CN108407919A - A kind of imitative blue sheep machinery foot of multiple degrees of freedom - Google Patents
A kind of imitative blue sheep machinery foot of multiple degrees of freedom Download PDFInfo
- Publication number
- CN108407919A CN108407919A CN201810433216.5A CN201810433216A CN108407919A CN 108407919 A CN108407919 A CN 108407919A CN 201810433216 A CN201810433216 A CN 201810433216A CN 108407919 A CN108407919 A CN 108407919A
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- China
- Prior art keywords
- hoof
- rotating cylinder
- palm
- pedestal
- fixing axle
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Classifications
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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
Abstract
The present invention provides a kind of multiple degrees of freedoms to imitate blue sheep machinery foot,Including hoof and ankle,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,,Present invention or so degree of freedom regulating mechanism can allow hoof side-to-side movement in the horizontal direction,Anterior-Posterior regulating mechanism can make the front end of hoof be less than rear end higher than rear end or front end,Multiple degree of freedom can be adjusted,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,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,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 multiple degrees of freedom imitates 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 multiple degrees of freedoms to imitate blue sheep machinery foot, and left and right degree of freedom is adjusted
Mechanism can allow hoof side-to-side movement in the horizontal direction, Anterior-Posterior regulating mechanism that the front end of hoof can be made to be higher than rear end or preceding
End is less than rear end, and multiple degree of freedom can be adjusted, and blue sheep foot is imitated in rock surface, heavy grade etc. to realize
The out-of-flatness movement over ground of complex landform hooks rock protrusion and is conducive to energy when climbing or descending when going up a slope convenient for robot
Enough teamed rock protrusions prevent from gliding, greatly improve legged mobile robot the complex landforms such as rock surface, heavy grade not
Walking performance in ground grading improves the stability and reliability of machine man-hour, improves the work effect of robot
Rate.
(2) technical solution
A kind of imitative blue sheep machinery foot of multiple degrees of freedom, including hoof and ankle, the hoof are cloot structure, the hoof
Including 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 described
The second hoof palm is the wide shape in front end point rear end, and first hoof palm is divided into the hoof palm and first time hoof palm on first, and described the
The two hoof palm is divided on second the hoof palm and second time hoof is slapped, equipped with before several between the hoof palm and first time hoof are slapped on described first
Bourdon tube and rear bourdon tube, on described second the hoof palm and second time hoof also be provided between slapping the preceding bourdon tube and it is described after
The bottom of bourdon tube, first time hoof palm and second time hoof palm is equipped with hoof pad, and the ankle includes Anterior-Posterior
Regulating mechanism and left and right degree of freedom regulating mechanism, the Anterior-Posterior regulating mechanism include the first rotating cylinder, first rotating cylinder
The top that hoof is slapped on described first, the bottom of first rotating cylinder are plane, the bottom of first rotating cylinder and described the
The top that hoof is slapped on one is fixedly linked, and first bearing is equipped in first rotating cylinder, and being equipped with first in the first bearing fixes
Axis, first fixing axle run through first rotating cylinder and stretch out in the both sides of first rotating cylinder, and first rotating cylinder is through institute
Stating first bearing can rotate around first fixing axle, stretch out in first fixing axle of first rotating cylinder both sides and set
There are the first link, first link to be fixedly linked with first fixing axle, the Anterior-Posterior regulating mechanism is also
Including the second rotating cylinder, second rotating cylinder is set to the top of the hoof palm on described second, and the bottom of second rotating cylinder is plane, institute
The bottom and the top of the hoof palm on described second for stating the second rotating cylinder are fixedly linked, and second bearing, institute are equipped in second rotating cylinder
It states and is equipped with the second fixing axle in second bearing, second fixing axle is through second rotating cylinder and stretches out in second rotating cylinder
Both sides, second rotating cylinder can rotate through the second bearing around second fixing axle, stretch out in second rotating cylinder
Second fixing axle of both sides is equipped with the second link, and second link is fixedly linked with second fixing axle,
The left and right degree of freedom regulating mechanism includes pedestal, and the leg of the top connection robot of the pedestal, the pedestal is hollow
Structure, the inside top of the pedestal it is placed in the middle be equipped with driving motor, the pedestal is fixed in the bottom of the driving motor
The drive shaft of inside top, the driving motor runs through the bottom of the pedestal and stretches out in the bottom outside of the pedestal, institute
The end for stating drive shaft is connected with driving gear, and the bottom outside of the pedestal is symmetrically equipped with first support bar and second
The bottom side of the pedestal, the other end connection of the first support bar are fixed in strut, one end of the first support bar
First transmission gear, first transmission gear can be rotated around the first support bar, first transmission gear with it is described
Driving gear is meshed, and first transmission gear is fixed on the top of first link, and the one of the second support bar
The bottom other side of the pedestal is fixed at end, and the other end of the second support bar connects the second transmission gear, and described second
Transmission gear can be rotated around the second support bar, and second transmission gear is meshed with the driving gear, and described
Two transmission gears are fixed on the top of second link.
