CN109677502A - A kind of robot bionic foot mechanism and biped robot - Google Patents
A kind of robot bionic foot mechanism and biped robot Download PDFInfo
- Publication number
- CN109677502A CN109677502A CN201910074991.0A CN201910074991A CN109677502A CN 109677502 A CN109677502 A CN 109677502A CN 201910074991 A CN201910074991 A CN 201910074991A CN 109677502 A CN109677502 A CN 109677502A
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- connecting rod
- forefoot
- robot
- foot mechanism
- buffer unit
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- 230000007246 mechanism Effects 0.000 title claims abstract description 68
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 17
- 210000004744 fore-foot Anatomy 0.000 claims abstract description 43
- 210000002683 foot Anatomy 0.000 claims abstract description 31
- 210000000548 hind-foot Anatomy 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 13
- 210000002414 leg Anatomy 0.000 description 6
- 239000002360 explosive Substances 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- GQWNECFJGBQMBO-UHFFFAOYSA-N Molindone hydrochloride Chemical compound Cl.O=C1C=2C(CC)=C(C)NC=2CCC1CN1CCOCC1 GQWNECFJGBQMBO-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000126 substance 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
Abstract
The invention discloses a kind of robot bionic foot mechanism and biped robots, it solves the problems, such as that weight bearing ability in walking process in the prior art and impact resistance are poor, has the effect of to enhance weight bearing ability in walking process and impact resistance, easy to loading and unloading；Its technical solution are as follows: including the forefoot and hind paw being separated from each other, Buffer Unit is set, the Buffer Unit side is connected by first connecting rod mechanism with forefoot, and the other side is connected by second connecting rod mechanism with sole between forefoot and hind paw；Wherein, the piston mechanism for controlling walking amplitude is installed between forefoot and first connecting rod mechanism.
Description
Technical field
The present invention relates to robot field more particularly to a kind of robot bionic foot mechanism and biped robots.
Background technique
Currently, walking adaptability of the foot mechanism of bipod walking robot on different type ground can not show a candle to the mankind,
The foot mechanism design of most walking robots is relatively simple, is difficult to imitate the walking motion of the mankind, and simple foot completely
Portion's structure usually can generate biggish impact to robot in quick movement or weight bearing, be unfavorable for realizing flexible control and fortune
It is dynamic, robot part life can be reduced when serious or even is damaged.
When by mankind's normal walking, a certain stage be forward and backward sole shape have an effect in an angle step in next step, with
This can play certain buffering effect by heel string between sole and ankle simultaneously.And inventors have found that current some biped rows
The design of forward and backward sole is integrated by the foot of robot walking, although can satisfy the requirement walked substantially, is difficult really to simulate
Movement as the mankind, there are limitations in terms of walking speed, impact resistance and adaptability.
In addition, foot and the direct rigid attachment of leg are passed through control knee joint and leg by some biped robot's foot mechanisms
The effect to realize normal walking is acted, does not have buffer unit between foot and leg, will be greatly reduced robot ambulation in this way
Weight bearing ability and impact resistance in the process, limit its application range and application to a certain extent.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of robot bionic foot mechanisms, and having can
Enhance the weight bearing ability and impact resistance, effect easy to loading and unloading in walking process.
A kind of robot bionic foot mechanism, including the forefoot and hind paw being separated from each other, forefoot and hind paw it
Between Buffer Unit is set, the Buffer Unit side is connected by first connecting rod mechanism with forefoot, and the other side passes through the second company
Linkage is connected with sole；
Wherein, the piston mechanism for controlling walking amplitude is installed between forefoot and first connecting rod mechanism.
Further, the Buffer Unit outer circumferential has interconnecting piece, mounting body support portion below Buffer Unit.
Further, the Buffer Unit includes spring and spring guide, and the body supports portion has guide post；
Spring pocket is set on the outside of guide post and generates elastic force between spring guide and body supports portion.
