stable standing state, the micro switch 7 of the ankle joint 3 is communicated with the micro switch 7 of the front toe 5; 5) when the foot is just off the ground, the microswitch 7 of the front toe 5 is switched on, and the other two switches are switched off.
As shown in fig. 3, fig. 3 is a sectional view at the ankle joint 3. The ankle joint 3 is rotatably connected to the lower leg 1 via a rolling bearing 32 by a first rotating shaft 31 provided inside thereof, a snap ring is provided outside the rolling bearing 32, and a bearing cover is provided on the outer periphery of the snap ring, so that the first rotating shaft 31 and the rolling bearing 32 are better protected, and here, the type of the bearing is not limited, and the rolling bearing 32 is a preferred embodiment. Specifically, as shown in fig. 5, the disc spring includes an inner ring 63, an outer ring 64 and an elastic sheet 65, a key groove 631 connected with the first rotating shaft 31 is formed in the inner ring 63 of the disc spring, a threaded hole 641 connected with the arch plate 2 is formed in the outer ring 64, and the elastic sheet 65 is located between the inner ring 63 and the outer ring 65, so that different elastic rigidities can be achieved by designing the thickness of the elastic sheet 65, and the requirements of different joints of the robot foot on different elastic rigidities can be met, so as to implement multiple movement forms. .
Specifically, a key groove is formed on the shaft body of the first rotating shaft 31, the key groove is also formed in the middle position of the arch plate 2 located on the first rotating shaft 31, and the key groove is matched with key grooves 631 formed in inner rings 63 of disc springs located on two sides of the arch plate 2 to be connected through keys 311. It will be appreciated that the first shaft 31 may also be provided with a plurality of key slots on its shaft, one on each side of the shaft which is located inside the lower leg 1 and which is keyed in cooperation with the key slot 631 in the inner ring 63 of the belleville spring. It will also be appreciated that the first shaft 31 has a projection on its shaft which engages with the key slot 631 on each side of the shaft which abuts the inside of the lower leg 1, so that the first shaft 31 is rotatably connected to the first disc spring 61.
As shown in fig. 4, fig. 4 is a sectional view of the heel 4, and it is understood that the heel 4 and the forefoot 5 have the same structural design, and therefore the sectional view of the forefoot 5 is omitted in the drawings. The heel 4 is rotatably connected to the arch plate 2 by a sliding bearing 46 by means of a second rotating shaft 41 provided inside the heel. Here, a rolling bearing is also possible, but since the rolling bearing occupies a larger installation space than a sliding bearing, in order to save space on the heel 4, it is preferred here that the second rotational shaft 41 is connected in rotation to the arch plate 2 via a sliding bearing 46.
Specifically, a support frame 42 is provided outside the heel 4 to protect and support the components inside the heel 4 from entering impurities. The outside parcel one deck slipmat 43 of support frame 42, slipmat 43 adopt rubber material to make, have not only increased the frictional force between heel 4 and the ground, and rubber material still has certain shock-absorbing capacity simultaneously, can avoid the great vibrations to appear in the robot foot. I-shaped plates 44 are arranged on two sides of the support frame 42, and a middle vertical plate of the I-shaped plates 44 is clamped with two sides of the second rotating shaft 41 and fixed on the support frame 42 through screws, so that the second rotating shaft 41 and the support frame 42 are integrated and are connected with the arch plate 2 in a rotating mode.
Specifically, a key groove (not shown) is formed at an intermediate position of the second rotating shaft 41, and is keyed with the second disc spring 62. It will be appreciated that a projection is provided at an intermediate position of the second shaft 41 for snap-fitting engagement with the second belleville spring 62. The second Belleville spring 62 is located intermediate the ends of the arch plate 2 and is threadedly attached to the arch plate 2 by a threaded hole 641.
Specifically, the arch plate 2 is connected to the support frame 42 through a thrust bearing 45, and the thrust bearing 45 limits the axial displacement of the second rotating shaft 41 and the support frame 42, so as to better bear the axial force generated when the heel 4 moves.
