CN111252161A - Foot structure of dual-purpose bionic robot for sand land and flat land - Google Patents
Foot structure of dual-purpose bionic robot for sand land and flat land Download PDFInfo
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- CN111252161A CN111252161A CN202010114801.6A CN202010114801A CN111252161A CN 111252161 A CN111252161 A CN 111252161A CN 202010114801 A CN202010114801 A CN 202010114801A CN 111252161 A CN111252161 A CN 111252161A
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- sand
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- base
- bionic robot
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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
- B62D57/028—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 having wheels and mechanical legs
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Abstract
The invention discloses a bionic robot foot structure for sand and flat ground, which comprises a base, a sealing device and a running device, wherein the sealing device comprises a transverse plate, a vertical plate, a normally closed switch and a steel wire rope, the running device comprises a hydraulic cylinder, a roller and a power rod, each surface of the base is rectangular, a sealing cavity penetrating through the base is formed in the upper surface of the base, a sliding groove is formed in the lower end of the inner side wall of the sealing cavity, the sliding groove is matched with the width of the sealing cavity in width, the transverse plate is inserted into the inner side wall of the sliding groove in a sliding mode, and the surface of the transverse plate is matched with the. This dual-purpose bionic robot foot structure of sand, level land, through setting up the bionic robot foot structure of wide camel foot form, thereby be convenient for walk in sand, through the fixed pneumatic cylinder that promotes the piston rod downwards in the top of base, and through the fixed horizontal pole that has the gyro wheel of piston rod, through controlling two riser separation with the gyro wheel ejecting and support the bionic robot, go on the level land, thereby have and switch the walking mode at two kinds of topography of sand ground and level land, improve walking speed's characteristics.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a foot structure of a bionic robot for sand and flat ground.
Background
The humanoid robot is the closest robot to human, and the biggest characteristic of the humanoid robot is that the humanoid robot can walk like human; the intelligent robot has the appearance of a person, and has a moving function, an operating function, associative memory, a learning ability, emotional communication, a social ability and the closest person with partial human experience; compared with a wheeled or tracked robot, the humanoid robot has a flexible walking system and can walk on both feet, so that the humanoid robot has incomparable superiority in work: the robot has the advantages of good flexibility, wide working space, small moving blind area, low energy consumption, convenience for getting on and off steps, high obstacle surging capability and capability of adapting to the ground, so that the humanoid robot has wider application;
the working environment of part of the bionic robot is located in sand terrains such as desert and the like, so that the feet of the bionic robot can be designed into camel feet or caterpillar belts and the like according to the walking mode, but when the bionic robot meets the terrains that the sand is jointed with the common flat ground, the walking speed of the bionic robot can be reduced through a single walking mode, and therefore the working efficiency of the bionic robot is reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a bionic robot foot structure for sand and flat ground, which has the characteristics of switching walking modes on two terrains of sand and flat ground and improving walking speed.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a dual-purpose bionic robot foot structure of sand, level land, the on-line screen storage device comprises a base, sealing device and the device of traveling, sealing device includes the diaphragm, the riser, normally closed switch and wire rope, the device of traveling includes the pneumatic cylinder, gyro wheel and power pole, each surface of base all is the rectangle form, the sealed chamber that runs through the base is seted up to the upper surface of base, the spout has been seted up to the inside wall lower extreme in sealed chamber, spout and width and the width adaptation in sealed chamber, the inside wall slip of spout is pegged graft and is had the diaphragm, the surface and the spout adaptation of diaphragm.
Furthermore, the upper surface end fixedly connected with riser of diaphragm, the width and the diaphragm adaptation of riser, the equal fixedly connected with sealing layer of the relative lateral wall of two risers and the relative lateral wall of two diaphragms, the slot has been seted up to the inside wall of seal chamber.
According to the technical scheme, the vertical plate and the transverse plate which are fixedly connected with the sealing layer are closed, so that sand grains are prevented from entering the sealing cavity and further entering the robot when the robot walks in sand;
further, the inside wall fixedly connected with normally closed switch of slot, the inside wall fixed connection gag lever post of riser, gag lever post and slot adaptation and align, the inside wall sliding connection of slot is pegged graft and is had the gag lever post.
