CN110682304A - Shock-resistant and shock-absorbing mechanical foot for robot - Google Patents
Shock-resistant and shock-absorbing mechanical foot for robot Download PDFInfo
- Publication number
- CN110682304A CN110682304A CN201910981249.8A CN201910981249A CN110682304A CN 110682304 A CN110682304 A CN 110682304A CN 201910981249 A CN201910981249 A CN 201910981249A CN 110682304 A CN110682304 A CN 110682304A
- Authority
- CN
- China
- Prior art keywords
- main
- shaft
- ankle
- barrel
- auxiliary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an impact-resistant shock-absorption mechanical foot for a robot, which is arranged at the end part of a lower leg of the robot, and comprises a foot plate component, an ankle bone barrel component and a root bone, wherein the bottom end of the ankle bone barrel component is connected with the foot plate component, the outer wall of the ankle bone barrel component is fixedly connected to the root bone, and the root bone is connected to the end part of the lower leg. Ankle bone section of thick bamboo subassembly includes the main barrel, fold and press the subassembly, vice barrel subassembly, main piston, the ankle bone axle, be the main cavity room in the main barrel, main piston installs in the main cavity room and can follow the indoor wall of main cavity and slide from top to bottom, the terminal surface is equipped with the ankle bone axle under the main piston, ankle bone axle downwardly extending passes on main barrel terminal surface is connected to the sufficient board subassembly, vice barrel subassembly sets up on main barrel upper portion, vice barrel subassembly inner space is connected to in the main cavity room, main piston upper portion space and vice barrel subassembly in the main cavity room are filled with fluid, fold and press the subassembly to stretch into in the fluid, fold and press the subassembly operation with fluid towards main piston pressure feed.
Description
Technical Field
The invention relates to the field of robots, in particular to an impact-resistant cushioning mechanical foot for a robot.
Background
The robot needs mechanical feet for walking, and when the robot walks, jumps or the ground is uneven and goes up and down steps, the mechanical feet can receive impact force. Corresponding buffering is required.
In the prior art, generally, the bottom of a machine foot is added with an elastic body such as a cushion pad or a spring for shock absorption, but after the machine foot is impacted, the displacement of the elastic body is linearly related to the elastic force, if the elastic coefficient is large, the shock absorption is very hard, the impact force can still be transmitted to the lower leg of the robot, and the running state and the characteristics of the lower leg and the rear part are influenced.
Disclosure of Invention
The invention aims to provide an impact-resistant cushioning mechanical foot for a robot, which aims to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a bradyseism machinery foot shocks resistance for robot installs at robot shank tip, and bradyseism machinery foot shocks resistance includes foot board subassembly, ankle bone section of thick bamboo subassembly and root bone, and foot board subassembly is connected to ankle bone section of thick bamboo subassembly bottom, and ankle bone section of thick bamboo subassembly outer wall fixed connection is on the root bone, and the root bone is connected to shank tip.
The mechanical foot shock absorption part is an ankle bone barrel assembly, when the robot is impacted during walking or jumping, a foot plate assembly is firstly contacted with the ground, then the ankle bone barrel assembly is used for buffering and shock absorption to resist the impact, the force borne by the lower leg is uniformly released to prevent the robot part above the lower leg from being damaged, the root bone is a part for connecting the lower leg and the ankle bone barrel assembly, the root bone and the lower leg can be fixedly connected, and can also be hinged with a rotary buffer, and the root bone and the ankle bone barrel assembly are fixedly connected to provide an installation position for the ankle bone barrel assembly.
Further, ankle bone section of thick bamboo subassembly includes the main barrel, fold and press the subassembly, vice barrel subassembly, main piston, the ankle bone axle, be the main cavity room in the main barrel, main piston installs in the main cavity room and can follow main cavity indoor wall and slide from top to bottom, the terminal surface is equipped with the ankle bone axle under the main piston, ankle bone axle downwardly extending passes on main barrel terminal surface is connected to the sufficient board subassembly, vice barrel subassembly sets up on main barrel upper portion, vice barrel subassembly inner space is connected to in the main cavity room, main piston upper portion space and vice barrel subassembly in the main cavity room are filled with fluid, fold and press the subassembly to stretch into in the fluid, fold and press the subassembly operation with fluid towards main piston pressure feed.