Specifically, the invention utilizes the mode of arranging the disc spring in the foot mechanism of the robot, thereby well reducing the impact on the robot when the robot walks and further reducing the damage to the parts of the robot. Meanwhile, the thickness of the elastic sheet 65 is designed, so that the rigidity of the elastic sheet 65 of the first disc spring 61 is higher than that of the elastic sheet 65 of the second disc spring 62, and the requirements of different joints of the robot foot on different elastic rigidities are met, so that various motion forms are realized. Again, the motion state of the robot foot at that time is judged by using different communication modes of the micro switches 7 of the ankle joint 3, the heel 4 and the forefoot 5.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A foot structure of a robot, comprising:
a lower leg (1);
one end of the arch plate (2) is hinged with the shank (1) through an ankle joint (3), and the other two ends are respectively and rotatably connected with the heel (4) and the front sole (5);
at least one disc spring is arranged in each of the ankle joint (3), the heel (4) and the front sole (5), and the disc springs are connected with the arch plate (2);
be equipped with first pivot (31) in ankle joint (3), the periphery of first pivot (31) is equipped with first disk spring (61), first pivot (31) respectively with first disk spring (61) with arch bar (2) key-type connection.
2. The foot structure of the robot according to claim 1, characterized in that the first rotating shaft (31) is connected with the lower leg (1) through a rolling bearing (32), a bearing cover (33) is arranged outside the rolling bearing (32), and the bearing cover (33) is arranged on the lower leg (1).
3. The foot structure of a robot according to claim 1, characterized in that a second rotating shaft (41) is arranged in each of the heel (4) and the forefoot (5), a second disc spring (62) is arranged on the periphery of the second rotating shaft (41), and the second rotating shaft (41) is respectively connected with the second disc spring (62) and the arch plate (2) in a key manner.
4. The foot structure of the robot according to claim 3, characterized in that the heel (4) and the forefoot (5) are each further provided with a support frame (42), the outside of the support frame (42) being provided with a non-slip mat (43); the support frame (42) is fixedly connected with two ends of the second rotating shaft (41) through I-shaped plates (44), and the I-shaped plates (44) are in threaded connection with the support frame (42).
5. The foot structure of the robot according to claim 4, characterized in that the support frame (42) is connected with the arch plate (2) by a thrust bearing (45), and the arch plate (2) is connected with the second rotation shaft (41) by a sliding bearing (46).
6. The foot structure of a robot according to claim 3, characterized in that the first disc spring (61) and the second disc spring (62) each comprise an inner ring (63), an outer ring (64) and an elastic sheet (65) between the inner ring (63) and the outer ring (64).
7. The foot structure of a robot according to claim 6, characterized in that the inner ring (63) is provided with a key groove (631) connected to the first shaft (31) or the second shaft (41), and the outer ring (64) is provided with a screw hole (641) connected to the arch plate (2).
8. The foot structure of a robot according to claim 6, characterized in that the stiffness of the elastic sheet (65) of the first disc spring (61) is greater than the stiffness of the elastic sheet (65) of the second disc spring (62).
9. The foot structure of a robot according to any one of claims 1 to 8, characterized in that micro switches (7) are provided at the joints of the arch plate (2) with 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 CN108100074A (en) | 2018-06-01 |
| CN108100074B true CN108100074B (en) | 2020-06-05 |
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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 |
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| Country | Link |
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| CN (1) | CN108100074B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879420B (en) * | 2021-08-30 | 2023-12-05 | 中国北方车辆研究所 | Passively switched anti-skid foot |
Family Cites Families (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 |
| JP3652643B2 (en) * | 2001-12-25 | 2005-05-25 | 本田技研工業株式会社 | Landing shock absorber for legged mobile robot |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN106364587B (en) * | 2014-12-26 | 2018-07-27 | 合肥工业大学 | A kind of control method 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 |
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- 2017-12-25 CN CN201711417286.3A patent/CN108100074B/en active Active
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| CN108100074A (en) | 2018-06-01 |
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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 |