By the technical scheme, the limit rod and the transverse plate are used for guiding the closed separation of the two vertical plates, so that the two vertical plates are prevented from deviating;
furthermore, the surface of the limiting rod is connected with a normally closed switch in a sliding mode, the inner side wall of the sealing cavity is fixedly connected with a spring, and the other end of the spring is fixedly connected to the inner side wall of the vertical plate.
Through the technical scheme, the normally closed switch is pressed down by the limiting rod, so that the completion of the separation of the two vertical plates is convenient to know;
furtherly, the wiring groove has been seted up to the upper surface of base, and the wiring groove is L shape and communicates sealed chamber, and the inside wall corner fixedly connected with branch in wiring groove.
Through the technical scheme, the inner side wall of the wiring groove is connected with the steel wire rope in a sliding mode, so that the steel wire rope can work conveniently and can be prevented from knotting;
furthermore, the tail end of the supporting rod is rotatably connected with a guide wheel, the inner side wall of the vertical plate is fixedly connected with a steel wire rope, the surface of the steel wire rope is in sliding connection with the inner side wall of the wiring groove, and the surface of the steel wire rope is in sliding connection with the surface of the guide wheel.
According to the technical scheme, the support rod and the guide wheel are used for limiting the steel wire rope, so that the steel wire rope can work conveniently;
further, the upper surface of base fixedly connected with supporting leg, the supporting leg is located between wiring groove and the seal chamber, the lateral wall fixedly connected with motor of supporting leg, motor and normally closed switch electric connection.
According to the technical scheme, the motor is electrically connected with the normally closed switch, so that the motor controls the limiting rod to contract and then the normally closed switch is pressed down to stop the motor in time;
furthermore, an output shaft of the motor is fixedly connected with a steel wire rope, the upper surfaces of the supporting legs are fixedly connected with hydraulic cylinders, the hydraulic cylinders are electrically connected with the normally closed switches, and piston rods of the hydraulic cylinders are located between the two supporting legs downwards.
Through the technical scheme, the output shaft of the motor is rotated to control the winding and the releasing of the steel wire rope, so that the closing and the separation of the two vertical plates are controlled;
further, the lower fixed surface of piston rod is connected with the horizontal pole, the surface of the equal fixedly connected with power pole in both ends of horizontal pole, and the lower extreme relative lateral wall of two power poles rotates and is connected with the pivot, and the fixed surface of pivot is connected with the gyro wheel, the last fixed surface of base is connected with the protective housing, the front end fixedly connected with balancing piece of base.
According to the technical scheme, the hydraulic cylinder is fixedly connected to the upper surface of the supporting leg, and the cross rod with the roller is fixedly connected to the lower surface of the piston rod of the hydraulic cylinder, so that the roller is ejected out and the step part of the robot is supported through the operation of the hydraulic cylinder;
further, the foot structure of the bionic robot is connected with the tail end of the leg of the robot, electrically connected with a hydraulic cylinder and a motor, and provides power for the foot structure of the bionic robot through the robot body; step two, the two vertical plates are closed by setting a motor and a hydraulic cylinder to contract, so that the artificial camel-shaped wide sole is used for walking in the sand; and thirdly, winding the steel wire rope by driving an output shaft of the motor to rotate, so that the two vertical plates are separated, when the limiting rod is retracted into the slot and the normally closed switch is pressed down, the motor stops, the hydraulic cylinder starts, the piston rod drives the cross rod and the roller to be pressed down to lift the robot body, so that the base is not directly contacted with the ground, and the robot runs on the flat ground through the roller.