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 driving motor selects RS-380SH type stepper motors.
Further, the top of the pedestal is equipped with mechanical interface, and the leg of robot passes through the mechanical interface and institute
Pedestal is stated to be fixedly linked.
(3) advantageous effect
The present invention provides a kind of multiple degrees of freedoms to imitate blue sheep machinery foot, and left and right degree of freedom regulating mechanism passes through driving motor band
Dynamic driving gear horizontal direction left-right rotation, driving gear band moves the first transmission gear and the second transmission gear, before driving
Degree of freedom regulating mechanism and hoof carry out horizontal direction side-to-side movement afterwards, flexibly turning to for hoof are realized, in upward slope or descending
When, the first hoof palm and the second hoof palm are rotated by the first rotating cylinder and the second rotating cylinder around the first fixing axle and the second fixing axle respectively,
So that the front end of hoof is less than rear end higher than rear end or front end, rock protrusion is hooked when going up a slope convenient for robot and is conducive to climbing
Or when descending can teamed rock protrusion prevent from gliding, and it is wide after hoof paracone, can be embedded in rock crevice to play and consolidate
It is set for using, anti-sliding stop, while the rubber hoof pad elasticity and non-skid property of bottom are good, tensile strength is high, and the teamed rock of energy is convex
It rises, further avoids sliding, and be provided with several preceding bourdon tubes and rear bourdon tube in hoof, formd in hoof flexible
Damping, buffering structure, further improves non-skid property, and multiple degree of freedom can be adjusted, and blue sheep is imitated to realize
Foot greatly improves legged mobile robot in rock 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 surface, heavy grade, improve machine man-hour stability and can
By property, machine task efficiency is improved.
Description of the drawings
Fig. 1 is the positive structure diagram that a kind of multiple degrees of freedom according to the present invention imitates blue sheep machinery foot.
Fig. 2 is the side structure schematic view that a kind of multiple degrees of freedom according to the present invention imitates blue sheep machinery foot.
Fig. 3 is the structure for the Anterior-Posterior regulating mechanism that a kind of multiple degrees of freedom according to the present invention imitates blue sheep machinery foot
Schematic diagram.
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 of multiple degrees of freedom, including hoof and ankle, hoof are cloot knot
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 palm and the second hoof are slapped
It is the wide shape in front end point rear end, the first hoof palm is divided into the hoof palm 1 and first time hoof palm 2, the second hoof palm on first and is divided into second
The upper hoof palm 3 and second time hoof slap 4, and several preceding bourdon tubes 5 and rear bourdon tube are equipped between the hoof palm 1 and first time hoof palm 2 on first
6, preceding bourdon tube 5 and rear bourdon tube 6 also are provided between the hoof palm 3 and second time hoof palm 4 on second, and first time hoof is slapped under 2 and second
The bottom of the hoof palm 4 is equipped with hoof pad 7, and ankle includes Anterior-Posterior regulating mechanism and left and right degree of freedom regulating mechanism, it is front and back from
Include the first rotating cylinder 8 by degree regulating mechanism, the first rotating cylinder 8 is set to the top of the hoof palm 1 on first, and the bottom of the first rotating cylinder 8 is flat
Face, the bottom of the first rotating cylinder 8 and the top of the hoof palm 1 on first are fixedly linked, and first bearing 9, first axle are equipped in the first rotating cylinder 8
It holds and is equipped with the first fixing axle 10 in 9, the first fixing axle 10 runs through the first rotating cylinder 8 and stretches out in the both sides of the first rotating cylinder 8, first turn
Cylinder 8 can be rotated through first bearing 9 around the first fixing axle 10, and the first fixing axle 10 for stretching out in 8 both sides of the first rotating cylinder is equipped with
First link 11, the first link 11 are fixedly linked with the first fixing axle 10, and Anterior-Posterior regulating mechanism further includes second
Rotating cylinder 13, the second rotating cylinder 13 are set to the top of the hoof palm 3 on second, and the bottom of the second rotating cylinder 13 is plane, the bottom of the second rotating cylinder 13
Portion and the top of the hoof palm 3 on second are fixedly linked, and second bearing is equipped in the second rotating cylinder 13, and being equipped with second in second bearing fixes