Further, the spring guide includes sleeve and its socket cover being detachably connected, and the sleeve is far from sleeve
Lid one end has pressing plate, contacts on the inside of pressing plate with spring one end.
Further, the body supports portion includes the central supported being connected with guide post, and central supported two sides are equipped with difference
The first connecting rod being connected with forefoot, the second connecting rod being connected with hind paw；
The sliding being slidably connected with spring guide is installed to buckle at the top of the guide post.
Further, the interconnecting piece includes central connector, and central connector surface has multiple positioning regions, and center connects
Fitting two sides are equipped with the third connecting rod being connected respectively with first connecting rod mechanism, the fourth link being connected with second connecting rod mechanism.
Further, the interconnecting piece is connected by positioning region with spherical housing.
Further, the piston mechanism includes the slide bar hinged with first connecting rod mechanism and the hinged guiding of forefoot
Cylinder, the slide bar are slidably connected with guide cylinder.
Further, the bottom surface of the hind paw and forefoot has several alternate protrusions and groove, plays anti-skidding work
With.
Further, there is spacing between the hind paw and forefoot.
The present invention also provides a kind of biped robots, effectively improve the reliability and control of entire biped robot
Convenience comprising above-mentioned bionical foot mechanism.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention installs Buffer Unit between forefoot and hind paw, and Buffer Unit cooperates multi-connecting-rod mechanism, can
Enhance the weight bearing ability and impact resistance in walking process, keeps its application range and application more extensive；
(2) slide bar of the invention and guide cylinder constitute piston mechanism, and slide bar can slide up and down in guide cylinder, and pass through
Wire support member is connect with hind paw, to control the walking amplitude of forward and backward sole；
(3) present invention is easy to loading and unloading, effectively improves the reliability of entire biped robot and the convenience of control.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the overall structure diagram of the embodiment of the present invention one；
Fig. 2 is the laid-flat status schematic diagram of internal structure of the embodiment of the present invention one；
Fig. 3 is the lifting status schematic diagram of internal structure of the embodiment of the present invention one；
Fig. 4 is the explosive view of the embodiment of the present invention one；
Fig. 5 is the piston mechanism structural schematic diagram of the embodiment of the present invention one；
Fig. 6 is the piston mechanism explosive view of the embodiment of the present invention one；
Fig. 7 is the spring guide structural schematic diagram of the embodiment of the present invention one；
Fig. 8 is the spring guide explosive view of the embodiment of the present invention one；
Fig. 9 is the body supports portion structural schematic diagram of the embodiment of the present invention one；
Figure 10 is the spring guide and body supports portion fit structure schematic diagram of the embodiment of the present invention one；
Figure 11 is the spring guide and body supports portion assembling schematic diagram of the embodiment of the present invention one；
Figure 12 is the spring extended state diagram of the embodiment of the present invention one；
Figure 13 is the spring-compressed status diagram of the embodiment of the present invention one；
Figure 14 is the spherical housing structural schematic diagram of the embodiment of the present invention one；
Figure 15 is the interconnecting piece structural schematic diagram of the embodiment of the present invention one；
Figure 16 is the forefoot of the embodiment of the present invention one, hind paw bottom substance schematic diagram；
Wherein, 1, forefoot shell, 2, hind paw shell, 3, connected with outer casing, 4, spherical housing, 5, forefoot, 6, the rear foot
The palm, the 7, the 5th connecting rod, 8, six-bar linkage, 9, slide bar, the 91, first connector, 92, the body of rod；
10, guide cylinder, 101, cylinder, the 102, second connector, 11, seven-link assembly, 12, interconnecting piece, 121, positioning region,
122, central connector, 123, third connecting rod, 124, fourth link；
13, spring guide, 131, socket cover, 132, sleeve, 133, pressing plate, 14, gasket, 15, nut, 16, spring, 17,
8th connecting rod, 18, body supports portion, 181, central supported, 182, guide post, 183, sliding buckle, 184, spacing collar, 185, the
One connecting rod, 186, second connecting rod.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
As background technique is introduced, exist in the prior art weight bearing ability in walking process and impact resistance compared with
The deficiency of difference, in order to solve technical problem as above, present applicant proposes a kind of robot bionic foot mechanism and biped machines
People.