The general buffering uses components such as elastic bodies for cushioning, the displacement and the resistance are linearly changed, if the elastic coefficient of the selected elastic bodies is higher, the foot plate assembly is very hard when falling on the ground, the impact force can be transmitted to a large part of the foot plate assembly to the shank, the foot plate assembly is similar to a pair of shoes with hard rubber to jump and fall on the ground, almost no buffering effect is achieved, if the elastic coefficient of the elastic bodies is very small, although the buffering effect is better, most of the force is absorbed by the elastic bodies, the elastic bodies need very long stroke, the length of the device is greatly increased, and if the stroke is shorter, the impact force range of the buffering is smaller.
According to the invention, through the double buffer components, the ankle shaft connected below the main piston is connected with the foot plate component below, when the mechanical foot is impacted, force is transmitted to the ankle shaft and then transmitted to the main piston, the main piston pushes oil in the main cavity to the auxiliary cylinder component, then the elastic body in the auxiliary cylinder component is compressed to provide reaction force for the oil, the oil reacts on the main piston, the reaction force is in direct proportion to the stroke of the main piston, and a buffer force is provided by the overlying component, the overlying component carries out drum feeding on the oil in the main cavity to press the oil to the main piston, the overlying component provides an additional force to the main piston, so that the resistance curve of the ankle shaft is prepared, the resistance curve can be steep or flat, the overlying component can be set according to needs, the resistance curve is very flat at the initial time, effective buffer action can be provided, and the resistance curve becomes steep along with the increase of displacement, when the displacement is large, the small displacement change needs larger stress, and the structure size is reduced.
Further, the auxiliary cylinder assembly comprises an auxiliary cylinder, an auxiliary piston, an elastic body, a measuring shaft and a displacement sensor, the auxiliary cylinder is connected to the side wall of the main cylinder, the inner space of the auxiliary cylinder is an auxiliary chamber, the auxiliary chamber is communicated with the main chamber, the auxiliary piston is arranged in the auxiliary chamber and can slide up and down along the inner wall of the auxiliary chamber, the lower space of the auxiliary piston is filled with oil, the measuring shaft is arranged on the upper end face of the auxiliary piston, the measuring shaft extends out of the auxiliary cylinder in the upward direction and is connected with the displacement sensor at the end part, the elastic body is arranged in the auxiliary cylinder, and the lower end of the elastic body abuts against the; the laminating assembly comprises a motor and blades, the motor is installed at the top of the main cylinder, an output shaft of the motor downwards extends into the main cylinder and the blades are installed on the output shaft, the blades are axial flow blades and located in oil, the motor is electrically connected with the displacement sensor, and the displacement sensor gives an electric signal according to the displacement of the top end of the measuring shaft to control the rotating speed of the motor.
The oil is filled in the auxiliary cylinder, the auxiliary piston is jacked upwards by the oil from the main cavity, the auxiliary piston is acted by the elastomer to linearly feed back the oil and becomes the first type of resistance feedback, the upward movement of the auxiliary piston shows that all impact force is not buffered enough, so that the auxiliary piston is upwards connected with a rod-measuring shaft, the measuring shaft moves up and down along with the auxiliary piston, a displacement sensor is connected when the measuring shaft moves upwards, the displacement sensor identifies the ascending amount of the measuring shaft and then gives a signal to the motor, then the motor performs rotation speed control, when the auxiliary piston ascends more, the rotation speed of the motor is increased, the oil pumping force of the blade in the main cavity is larger, the larger second type of resistance feedback is provided, and therefore resistance curve change when the displacement is larger is realized.
