CN108382489A - A kind of imitative blue sheep machinery foot - Google Patents
A kind of imitative blue sheep machinery foot Download PDFInfo
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- CN108382489A CN108382489A CN201810433213.1A CN201810433213A CN108382489A CN 108382489 A CN108382489 A CN 108382489A CN 201810433213 A CN201810433213 A CN 201810433213A CN 108382489 A CN108382489 A CN 108382489A
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- hoof
- palm
- rotating cylinder
- fixing axle
- hoof palm
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of imitative blue sheep machinery foots,Including hoof,Ankle and mechanical interface portion,The hoof is cloot structure,The hoof includes the first hoof palm and the second hoof palm,It is the wide shape in front end point rear end that the first hoof palm and second hoof, which slap the mutually symmetrical and described first hoof palm and second hoof palm,,The first hoof palm is divided into the hoof palm and first time hoof on first and slaps,The present invention is rotated by the first rotating cylinder and the second rotating cylinder rotating around the first fixing axle and the second fixing axle,So that the front end of hoof is less than rear end higher than rear end or front end,Hooked when going up a slope convenient for robot rock protrusion be conducive to climbing or when descending can teamed rock protrusion prevent from gliding,Blue sheep foot is imitated in rock surface to realize,The out-of-flatness movement over ground of the complex landforms such as heavy grade,Legged mobile robot is greatly improved in rock surface,Walking performance on the out-of-flatness ground of the complex landforms such as heavy grade.
Description
Technical field
The present invention relates to robotics equipment field, more particularly to a kind of imitative blue sheep machinery foot.
Background technology
Traditional mobile robot can be divided into wheeled robot and legged mobile robot, and legged mobile robot is relative to wheel type machine
Different gaits and the different ways of contact between ground may be used in people, and having avoidance and can be suitable for complex landform etc.
Feature.Wherein the way of contact different between legged mobile robot and ground is realized by different machinery foots.Traditional
Mechanical foot is generally spherical surface foot or simple flat surface, curved surface foot, is aided with the damping devices such as spring.Such machinery foot is combined with function all
It is fairly simple, it is suitble to walk in rigid ground grading, and effect of walking on complicated ground is poor, if tradition machinery foot is in rock
When walking on the out-of-flatness ground of the complex landforms such as stone surface, heavy grade, unbalanced landing will produce, supporting point skids, motive force
Phenomena such as deficiency, difficulty in walking, affects the stability and reliability of robot work, reduces machine task efficiency,
Robot can be caused to fall down what is more and generate damage.The machinery foot with special geomorphology adaptability is studied very both at home and abroad at present
It is few, need further to be studied.
Invention content
(1) the technical issues of solving
To solve the above-mentioned problems, the present invention provides a kind of imitative blue sheep machinery foot, pass through the first rotating cylinder and the second rotating cylinder
It is rotated rotating around the first fixing axle and the second fixing axle so that the front end of hoof is less than rear end higher than rear end or front end, is convenient for
Robot hooked when going up a slope rock protrusion be conducive to climbing or when descending can teamed rock protrusion prevent from gliding, to real
Show and imitated blue sheep foot in the out-of-flatness movement over ground of the complex landforms such as rock surface, heavy grade, has greatly improved leg formula
Walking performance of the robot on the out-of-flatness ground of the complex landforms such as rock surface, heavy grade, improves machine man-hour
Stability and reliability, improve machine task efficiency.
(2) technical solution
A kind of imitative blue sheep machinery foot, including hoof, ankle and mechanical interface portion, the hoof is cloot structure, described
Hoof includes the first hoof palm and the second hoof palm, first hoof palm and second hoof palm is mutually symmetrical and the first hoof palm and
The second hoof palm is the wide shape in front end point rear end, and the first hoof palm is divided into the hoof palm and first time hoof on first and slaps, institute
It states the second hoof palm and is divided into the hoof palm and second time hoof palm on second, if being equipped between the hoof palm and first time hoof palm on described first
Preceding bourdon tube and rear bourdon tube are done, the preceding bourdon tube and institute also are provided between the hoof palm and second time hoof palm on described second
Rear bourdon tube is stated, the bottom that first time hoof palm and second time hoof are slapped is equipped with hoof pad, and the ankle includes first turn
Cylinder and the second rotating cylinder, first rotating cylinder are set to the top of the hoof palm on described first, and the bottom of first rotating cylinder is plane, institute
The bottom and the top of the hoof palm on described first for stating the first rotating cylinder are fixedly linked, and first bearing, institute are equipped in first rotating cylinder
It states and is equipped with the first fixing axle in first bearing, first fixing axle is through first rotating cylinder and stretches out in first rotating cylinder
Both sides, first rotating cylinder can rotate through the first bearing around first fixing axle, and second rotating cylinder is set to institute
State the top that hoof on second is slapped, the bottom of second rotating cylinder is plane, hoof on the bottom of second rotating cylinder and described second
It is fixedly linked at the top of the palm, second bearing is equipped in second rotating cylinder, the second fixing axle is equipped in the second bearing, it is described
Second fixing axle runs through second rotating cylinder and stretches out in the both sides of second rotating cylinder, and second rotating cylinder is through second axis
Holding can rotate around second fixing axle, stretch out in first fixing axle of first rotating cylinder both sides and stretch out in described
Second fixing axle of second rotating cylinder both sides is connected with link, and the link is divided into transverse part and vertical part, the cross
The lower surface in portion is set there are four vertical part, and the vertical part is U-shaped structure, and the upper end of the vertical part is fixedly linked with the transverse part, and one
The lower end of two vertical parts of side is fixedly connected with the both sides of first fixing axle, under two vertical parts of the other side
The both sides with second fixing axle are held to be fixedly linked, the mechanical interface portion includes base station and butt joint base, and the base station is located at
The upper surface of the transverse part of the link, the bottom of the base station and the transverse part of the link are fixedly linked, if
The top that the butt joint base is set to the base station is done, the upper of the base station is fixed in the leg of robot by the butt joint base
Face.