Embodiment one:
As shown in Fig. 1-Figure 16, a kind of robot bionic foot mechanism, including forefoot 5, the rear foot are present embodiments provided
The palm 6, forefoot shell 1, hind paw shell 2, connected with outer casing 3, spherical housing 4, Buffer Unit, piston mechanism, interconnecting piece 12, master
Body support portion 18, first connecting rod mechanism, second connecting rod mechanism etc..
Forefoot 5 and hind paw 6 are separate structure, there is certain spacing therebetween, guarantee forefoot 5 and hind paw 6
It will not be interfered with each other when movement；The design seperated with hind paw 6 of forefoot 5, can overcome integral structure right in the process of walking
Limitation in terms of walking speed, impact resistance and adaptability.
The specific structure of forefoot 5 and hind paw 6 can be designed according to its purposes.
In some embodiments, the bottom surface of forefoot 5 and hind paw 6 has several alternate protrusions and groove, such as schemes
Shown in 16, the surface of the protrusion is plane；By setting protrusion, groove to increase the frictional force with ground, to enhance row
Walk stability.
The forefoot 5, hind paw 6 upper surface have several hinged seats, for connect first connecting rod mechanism, second connect
Linkage and body supports portion 18.
As shown in figure 9, body supports portion 18 includes central supported 181, guide post 182, first connecting rod 185, second connecting rod
186, guide post 182 is fixed on the top of central supported 181, and 182 size of guide post is less than 181 size of central supported.
182 top of guide post (far from central supported 181) one end is fixed with sliding buckle 183, and sliding buckle 183 is for cooperating
Buffer Unit.
Preferably, sliding buckle 183 is greater than the cylinder chip architecture of guide post 184 for diameter.
The upper surface of the central supported 181 is additionally provided with spacing collar 184, and spacing collar 184 is sheathed on outside guide post 182
Side, and 184 height of spacing collar is less than 182 height of guide post, and certain effect of contraction is played to Buffer Unit.
In the present embodiment, for the flexibility of foot mechanism movement, central supported 181 is set as cylindrical structure.
The fixed first connecting rod 185 in the side of central supported 181, the fixed second connecting rod 186 in the other side, first connecting rod 185 with
Forefoot 5 is hinged, and second connecting rod 186 and hind paw 6 are hinged.
The Buffer Unit includes spring 16, spring guide 13, wherein and spring guide 13 is as shown in Figure 7 and Figure 8, including
Socket cover 131, sleeve 132 and pressing plate 133, socket cover 131 is installed on 132 top of sleeve, and the two is to be threadedly coupled.
The longitudinal cross-section of socket cover 131 is T-shaped, and top surface has column, and column is configured with screw thread；Socket cover 131
Column be fixedly connected by nut 15, gasket 14 with spherical housing 4.
Sleeve 132 is the internal cylindrical structure with cavity, and inside top has screw thread；The sleeve 132 is separate
131 one end of socket cover has pressing plate 133, and pressing plate 133 is structure as a whole with sleeve 132.
Further, 132 outer circumferential of sleeve, inside are respectively provided with pressing plate 133, and the pressing plate 133 is in circular ring shape, such as Fig. 7
It is shown；Pressing plate 133 is used for compressed spring.
As shown in Figure 10 and Figure 11, sliding buckle 183 is installed on inside sleeve 132, and passes through the pressing plate 133.
As shown in Figure 12 and Figure 13, spring 16 is sheathed on 184 outside of guide post, and one end is contacted with pressing plate 133, the other end
Set on 184 inside of spacing collar, spacing collar 184 plays certain effect of contraction to spring 16.