The displacement of the end of the measuring shaft detected by the displacement sensor and the rotating speed of the motor are interlocked and set and allocated through a controller in the motor, and the control logic is met. The conversion ratio of the displacement and the rotating speed influences the gradient of the resistance curve, and the impact force buffering range of the mechanical foot can be changed by adjusting the shape of the resistance feedback curve.
Preferably, the motor is a direct current torque motor. The direct current torque motor is one type of torque motor, the rotating speed and the output torque of the direct current torque motor can be independently adjusted, while the output torque of the direct current torque motor is passively adjusted, and the rotating speed is actively adjusted. The starting and rotating characteristics of the direct-current torque motor are superior to those of a common motor, and the direct-current torque motor also has the characteristics of quick response, large torque and strong overload capacity at low rotating speed.
Preferably, the ankle bone barrel assembly further comprises a linear bearing disposed at a position passing through the main barrel body in the axial direction of the ankle bone, and the linear bearing is used for radially supporting the ankle bone. The linear bearing guides the ankle shaft to prevent the ankle shaft from deflecting in the operation process, and the linear bearing has small friction to the ankle shaft when sliding, so that the ankle shaft is prevented from repeatedly sliding up and down to generate heat seriously when a robot walks.
Preferably, the elastic body is formed by overlapping a plurality of belleville springs. The belleville spring can obtain larger elastic force under smaller axial size, and the impact force buffering range of the mechanical foot is widened. And the elasticity of the belleville spring is released uniformly.
Preferably, the foot plate assembly comprises a foot plate, a bending spring and a ball joint coupler, the center of the upper surface of the foot plate is connected with the lower end of the ankle bone shaft through the ball joint coupler, the bending spring is further arranged between the side surface of the lower part of the ankle bone shaft and the upper surface of the foot plate, and the force application direction of the bending spring is such that the surface of the foot plate is perpendicular to the surface of the ankle bone shaft.
The foot plate and the ankle bone shaft are connected through the ball joint coupler, the foot plate can rotate around the connecting point in a universal mode, the ankle bone shaft is prevented from being stressed and not axially stressed due to the fact that the ground is uneven or inclined, although the foot plate and the ankle bone shaft are in universal connection in the radial direction, the foot plate and the ankle bone shaft are limited to be perpendicular in the conventional shape relation, so that the foot plate and the ankle bone shaft are reliably supported on the ground in most states, the bending spring is designed for the purpose, when the machine foot is lifted, the foot plate is suspended, and the elastic force of the bending spring enables the foot plate to return to the initial state perpendicular to the ankle bone shaft, and therefore the machine foot can conveniently fall to.
Preferably, at least three groups of bending springs are arranged, and the bending springs are uniformly distributed around the circumference of the axis of the ankle bone shaft. The three sets of curved springs provide the return force uniformly circumferentially.
Compared with the prior art, the invention has the beneficial effects that: the double buffering components are arranged in the mechanical foot, so that the buffering force and foot plate displacement curves of the mechanical foot during walking, jumping and impact are changed, when the impact is small, the resistance is very small, the buffering is perfect, when the impact is large and the foot plate displacement is large, the buffer period tail end provides large resistance, and the size requirement of the buffering components in the mechanical foot is reduced; the arrangement mode of the double pistons enables the auxiliary piston to provide displacement parameter signals and transmit the displacement parameter signals to the motor, so that the allocation of the resistance is completely based on the original impact force, and after the impact force is removed, the corresponding resistance as the buffer force is also removed; the proportional relation between the displacement sensor and the motor rotating speed can be used for adjusting the shape of the resistance curve of the device.
Drawings
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of an ankle barrel assembly according to the invention;
FIG. 3 is view A of FIG. 2;
FIG. 4 is a schematic structural view of the foot plate assembly of the present invention;
fig. 5 is a schematic diagram of the resistance curve of the present invention.