Further, the hoof pad is made of EP rubbers material.
Further, the hoof pad is slapped by screw with first time hoof and second time hoof palm is fixedly linked.
Further, the width of the base station is no more than the width of the link.
Further, the butt joint base is made of alloy material.
(3) advantageous effect
The present invention provides a kind of imitative blue sheep machinery foot, butt joint base and base station that the leg of robot passes through mechanical interface portion
It is fixedly linked, when robot is in upward slope or descending, the first hoof palm and the second hoof palm pass through the first rotating cylinder and the second rotating cylinder respectively
It is rotated around the first fixing axle and the second fixing axle so that the front end of hoof is less than rear end higher than rear end or front end, is convenient for machine
People hooked when going up a slope rock protrusion be conducive to climbing or when descending can teamed rock protrusion prevent from gliding, and before hoof
It is wide after point, it can be embedded in rock crevice and play fixed function, anti-sliding stop, while the rubber hoof pad elasticity and non-skid property of bottom
Good, tensile strength is high, can teamed rock protrusion, further avoid sliding, and be provided in hoof several preceding bourdon tubes with
Bourdon tube afterwards forms damping, buffering structure flexible in hoof, further improves non-skid property, is imitated to realize
Blue sheep foot greatly improves legged mobile robot and exists in the out-of-flatness movement over ground of the complex landforms such as rock surface, heavy grade
Walking performance on the out-of-flatness ground of the complex landforms such as rock surface, heavy grade, improves the stability of machine man-hour
And reliability, improve machine task efficiency.
Description of the drawings
Fig. 1 is a kind of positive structure diagram of imitative blue sheep machinery foot according to the present invention.
Fig. 2 is a kind of side structure schematic view of imitative blue sheep machinery foot according to the present invention.
Fig. 3 is a kind of ankle of imitative blue sheep machinery foot according to the present invention and the structural schematic diagram in mechanical interface portion.
Specific implementation mode
Embodiment according to the present invention is described in further details below in conjunction with the accompanying drawings.
In conjunction with Fig. 1~Fig. 3, a kind of imitative blue sheep machinery foot, including hoof, ankle and mechanical interface portion, hoof are cloot
Structure, hoof include the first hoof palm and the second hoof palm, and the first hoof is slapped and the second hoof palm is mutually symmetrical and the first hoof is slapped and the second hoof
The palm is the wide shape in front end point rear end, and the first hoof palm is divided into the hoof palm 1 and first time hoof palm 2 on first, and the second hoof, which is slapped, is divided into the
The hoof palm 3 and second time hoof slap 4 on two, and several preceding bourdon tubes 5 and rear spring are equipped between the hoof palm 1 and first time hoof palm 2 on first
Pipe 6 also is provided with preceding bourdon tube 5 and rear bourdon tube 6 on second between the hoof palm 3 and second time hoof palm 4, and first time hoof slaps 2 and second
The bottom of the lower hoof palm 4 is equipped with hoof pad 7, and ankle includes the first rotating cylinder 8 and the second rotating cylinder 11, and the first rotating cylinder 8 is set to hoof on first
The bottom at the top of the palm 1, the first rotating cylinder 8 is plane, and the bottom of the first rotating cylinder 8 and the top of the hoof palm 1 on first are fixedly linked, the
It is equipped with first bearing 9 in one rotating cylinder 8, the first fixing axle 10 is equipped in first bearing 9, the first fixing axle 10 runs through the first rotating cylinder 8
And the both sides of the first rotating cylinder 8 are stretched out in, the first rotating cylinder 8 can be rotated through first bearing 9 around the first fixing axle 10, the second rotating cylinder 11
The top of the hoof palm 3 on second, the bottom of the second rotating cylinder 11 are plane, and hoof slaps 3 on the bottom and second of the second rotating cylinder 11
Top is fixedly linked, and second bearing 12 is equipped in the second rotating cylinder 11, the second fixing axle 13 is equipped in second bearing 12, second fixes
Axis 13 runs through the second rotating cylinder 11 and stretches out in the both sides of the second rotating cylinder 11, and the second rotating cylinder 11 can be solid around second through second bearing 12
Dead axle 13 rotates, and stretches out in the first fixing axle 11 of 5 both sides of the first rotating cylinder and stretches out in the second of 11 both sides of the second rotating cylinder and fixes
Axis 13 is connected with link 14, and link 14 divides for transverse part and vertical part, and the lower surface of transverse part sets that there are four vertical parts, and vertical part is