Spring 16 carries out stretching motion in pressing plate 133 and central supported 181.
As shown in figure 15, interconnecting piece 12 includes central connector 122, third connecting rod 123, fourth link 124 and multiple fixed
Position portion 121, multiple positioning regions 121 are set to 122 surface of central connector.
In the present embodiment, central connector 122 is in circular ring structure, and third connecting rod 123 is fixed on central connector 122 1
Side, fourth link 124 are fixed on 122 other side of central connector.
It preferably, is in cylindrical structure there are four positioning regions 121, it is circumferential arranged symmetrically along central connector 122, it is used for
The installation of spherical housing 4 positions.
Third connecting rod 123 is hinged by first connecting rod mechanism and forefoot 5, and fourth link 124 passes through second connecting rod mechanism
It is hinged with hind paw 6.
As shown in figure 14, spherical housing 4 includes shell 41 and fixed plate 42, and fixed plate 42 is installed on inside shell 41.
Shell 41 is used to connect the leg mechanism of robot, and spherical structure keeps mechanism action more flexible.
42 center of fixed plate has the centre bore for passing through at the top of socket cover 131, and the column of socket cover 131 passes through described
Centre bore is simultaneously fixed by gasket 14, nut 15.
Centre bore circumferentially has location hole compatible with positioning region 121, and the positioning region 121 passes through location hole.
First connecting rod mechanism, second connecting rod mechanism can specifically be designed according to purposes, the figure of robot.
In some embodiments, the first connecting rod mechanism includes the 5th connecting rod 7, six-bar linkage 8 and seven-link assembly 11,
11 one end of seven-link assembly and third connecting rod 123 are hinged, and 11 other end of seven-link assembly and first connecting rod 5 are hinged.
One end of 5th connecting rod 5 and forefoot 5 are hinged, and the other end of the 5th connecting rod 5 and 8 one end of six-bar linkage are hinged, institute
It is hinged by piston mechanism and forefoot 5 to state 8 other end of six-bar linkage.
Further, there are two seven-link assemblies 11,8 two sides of six-bar linkage are respectively arranged on.
The second connecting rod mechanism includes the 8th connecting rod 17, and 17 one end of the 8th connecting rod and fourth link 124 are hinged, the other end
It is hinged with hind paw 6.
Further, there are two the 8th connecting rods 17,186 two sides of second connecting rod are respectively arranged on.
In the present embodiment, the 8th connecting rod 17 is of an L-shaped structure.
Piston mechanism includes slide bar 9 and guide cylinder 10, and slide bar 9 and guide cylinder 10 are slidably connected, and slide bar 9 can be in guide cylinder
It is slided up and down in 10；It is hinged further through body supports portion 18 and hind paw 6 since piston mechanism and forefoot 5 are hinged, to control
The walking amplitude of forefoot 5 processed, hind paw 6.
Further, as shown in fig. 6, the slide bar 9 includes the first connector 91 and the body of rod 92, the first connector 91 and bar
92 one end of body is to be threadedly coupled, and 92 other end of the body of rod has protruding block.
The guide cylinder 10 includes cylinder 101 and the second connector 102, and the second connector 102 is screw thread company with cylinder 101
It connects.
Cylinder 101 is the internal cylindrical structure with cavity, and the body of rod 92 is set to inside cylinder 101, and can be in cylinder 101
Inside is mobile；The protruding block of 92 end of the body of rod can be avoided the body of rod 92 and skid off cylinder 101.
First connector 91 and six-bar linkage 8 are hinged, and the second connector 102 is hinged with forefoot 5, and the two is interconnecting piece
Part is not construed as limiting its shape as long as can be realized hingedly.
Forefoot shell 1 is installed, first connecting rod mechanism is coated on inside, forefoot by forefoot shell 1 above forefoot 5
Connected with outer casing 3 can be set in 1 front end of shell, coordinates structure more；Hind paw shell 2 is installed, outside hind paw above hind paw 6
Second connecting rod mechanism is coated on inside by shell 2.