In the figure: 1-foot plate component, 11-foot plate, 12-bending spring, 13-ball joint coupler, 2-ankle bone cylinder component, 21-main cylinder, 211-main chamber, 22-laminating component, 221-motor, 222-blade, 23-auxiliary cylinder component, 231-auxiliary cylinder, 2311-auxiliary chamber, 232-auxiliary piston, 233-elastomer, 234-measuring shaft, 235-displacement sensor, 24-main piston, 25-ankle bone shaft, 26-linear bearing, 29-oil, 3-bone and 4-calf.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figure 1, the shock-resistant and shock-absorbing mechanical foot for the robot is installed at the end part of a lower leg 4 of the robot, and comprises a foot plate assembly 1, an ankle bone barrel assembly 2 and a root bone 3, wherein the bottom end of the ankle bone barrel assembly 2 is connected with the foot plate assembly 1, the outer wall of the ankle bone barrel assembly 2 is fixedly connected onto the root bone 3, and the root bone 3 is connected to the end part of the lower leg 4.
The mechanical foot shock absorption part is an ankle bone barrel assembly 2, when a robot is impacted during walking or jumping, a foot plate assembly 1 is firstly contacted with the ground, then the ankle bone barrel assembly 2 is used for buffering and shock absorption to resist the impact, the force on a lower leg 4 is uniformly released to prevent the robot part above the lower leg 4 from being damaged, a root bone 3 is a part for connecting the lower leg 4 and the ankle bone barrel assembly 2 and can be fixedly connected with the lower leg 4 or can be connected with a hinge with rotary buffering, and the root bone 3 is fixedly connected with the ankle bone barrel assembly 2 to provide an installation position for the ankle bone barrel assembly 2.
As shown in fig. 2, the ankle bone cylinder assembly 2 includes a main cylinder 21, a laminated assembly 22, an auxiliary cylinder assembly 23, a main piston 24, and an ankle bone shaft 25, wherein the main cylinder 21 is a main chamber 211, the main piston 24 is installed in the main chamber 211 and can slide up and down along the inner wall of the main chamber 211, the ankle bone shaft 25 is installed on the lower end surface of the main piston 24, the ankle bone shaft 25 extends downward and is connected to the foot plate assembly 1 through the end surface of the main cylinder 21, the auxiliary cylinder assembly 23 is installed on the upper portion of the main cylinder 21, the internal space of the auxiliary cylinder assembly 23 is connected to the main chamber 211, the upper space of the main piston 24 and the auxiliary cylinder assembly 23 in the main chamber 211 are filled with oil 29, the laminated assembly 22 extends into the oil 29, and the laminated assembly 22 presses the oil 29 toward the main piston 24 when operating.
The general buffering uses elastic bodies and other components for buffering, the displacement and the resistance are linearly changed, as shown in fig. 5, if the elastic coefficient of the selected elastic body is higher, the foot plate assembly 1 is very stiff when falling on the ground, the impact force is transmitted to a large part of the lower leg 4, the shoe plays a role of jumping and landing similar to a shoe wearing a pair of hard rubber, almost no buffering effect is generated, if the elastic coefficient of the elastic body is very small, although the buffering effect is better, most of the force is absorbed by the elastic body, the elastic body needs a long stroke, the length of the device is greatly increased, and if the stroke is shorter, the impact force range of buffering is smaller.
As shown in figure 2, the ankle bone shaft 25 connected below the main piston 24 is connected with the foot plate assembly 1 below through a double buffering part, when the mechanical foot is impacted, the force is transmitted to the ankle bone shaft 25 and then transmitted to the main piston 24, the main piston 24 pushes the oil 29 in the main chamber 211 to the auxiliary cylinder assembly 23, then the elastic body in the auxiliary cylinder assembly 23 is compressed to provide a reaction force to the oil 29, the oil 29 reacts on the main piston 24, the reaction force is proportional to the stroke of the main piston 24, a buffering force is provided by the overlying assembly 22, the overlying assembly 22 expands the oil 29 in the main chamber 211 to press the oil to the main piston 24, the overlying assembly 22 provides an additional force to the main piston 24, thereby adjusting the resistance curve of the ankle bone shaft 25, as shown in figure 5, the resistance curve can be steep and flat, and the overlying assembly 22 can be set as required, the resistance curve is very flat at the beginning, can provide effectual cushioning effect, and the resistance curve becomes steep along with the increase of displacement, can be when the displacement is very big, and tiny displacement change needs great atress promptly, reduces structure size.