U-shaped structure, upper end and the transverse part of vertical part are fixedly linked, and the lower end of two vertical parts of side and the both sides of the first fixing axle 10 are fixed
Connection, the lower end of two vertical parts of the other side and the both sides of the second fixing axle 13 are fixedly linked, and mechanical interface portion includes base station 15
With butt joint base 16, base station 15 is located at the upper surface of the transverse part of link 14, and the bottom of base station 15 and the transverse part of link 14 are fixed
It is connected, several butt joint bases 16 are set to the top of base station 15, and the upper surface of base station 15 is fixed in the leg of robot by butt joint base 16.
The leg of robot is fixed on the upper surface of base station 15 by the butt joint base 16 in mechanical interface portion, and connection and dismounting are all
It is very convenient.Butt joint base 16 is made of alloy material, and hardness is big, and corrosion resisting property is good, increases docking number, extends using the longevity
Life.Stability when walking for hoisting machine people, the width of base station 15 are no more than the width of link 14.
First hoof is slapped and the second hoof palm is the wide structure in front end point rear end, and the front end of hoof can be made to be embedded in rock when walking
Fixed function, anti-sliding stop are played in crack of stone gap.And if the first hoof the palm and the second hoof the palm in hoof up and down the palm between by
6 interconnection flexible of dry preceding bourdon tube 5 and rear bourdon tube, forms damping, buffering structure, further improves non-skid property, energy
Preferably adapt to the out-of-flatness ground of the complex landforms such as rock surface, heavy grade.The bottom of hoof is equipped with hoof pad 7, hoof pad 7 simultaneously
It is made of EP rubbers material, has extraordinary wearability, elasticity, oil resistant water resistance and tensile strength high so that bottom
More flexible, teamed rock is raised well for energy, further avoids sliding.Hoof pad 7 by screw and first time hoof palm 2 and
Second time hoof palm 4 is fixedly linked, and hoof pad 7 is detached with hoof during avoiding robot ambulation, improve stability and
Reliability.
When robot is in upward slope or descending, the first rotating cylinder 8 and the second rotating cylinder 11 are respectively around the first fixing axle 10 and
Two fixing axles 13 rotate, so that the first hoof palm being fixedly linked respectively with the first rotating cylinder 8 and the second rotating cylinder 11 and the second hoof
The palm rotates together so that the front end of hoof is less than rear end higher than rear end or front end, and rock is hooked when going up a slope convenient for robot
Protrusion be conducive to climbing or when descending can teamed rock protrusion prevent from gliding, imitate blue sheep foot in rock to realize
The out-of-flatness movement over ground of the complex landforms such as surface, heavy grade greatly improves legged mobile robot in rock surface, heavy grade
Walking performance on the out-of-flatness ground of equal complex landforms.
The present invention provides a kind of imitative blue sheep machinery foot, butt joint base and base station that the leg of robot passes through mechanical interface portion
It is fixedly linked, when robot is in upward slope or descending, the first hoof palm and the second hoof palm pass through the first rotating cylinder and the second rotating cylinder respectively
It is rotated around the first fixing axle and the second fixing axle so that the front end of hoof is less than rear end higher than rear end or front end, is convenient for machine
People hooked when going up a slope rock protrusion be conducive to climbing or when descending can teamed rock protrusion prevent from gliding, and before hoof
It is wide after point, it can be embedded in rock crevice and play fixed function, anti-sliding stop, while the rubber hoof pad elasticity and non-skid property of bottom
Good, tensile strength is high, can teamed rock protrusion, further avoid sliding, and be provided in hoof several preceding bourdon tubes with
Bourdon tube afterwards forms damping, buffering structure flexible in hoof, further improves non-skid property, is imitated to realize
Blue sheep foot greatly improves legged mobile robot and exists in the out-of-flatness movement over ground of the complex landforms such as rock surface, heavy grade
Walking performance on the out-of-flatness ground of the complex landforms such as rock surface, heavy grade, improves the stability of machine man-hour
And reliability, improve machine task efficiency.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and range is defined.Under the premise of not departing from design concept of the present invention, technology of the ordinary people in the field to the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It has all recorded in detail in the claims.