Forefoot shell 1, hind paw shell 2 structure can specifically be arranged according to requirements.
The present embodiment combines Buffer Unit with multi-connecting-rod mechanism, it can be achieved that in quick walking, bear a heavy burden different areas of activity
It uses, is applicable to various foot robots, it is easy to loading and unloading, effectively increase the reliability and control of entire biped robot
Convenience.
Embodiment two:
A kind of biped robot is present embodiments provided, the bionical foot mechanism including two embodiments one is described bionical
The spherical housing of foot mechanism is connected with leg mechanism, realizes the flexible connection with leg mechanism by Buffer Unit, increases machine
Weight bearing ability and impact resistance in device people's walking process.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of robot bionic foot mechanism, which is characterized in that including the forefoot and hind paw being separated from each other, forefoot and
Buffer Unit is set between hind paw, and the Buffer Unit side is connected by first connecting rod mechanism with forefoot, and the other side is logical
Second connecting rod mechanism is crossed to be connected with sole；
Wherein, the piston mechanism for controlling walking amplitude is installed between forefoot and first connecting rod mechanism.
2. a kind of robot bionic foot mechanism according to claim 1, which is characterized in that the Buffer Unit week is outward
Side has interconnecting piece, mounting body support portion below Buffer Unit.
3. a kind of robot bionic foot mechanism according to claim 2, which is characterized in that the Buffer Unit includes bullet
Spring and spring guide, the body supports portion have guide post；
Spring pocket is set on the outside of guide post and generates elastic force between spring guide and body supports portion.
4. a kind of robot bionic foot mechanism according to claim 3, which is characterized in that the spring guide includes set
Cylinder and its socket cover being detachably connected, the sleeve have pressing plate far from socket cover one end, connect on the inside of pressing plate with spring one end
Touching.
5. a kind of robot bionic foot mechanism according to claim 3, which is characterized in that the body supports portion includes
The central supported being connected with guide post, central supported two sides are equipped with the first connecting rod being connected respectively with forefoot, are connected with hind paw
Second connecting rod；
The sliding being slidably connected with spring guide is installed to buckle at the top of the guide post.
6. a kind of robot bionic foot mechanism according to claim 2, which is characterized in that the interconnecting piece includes center
Connector, central connector surface have multiple positioning regions, and central connector two sides are equipped with to be connected with first connecting rod mechanism respectively
Third connecting rod, the fourth link that is connected with second connecting rod mechanism.
7. a kind of robot bionic foot mechanism according to claim 6, which is characterized in that the interconnecting piece passes through positioning
Portion is connected with spherical housing.
8. a kind of robot bionic foot mechanism according to claim 1, which is characterized in that the piston mechanism include with
The hinged slide bar of first connecting rod mechanism and the hinged guide cylinder of forefoot, the slide bar are slidably connected with guide cylinder.
9. a kind of robot bionic foot mechanism according to claim 1, which is characterized in that the hind paw and forefoot
Bottom surface have several alternate protrusions and groove.
10. a kind of biped robot, which is characterized in that including the bionical foot mechanism as described in claim 1-9 is any.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910074991.0A CN109677502B (en) | 2019-01-25 | 2019-01-25 | Robot bionic foot mechanism and biped robot |
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| CN201910074991.0A CN109677502B (en) | 2019-01-25 | 2019-01-25 | Robot bionic foot mechanism and biped robot |
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| CN109677502A true CN109677502A (en) | 2019-04-26 |
| CN109677502B CN109677502B (en) | 2024-03-26 |
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| CN113353171A (en) * | 2021-05-26 | 2021-09-07 | 武汉理工大学 | Split type cross shaft pair mechanical leg foot end mechanism |
| CN113879420A (en) * | 2021-08-30 | 2022-01-04 | 中国北方车辆研究所 | Passively switched anti-slip foot |
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