As shown in fig. 3, the sub-cylinder assembly 23 includes a sub-cylinder 231, a sub-piston 232, an elastic body 233, a measuring shaft 234, and a displacement sensor 235, the sub-cylinder 231 is connected to the side wall of the main cylinder 21, the space in the sub-cylinder 231 is a sub-chamber 2311, the sub-chamber 2311 is communicated with the main chamber 211, the sub-piston 232 is disposed in the sub-chamber 2311 and can slide up and down along the inner wall of the sub-chamber 2311, the lower space of the sub-piston 232 is filled with oil 29, the upper end surface of the sub-piston 232 is provided with the measuring shaft 234, the measuring shaft 234 extends out of the sub-cylinder 231 upwards and is connected to the displacement sensor 235 at the end, the elastic body 233 is disposed in the sub-cylinder; the laminating assembly 22 comprises a motor 221 and a blade 222, the motor 221 is mounted at the top of the main cylinder 21, an output shaft of the motor 221 extends downwards into the main cylinder 21, the blade 222 is mounted on the output shaft, the blade 222 is an axial-flow blade and is located in the oil liquid 29, the motor 221 is electrically connected with a displacement sensor 235, and the displacement sensor 235 gives an electric signal according to the displacement of the top end of the measuring shaft 234 to control the rotating speed of the motor 221.
The auxiliary cylinder 231 is filled with the repellent oil 29, the oil 29 from the main chamber 211 jacks up the auxiliary piston 232, the auxiliary piston 232 is acted by the elastic body 233 to perform linear feedback on the oil, the feedback becomes the first type of resistance feedback, the upward movement of the auxiliary piston 232 shows that the resistance is not enough to buffer all impact force, therefore, the auxiliary piston 232 is connected with a rod-measuring shaft 234 upwards, the measuring shaft 234 moves up and down along with the auxiliary piston 232, the displacement sensor 235 is connected when the measuring shaft 234 moves upwards, the displacement sensor 235 sends a signal to the motor 221 after identifying the rising amount of the measuring shaft 234, then the motor 221 performs rotation speed control, as the secondary piston 232 rises more, the motor 221 speed increases and the vane 222 pumping force on the oil 29 in the primary chamber 211 is greater, providing greater feedback of the second type of resistance previously described, thereby achieving a steeper resistance curve with greater displacement.
The displacement of the end of the measuring shaft 234 detected by the displacement sensor 235 and the rotation speed of the motor 221 are set and allocated by a controller in the motor 221 so as to satisfy the control logic. The conversion ratio of the displacement and the rotating speed influences the steepness of the resistance curve, two curved resistance curves shown in fig. 5 are resistance feedback curves obtained under different conversion ratios, and the impact force buffering range of the mechanical foot can be changed by adjusting the shapes of the resistance feedback curves. When the impact is removed, the secondary piston 232 returns to the original position, the displacement sensor 235 does not give a displacement signal any more, and the motor 221 is stopped.
The motor 221 is a dc torque motor. The dc torque motor is a kind of torque motor, and the rotation speed and the output torque of the dc torque motor can be independently adjusted, whereas in the present invention, the output torque of the motor 221 is passively adjusted, and the rotation speed is actively adjusted. The starting and rotating characteristics of the direct-current torque motor are superior to those of a common motor, and the direct-current torque motor also has the characteristics of quick response, large torque and strong overload capacity at low rotating speed.