In conclusion, the invention has the following beneficial effects:
1. through setting up the bionical robot foot structure of wide camel foot form of setting up to be convenient for walk on sand, through the fixed pneumatic cylinder that promotes the piston rod downwards in the top of base, and through the fixed horizontal pole that has the gyro wheel of piston rod, through controlling two riser separation with the gyro wheel ejecting and support bionical robot, go on the level land and go on, thereby have and switch the walking mode at two kinds of topography on sand and level land, improve walking speed's characteristics.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a structural support leg of the present invention;
FIG. 3 is a schematic view of a structural travel device of the present invention;
FIG. 4 is a schematic view of a half-section of a structural base of the present invention;
FIG. 5 is a schematic view of the cross and riser of the present invention construction;
FIG. 6 is a schematic view of the inside of a slot according to the present invention
FIG. 7 is a schematic view of the interior of the wiring slot of the structure of the present invention.
In the figure: 1. a base; 2. a transverse plate; 3. a vertical plate; 4. a normally closed switch; 5. a wire rope; 6. a hydraulic cylinder; 7. a roller; 8. a power rod; 9. sealing the cavity; 10. a chute; 11. a sealing layer; 12. a slot; 13. a limiting rod; 14. a spring; 15. a wiring slot; 16. a strut; 17. a guide wheel; 18. supporting legs; 19. a motor; 20. a piston rod; 21. a cross bar; 22. a rotating shaft; 23. a protective shell; 24. a balance weight.
Detailed Description
Example (b):
the present invention is described in further detail below with reference to figures 1-7.
A foot structure of a bionic robot for sand and flat ground comprises a base 1, a sealing device and a running device, wherein the sealing device comprises a transverse plate 2, a vertical plate 3, a normally closed switch 4 and a steel wire rope 5, the running device comprises a hydraulic cylinder 6, a roller 7 and a power rod 8, each surface of the base 1 is rectangular, a sealing cavity 9 penetrating through the base 1 is formed in the upper surface of the base 1, a sliding groove 10 is formed in the lower end of the inner side wall of the sealing cavity 9, the sliding groove 10 is matched with the width of the sealing cavity 9, the inner side wall of the sliding groove 10 is slidably inserted with the transverse plate 2, and the surface of the transverse plate 2 is matched with the sliding groove 10;
as shown in fig. 1-7, the end of the upper surface of the transverse plate 2 is fixedly connected with a vertical plate 3, the width of the vertical plate 3 is adapted to the transverse plate 2, the opposite side walls of the two vertical plates 3 and the opposite side walls of the two transverse plates 2 are both fixedly connected with a sealing layer 11, the inner side wall of the sealing cavity 9 is provided with a slot 12, the inner side wall of the slot 12 is fixedly connected with a normally closed switch 4, the inner side wall of the vertical plate 3 is fixedly connected with a limiting rod 13, the limiting rod 13 is adapted and aligned to the slot 12, the inner side wall of the slot 12 is slidably connected with the limiting rod 13, the surface of the limiting rod 13 is slidably connected with the normally closed switch 4, the inner side wall of;
as shown in fig. 1-7, a wiring groove 15 is formed on the upper surface of a base 1, the wiring groove 15 is in an L shape and communicated with a sealed cavity 9, a support rod 16 is fixedly connected at the corner of the inner side wall of the wiring groove 15, a guide wheel 17 is rotatably connected at the end of the support rod 16, a steel wire rope 5 is fixedly connected to the inner side wall of a vertical plate 3, the surface of the steel wire rope 5 is slidably connected with the inner side wall of the wiring groove 15, the surface of the guide wheel 17 is slidably connected with the surface of the steel wire rope 5, a support leg 18 is fixedly connected to the upper surface of the base 1, the support leg 18 is positioned between the wiring groove 15 and the sealed cavity 9, a motor 19 is fixedly connected to the outer side wall of the support leg 18, the motor 19 is electrically connected with a steel wire rope 5 through an output shaft of the motor 19, the hydraulic cylinder 6, the lower surface of the piston rod 20 is fixedly connected with a cross rod 21, the two ends of the cross rod 21 are fixedly connected with the surfaces of the power rods 8, the opposite side walls of the lower ends of the two power rods 8 are rotatably connected with a rotating shaft 22, the surface of the rotating shaft 22 is fixedly connected with a roller 7, the upper surface of the base 1 is fixedly connected with a protective shell 23, and the front end of the base 1 is fixedly connected with a balance block 24;
as shown in fig. 1-7, in the first step, the foot structure of the bionic robot is connected to the end of the leg of the robot, and is electrically connected to the hydraulic cylinder 6 and the motor 19, so as to provide power for the foot structure of the bionic robot through the robot body; step two, the two vertical plates 3 are closed by setting the motor 19 and the hydraulic cylinder 6 to contract, so that the artificial camel-shaped wide sole is used for walking in the sand; and thirdly, winding the steel wire rope 5 by rotating an output shaft of the driving motor 19 so as to separate the two vertical plates 3, stopping the motor 19 when the limiting rod 13 is contracted into the slot 12 and the normally closed switch 4 is pressed down, starting the hydraulic cylinder 6, driving the cross rod 21 and the roller 7 to be pressed down by the piston rod 20 so as to lift the robot body, enabling the base 1 not to be directly contacted with the ground, and driving on the flat ground through the roller 7.