Axis 14, the second fixing axle 14 run through the second rotating cylinder 13 and stretch out in the both sides of the second rotating cylinder 13, and the second rotating cylinder 13 is through second bearing
It can be rotated around the second fixing axle 14, the second fixing axle 14 for stretching out in 13 both sides of the second rotating cylinder is equipped with the second link 15,
Second link 15 is fixedly linked with the second fixing axle 14, and left and right degree of freedom regulating mechanism includes pedestal 18, the top of pedestal 18
Connect the leg of robot, pedestal 18 is hollow structure, the inside top of pedestal 18 it is placed in the middle be equipped with driving motor 19, driving electricity
The inside top of pedestal 18 is fixed in the bottom of machine 19, and the drive shaft 20 of driving motor 19 through the bottom of pedestal 18 and stretches out in
The end of the bottom outside of pedestal 18, drive shaft 20 is connected with driving gear 17, and the bottom outside of pedestal 18 is symmetrically equipped with
The bottom side of pedestal 18, the first support are fixed in first support bar 21 and second support bar 22, one end of first support bar 21
The other end of bar 21 connects the first transmission gear 12, and the first transmission gear 12 can be rotated around first support bar 21, the first transmission
Gear 12 is meshed with driving gear 17, and the first transmission gear 12 is fixed on the top of the first link 11, second support bar 22
One end be fixed on the bottom other side of pedestal 18, the other end of second support bar 22 connects the second transmission gear 16, and second passes
Moving gear 16 can be rotated around second support bar 22, and the second transmission gear 16 is meshed with driving gear 17, the second transmission gear
16 are fixed on the top of the second link 15.
18 top of pedestal is equipped with mechanical interface, is connected for the leg with robot, while being also convenient for dismantling.Robot
When walking, the driving motor 19 of horizontal degree of freedom regulating mechanism works, and drive shaft 20 does the left-right rotation of horizontal direction, drive shaft
20 drive the left-right rotation for driving gear 17 to do horizontal direction together.First transmission gear 12 and the second transmission gear 16 with drive
Moving gear 17 is meshed, to drive gear 17 that the first transmission gear 12 is driven to do synchronous level side with the second transmission gear 16
To left-right rotation, driven that Anterior-Posterior regulating mechanism and the first hoof are slapped and the second hoof palm does the left side of horizontal direction together
It turns right dynamic, realizes flexibly turning to for hoof.Driving motor 19 selects RS-380SH type stepper motors, can very easily set
The step frequency of driving motor 19, to adjust the speed of rotation of drive shaft 20.
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 13 are respectively around the first fixing axle 10 and
Two fixing axles 14 rotate, so that the first hoof palm being fixedly linked respectively with the first rotating cylinder 8 and the second rotating cylinder 13 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 multiple degrees of freedoms to imitate blue sheep machinery foot, and left and right degree of freedom regulating mechanism passes through driving motor band
Dynamic driving gear horizontal direction left-right rotation, driving gear band moves the first transmission gear and the second transmission gear, before driving
Degree of freedom regulating mechanism and hoof carry out horizontal direction side-to-side movement afterwards, flexibly turning to for hoof are realized, in upward slope or descending
When, the first hoof palm and the second hoof palm are rotated by the first rotating cylinder and the second rotating cylinder around the first fixing axle and the second fixing axle respectively,
So that the front end of hoof is less than rear end higher than rear end or front end, rock protrusion is hooked when going up a slope convenient for robot and is conducive to climbing
Or when descending can teamed rock protrusion prevent from gliding, and it is wide after hoof paracone, can be embedded in rock crevice to play and consolidate
It is set for using, anti-sliding stop, while the rubber hoof pad elasticity and non-skid property of bottom are good, tensile strength is high, and the teamed rock of energy is convex
It rises, further avoids sliding, and be provided with several preceding bourdon tubes and rear bourdon tube in hoof, formd in hoof flexible
Damping, buffering structure, further improves non-skid property, and multiple degree of freedom can be adjusted, and blue sheep is imitated to realize
Foot greatly improves legged mobile robot in rock 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 surface, heavy grade, improve machine man-hour stability and can
By property, machine task efficiency is improved.