As shown in fig. 2, the ankle barrel assembly 2 further includes a linear bearing 26, the linear bearing 26 being disposed at a position where the ankle shaft 25 passes downward through the main barrel 21, the linear bearing 26 serving to radially support the ankle shaft 25. The linear bearing 26 guides the ankle shaft 25 to prevent the ankle shaft 25 from deflecting during operation, and the linear bearing 26 has small friction to the ankle shaft 25 during sliding, so that the ankle shaft 25 repeatedly slides up and down to generate heat seriously when the robot walks.
As shown in fig. 3, the elastic body 233 is formed by stacking a plurality of belleville springs. The belleville spring can obtain larger elastic force under smaller axial size, and the impact force buffering range of the mechanical foot is widened. And the elasticity of the belleville spring is released uniformly.
As shown in fig. 4, the foot plate assembly 1 comprises a foot plate 11, a bending spring 12 and a ball joint coupler 13, the center of the upper surface of the foot plate 11 is connected with the lower end of an ankle bone shaft 25 through the ball joint coupler 13, the bending spring 12 is further arranged between the side surface of the lower part of the ankle bone shaft 25 and the upper surface of the foot plate 11, and the force application direction of the bending spring 12 is such that the plate surface of the foot plate 11 is perpendicular to the ankle bone shaft 25.
The foot plate 11 and the ankle bone shaft 25 are connected through the ball joint coupling 13, the foot plate 11 can rotate universally around the connecting point, the ankle bone shaft 25 is prevented from being stressed and not in the axial direction due to the fact that the ground is uneven or inclined, although the foot plate 11 and the ankle bone shaft 25 are in radial universal connection, the conventional shape relation of the foot plate 11 and the ankle bone shaft 25 is limited to be vertical, so that the foot plate 11 is reliably supported on the ground in most states, the bending spring 12 is designed for the purpose, when the machine foot is lifted, the foot plate 11 is suspended, and the elastic force of the bending spring 12 enables the foot plate 11 to return to the initial state vertical to the ankle bone shaft 25, and therefore the machine foot can be conveniently landed next time.
The bending springs 12 are at least three groups, and the bending springs 12 are evenly distributed around the axis circumference of the ankle shaft 25. The three sets of curved springs 12 provide the return force circumferentially uniformly.
The operation principle of the device is as follows: when the robot walks or jumps, the mechanical foot falls to the ground to generate impact, the foot plate 11 transmits the impact force to the ankle bone shaft 25, the ankle bone shaft 25 jacks up the main piston 24, the oil liquid 29 enters the auxiliary chamber 2311 from the main chamber 211 to push the auxiliary piston 232 to compress the elastic body 233, the elastic body 233 provides feedback force linearly related to the displacement of the ankle bone shaft 25, the measurement shaft 234 connected to the back of the auxiliary piston 232 moves upwards to generate displacement, the displacement is transmitted to the motor 221 to be converted into the rotating speed of the motor 221, so that the blade 222 is driven to downwards drum the oil liquid 29, the output force of the blade and the displacement of the ankle bone shaft 25 form a secondary or even tertiary relationship, and a steep resistance curve after initial flattening is formed by superposition, so that good buffering is provided, and the impact force is resisted.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a bradyseism mechanical foot shocks resistance for robot installs in robot shank (4) tip, its characterized in that: the shock-resistant and shock-absorbing mechanical foot comprises a foot plate assembly (1), an ankle bone barrel assembly (2) and a root bone (3), wherein the foot plate assembly (1) is connected to the bottom end of the ankle bone barrel assembly (2), the outer wall of the ankle bone barrel assembly (2) is fixedly connected to the root bone (3), and the root bone (3) is connected to the end part of a shank (4).