Claims (5)
1. a kind of imitative blue sheep machinery foot, including hoof, ankle and mechanical interface portion, it is characterised in that：The hoof is cloot
Structure, the hoof include the first hoof palm and the second hoof palm, and the first hoof palm and second hoof palm are mutually symmetrical and described
First hoof is slapped and second hoof palm is the wide shape in front end point rear end, and the first hoof palm is divided into the hoof palm and first on first
The lower hoof palm, the second hoof palm are divided into the hoof palm and second time hoof on second and slap, the hoof palm and first time hoof palm on described first
Between be equipped with several preceding bourdon tubes and rear bourdon tube, on described second the hoof palm and second time hoof also be provided between slapping it is described before
The bottom of bourdon tube and the rear bourdon tube, first time hoof palm and second time hoof palm is equipped with hoof pad, the ankle
Including the first rotating cylinder and the second rotating cylinder, first rotating cylinder is set to the top of the hoof palm on described first, the bottom of first rotating cylinder
Portion is plane, and the top that the bottom of first rotating cylinder is slapped with hoof on described first is fixedly linked, and is equipped in first rotating cylinder
First bearing, the first bearing is interior to be equipped with the first fixing axle, and first fixing axle is through first rotating cylinder and stretches out in
The both sides of first rotating cylinder, first rotating cylinder can be rotated through the first bearing around first fixing axle, and described
Two rotating cylinders are set to the top of the hoof palm on described second, and the bottom of second rotating cylinder is plane, the bottom of second rotating cylinder with
The top that hoof is slapped on described second is fixedly linked, and second bearing is equipped in second rotating cylinder, and the is equipped in the second bearing
Two fixing axles, second fixing axle run through second rotating cylinder and stretch out in the both sides of second rotating cylinder, described second turn
Cylinder can be rotated through the second bearing around second fixing axle, and stretch out in first rotating cylinder both sides described first is fixed
Axis and second fixing axle for stretching out in second rotating cylinder both sides are connected with link, and the link is divided into transverse part
And vertical part, the lower surface of the transverse part are set there are four vertical part, the vertical part is U-shaped structure, the upper end of the vertical part and the cross
Portion is fixedly linked, and the lower end of two vertical parts of side is fixedly connected with the both sides of first fixing axle, and the two of the other side
The lower end of a vertical part and the both sides of second fixing axle are fixedly linked, and the mechanical interface portion includes base station and docking
Seat, the base station are located at the upper surface of the transverse part of the link, and the bottom of the base station is described with the link
Transverse part is fixedly linked, and several butt joint bases are set to the top of the base station, and the leg of robot is fixed by the butt joint base
In the upper surface of described base station.
2. a kind of imitative blue sheep machinery foot according to claim 1, it is characterised in that：The hoof pad is by EP rubbers material system
At.
3. a kind of imitative blue sheep machinery foot according to claim 1, it is characterised in that：The hoof pad passes through screw and described the
Once the hoof palm and second time hoof palm are fixedly linked.
4. a kind of imitative blue sheep machinery foot according to claim 1, it is characterised in that：The width of the base station is no more than described
The width of link.
5. a kind of imitative blue sheep machinery foot according to claim 1, it is characterised in that：The butt joint base is by alloy material system
At.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810433213.1A CN108382489A (en) | 2018-05-08 | 2018-05-08 | A kind of imitative blue sheep machinery foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810433213.1A CN108382489A (en) | 2018-05-08 | 2018-05-08 | A kind of imitative blue sheep machinery foot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108382489A true CN108382489A (en) | 2018-08-10 |
Family
ID=63071365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810433213.1A Withdrawn CN108382489A (en) | 2018-05-08 | 2018-05-08 | A kind of imitative blue sheep machinery foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108382489A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334809A (en) * | 2018-12-05 | 2019-02-15 | 吉林大学 | A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm |
-
2018
- 2018-05-08 CN CN201810433213.1A patent/CN108382489A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334809A (en) * | 2018-12-05 | 2019-02-15 | 吉林大学 | A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm |
| CN109334809B (en) * | 2018-12-05 | 2020-01-03 | 吉林大学 | Imitative hard gentle coupling buffering antiskid hoof palm of rock sheep |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180810 |
|
| WW01 | Invention patent application withdrawn after publication |