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 multiple degrees of freedom imitates blue sheep machinery foot, including hoof and ankle, it is characterised in that：The hoof is cloot knot
Structure, the hoof include the first hoof palm and the second hoof palm, and first hoof palm and second hoof palm are mutually symmetrical and described the
One hoof is slapped and second hoof palm is the wide shape in front end point rear end, and the first hoof palm is divided on first under the hoof palm and first
Hoof is slapped, and the second hoof palm is divided into the hoof palm and second time hoof on second and slaps, and the hoof palm and first time hoof slap it on described first
Between be equipped with several preceding bourdon tubes and rear bourdon tube, the hoof palm and second time hoof also are provided with the preceding bullet between slapping on described second
The bottom of reed pipe and the rear bourdon tube, first time hoof palm and second time hoof palm is equipped with hoof pad, the ankle packet
Anterior-Posterior regulating mechanism and left and right degree of freedom regulating mechanism are included, the Anterior-Posterior regulating mechanism includes the first rotating cylinder,
First rotating cylinder is set to the top of the hoof palm on described first, and the bottom of first rotating cylinder is plane, first rotating cylinder
Bottom and the top that hoof is slapped on described first are fixedly linked, and are equipped with first bearing in first rotating cylinder, in the first bearing
Equipped with the first fixing axle, first fixing axle runs through first rotating cylinder and stretches out in the both sides of first rotating cylinder, described
First rotating cylinder can be rotated through the first bearing around first fixing axle, stretch out in described the of first rotating cylinder both sides
One fixing axle is equipped with the first link, and first link is fixedly linked with first fixing axle, described front and back free
It further includes the second rotating cylinder to spend regulating mechanism, and second rotating cylinder is set to the top of the hoof palm on described second, second rotating cylinder
Bottom is plane, and the top that the bottom of second rotating cylinder is slapped with hoof on described second is fixedly linked, and is set in second rotating cylinder
There is second bearing, the second fixing axle is equipped in the second bearing, second fixing axle is through second rotating cylinder and stretches out
In the both sides of second rotating cylinder, second rotating cylinder can be rotated through the second bearing around second fixing axle, be stretched out
Second fixing axle in second rotating cylinder both sides is equipped with the second link, and second link is solid with described second
Dead axle is fixedly linked, and the left and right degree of freedom regulating mechanism includes pedestal, the leg of the top connection robot of the pedestal, institute
It is hollow structure to state pedestal, the inside top of the pedestal it is placed in the middle be equipped with driving motor, the bottom of the driving motor is fixed
Through the bottom of the pedestal and the pedestal is stretched out in the drive shaft of the inside top of the pedestal, the driving motor
The end of bottom outside, the drive shaft is connected with driving gear, and the bottom outside of the pedestal is symmetrically equipped with first
The bottom side of the pedestal, the first support bar are fixed in strut and second support bar, one end of the first support bar
The other end connect the first transmission gear, first transmission gear can rotate around the first support bar, first biography
Moving gear is meshed with the driving gear, and first transmission gear is fixed on the top of first link, and described
The bottom other side of the pedestal is fixed in one end of two supporting rods, and the other end of the second support bar connects the second driving cog
Wheel, second transmission gear can be rotated around the second support bar, second transmission gear and the driving gear phase
Engagement, second transmission gear are fixed on the top of second link.
2. a kind of multiple degrees of freedom according to claim 1 imitates blue sheep machinery foot, it is characterised in that：The hoof pad is by the third rubber of second
Glue material is made.
3. a kind of multiple degrees of freedom according to claim 1 imitates blue sheep machinery foot, it is characterised in that：The hoof pad passes through screw
It is fixedly linked with first time hoof palm and second time hoof palm.
4. a kind of multiple degrees of freedom according to claim 1 imitates blue sheep machinery foot, it is characterised in that：The driving motor is selected
RS-380SH type stepper motors.
5. a kind of multiple degrees of freedom according to claim 1 imitates blue sheep machinery foot, it is characterised in that：It is set at the top of the pedestal
There are mechanical interface, the leg of robot to be fixedly linked by the mechanical interface and the pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810433216.5A CN108407919A (en) | 2018-05-08 | 2018-05-08 | A kind of imitative blue sheep machinery foot of multiple degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810433216.5A CN108407919A (en) | 2018-05-08 | 2018-05-08 | A kind of imitative blue sheep machinery foot of multiple degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108407919A true CN108407919A (en) | 2018-08-17 |
Family
ID=63138204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810433216.5A Withdrawn CN108407919A (en) | 2018-05-08 | 2018-05-08 | A kind of imitative blue sheep machinery foot of multiple degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108407919A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110876622A (en) * | 2019-11-05 | 2020-03-13 | 吉林大学 | Method for testing foot stepping pressure of imitated goat legs |
-
2018
- 2018-05-08 CN CN201810433216.5A patent/CN108407919A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110876622A (en) * | 2019-11-05 | 2020-03-13 | 吉林大学 | Method for testing foot stepping pressure of imitated goat legs |
| CN110876622B (en) * | 2019-11-05 | 2022-02-11 | 吉林大学 | Method for testing foot stepping pressure of imitated goat legs |
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Application publication date: 20180817 |