2. An impact-resistant cushioned mechanical foot for a robot as recited in claim 1, further comprising: the ankle bone barrel assembly (2) comprises a main barrel body (21), a laminating assembly (22), an auxiliary barrel body assembly (23), a main piston (24) and an ankle bone shaft (25), a main cavity (211) is arranged in the main cylinder body (21), the main piston (24) is arranged in the main cavity (211) and can slide up and down along the inner wall of the main cavity (211), an ankle shaft (25) is arranged on the lower end surface of the main piston (24), the ankle shaft (25) extends downwards and penetrates through the end surface of the main cylinder body (21) to be connected to the foot plate component (1), the auxiliary cylinder component (23) is arranged at the upper part of the main cylinder (21), the inner space of the auxiliary cylinder component (23) is connected into the main chamber (211), the upper space of the main piston (24) in the main chamber (211) and the auxiliary cylinder body assembly (23) are filled with oil liquid (29), the pressure-superposed assembly (22) projects into the oil (29), and the pressure-superposed assembly (22) presses the oil (29) toward the main piston (24) during operation.
3. An impact-resistant cushioned mechanical foot for a robot as recited in claim 2, further comprising: the auxiliary cylinder assembly (23) comprises an auxiliary cylinder (231), an auxiliary piston (232), an elastic body (233), a measuring shaft (234) and a displacement sensor (235), wherein the auxiliary cylinder (231) is connected to the side wall of the main cylinder (21), an auxiliary chamber (2311) is arranged in the auxiliary cylinder (231), the auxiliary chamber (2311) is communicated with the main chamber (211), the auxiliary piston (232) is arranged in the auxiliary chamber (2311) and can slide up and down along the inner wall of the auxiliary chamber (2311), the lower space of the auxiliary piston (232) is filled with oil (29), the measuring shaft (234) is installed on the upper end face of the auxiliary piston (232), the measuring shaft (234) extends out of the auxiliary cylinder (231) upwards and is connected with the displacement sensor (235) at the end, the elastic body (233) is arranged in the auxiliary cylinder (231), and the lower end of the elastic body (233) abuts against the upper end face of the auxiliary piston (232); the laminating assembly (22) comprises a motor (221) and blades (222), the motor (221) is installed at the top of the main cylinder (21), an output shaft of the motor (221) extends downwards into the main cylinder (21) and the blades (222) are installed on the output shaft, the blades (222) are axial flow blades and are located in oil (29), the motor (221) is electrically connected with a displacement sensor (235), and the displacement sensor (235) gives out an electric signal according to the top end displacement of the measuring shaft (234) to control the rotating speed of the motor (221).
4. An impact-resistant cushioned mechanical foot for a robot as recited in claim 3, wherein: the motor (221) is a direct-current torque motor.
5. An impact-resistant cushioned mechanical foot for a robot as recited in claim 2, further comprising: the ankle bone barrel assembly (2) further comprises a linear bearing (26), the linear bearing (26) is arranged at the position where the ankle bone shaft (25) penetrates through the main barrel body (21) downwards, and the linear bearing (26) is used for radially supporting the ankle bone shaft (25).
6. An impact-resistant cushioned mechanical foot for a robot as recited in claim 3, wherein: the elastic body (233) is formed by overlapping a plurality of belleville springs.
7. An impact-resistant cushioned mechanical foot for a robot as recited in claim 2, further comprising: the foot plate assembly (1) comprises a foot plate (11), a bending spring (12) and a ball joint coupler (13), the center of the upper surface of the foot plate (11) is connected with the lower end of an ankle bone shaft (25) through the ball joint coupler (13), the bending spring (12) is further arranged between the side surface of the lower part of the ankle bone shaft (25) and the upper surface of the foot plate (11), and the force application direction of the bending spring (12) is perpendicular to the surface of the foot plate (11) and the ankle bone shaft (25).
8. An impact-resistant cushioned mechanical foot for a robot as recited in claim 7, wherein: the ankle joint is characterized by comprising at least three groups of bending springs (12), wherein the bending springs (12) are uniformly distributed around the circumference of the axis of the ankle shaft (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910981249.8A CN110682304A (en) | 2019-10-16 | 2019-10-16 | Shock-resistant and shock-absorbing mechanical foot for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910981249.8A CN110682304A (en) | 2019-10-16 | 2019-10-16 | Shock-resistant and shock-absorbing mechanical foot for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110682304A true CN110682304A (en) | 2020-01-14 |
Family
ID=69112932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910981249.8A Pending CN110682304A (en) | 2019-10-16 | 2019-10-16 | Shock-resistant and shock-absorbing mechanical foot for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110682304A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003191181A (en) * | 2001-12-25 | 2003-07-08 | Honda Motor Co Ltd | Landing shock absorber of leg type mobile robot |
| CN206633005U (en) * | 2017-03-27 | 2017-11-14 | 深圳光启合众科技有限公司 | Walking mechanism and robot |
| CN109866842A (en) * | 2019-04-12 | 2019-06-11 | 重庆邮电大学 | A kind of mechanical foot of adjustable passive stabilization |
| CN110315971A (en) * | 2019-06-26 | 2019-10-11 | 江苏卡威汽车工业集团股份有限公司 | A kind of dynamics feedback clearly accelerator pedal |
| CN110316125A (en) * | 2019-06-26 | 2019-10-11 | 江苏卡威汽车工业集团股份有限公司 | A kind of bumper of mis-collision preventing and resistance to temporary impact |
-
2019
- 2019-10-16 CN CN201910981249.8A patent/CN110682304A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003191181A (en) * | 2001-12-25 | 2003-07-08 | Honda Motor Co Ltd | Landing shock absorber of leg type mobile robot |
| CN206633005U (en) * | 2017-03-27 | 2017-11-14 | 深圳光启合众科技有限公司 | Walking mechanism and robot |
| CN109866842A (en) * | 2019-04-12 | 2019-06-11 | 重庆邮电大学 | A kind of mechanical foot of adjustable passive stabilization |
| CN110315971A (en) * | 2019-06-26 | 2019-10-11 | 江苏卡威汽车工业集团股份有限公司 | A kind of dynamics feedback clearly accelerator pedal |
| CN110316125A (en) * | 2019-06-26 | 2019-10-11 | 江苏卡威汽车工业集团股份有限公司 | A kind of bumper of mis-collision preventing and resistance to temporary impact |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US2752149A (en) | Shock absorber for motor vehicles with self regulating sliding friction | |
| RU2444457C2 (en) | Device to adjust clearance in railway vehicle brake drive | |
| CN1126287A (en) | Frictional clutch | |
| CN101700861A (en) | Hydraulic jack with slow decline of load | |
| CN110406610B (en) | Robot buffering foot with adjustable pretightening force | |
| CN207364579U (en) | A kind of water pump supporter device that can adjust height | |
| CN110682304A (en) | Shock-resistant and shock-absorbing mechanical foot for robot | |
| CN100575190C (en) | A kind of non-rod aircraft tractor | |
| CN105317042B (en) | Line pile-grafting machine base before flexible | |
| CN106014901B (en) | A kind of pressure-compensated end face oil distributing biserial radial piston variable displacement pump of annular piston | |
| WO2019000720A1 (en) | Self-adjusting hydraulic shock absorber and adjustment method therefor | |
| CN208169361U (en) | A kind of automobile clutch | |
| CN207297669U (en) | Clutch for the wet-type multi-disc of speed changer | |
| US4827839A (en) | Hydraulic overload protector for mechanical press | |
| CN101954901A (en) | Self-adapting foot treadle | |
| CN210116581U (en) | Robot shank buffer structure | |
| CN201520614U (en) | Hydraulic jack with load descending at slow speed | |
| CN209725077U (en) | A kind of controllable unidirectional frcition damper of double reinforcements | |
| CN208715328U (en) | A kind of robot foot end structure | |
| CN213870147U (en) | High-durability plunger pump | |
| CN113489229A (en) | Flywheel rotor axial protection device and method of flywheel energy storage system | |
| CN112963494A (en) | Novel restraint diaphragm type gasbag isolator | |
| CN201889668U (en) | Power-off no-leakage balance cylinder | |
| CN205772619U (en) | Hydraulic damper for elevator | |
| CN215095893U (en) | Buffer device for press machine |
Legal Events
| 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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200114 |
|
| RJ01 | Rejection of invention patent application after publication |