The working principle is as follows:
step one, connecting the foot structure of the bionic robot with the tail end of the leg of the robot, electrically connecting the foot structure of the bionic robot with a hydraulic cylinder 6 and a motor 19, and providing power for the foot structure of the bionic robot through a robot body; step two, the two vertical plates 3 are closed by setting the motor 19 and the hydraulic cylinder 6 to contract, so that the artificial camel-shaped wide sole is used for walking in the sand; and thirdly, winding the steel wire rope 5 by rotating an output shaft of the driving motor 19 so as to separate the two vertical plates 3, stopping the motor 19 when the limiting rod 13 is contracted into the slot 12 and the normally closed switch 4 is pressed down, starting the hydraulic cylinder 6, driving the cross rod 21 and the roller 7 to be pressed down by the piston rod 20 so as to lift the robot body, enabling the base 1 not to be directly contacted with the ground, and driving on the flat ground through the roller 7.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a dual-purpose bionic robot foot structure of sand ground, level land, includes base (1), sealing device and the device of traveling, its characterized in that: sealing device includes diaphragm (2), riser (3), normally closed switch (4) and wire rope (5), the device of traveling includes pneumatic cylinder (6), gyro wheel (7) and power pole (8), each surface of base (1) all is the rectangle form, sealed chamber (9) that run through base (1) are seted up to the upper surface of base (1), spout (10) have been seted up to the inside wall lower extreme of sealed chamber (9), the width adaptation of spout (10) and width and sealed chamber (9), the inside wall slip of spout (10) is pegged graft and is had diaphragm (2), the surface and spout (10) adaptation of diaphragm (2).
2. The foot structure of the bionic robot for sand and flat ground according to claim 1, wherein: the upper surface end fixedly connected with riser (3) of diaphragm (2), the width and diaphragm (2) adaptation of riser (3), two the relative lateral wall and two of riser (3) the equal fixedly connected with sealing layer (11) of the relative lateral wall of diaphragm (2), slot (12) have been seted up to the inside wall of seal chamber (9).
3. The foot structure of the bionic robot for sand and flat ground according to claim 2, wherein: the utility model discloses a socket, including slot (12), the inside wall fixedly connected with normal close switch (4) of slot (12), the inside wall fixed connection gag lever post (13) of riser (3), gag lever post (13) and slot (12) adaptation and align, the inside wall sliding connection of slot (12) is pegged graft and is had gag lever post (13).
4. The foot structure of the bionic robot for sand and flat ground as claimed in claim 3, wherein: the surface sliding connection of gag lever post (13) has normally closed switch (4), the inside wall fixedly connected with spring (14) of sealed chamber (9), the other end fixed connection of spring (14) is in the inside wall of riser (3).
5. The foot structure of the bionic robot for sand and flat ground according to claim 1, wherein: wiring groove (15) have been seted up to the upper surface of base (1), wiring groove (15) are L shape and communicate sealed chamber (9), the inside wall corner fixedly connected with branch (16) of wiring groove (15).
6. The foot structure of the bionic robot for sand and flat ground as claimed in claim 5, wherein: the tail end of the support rod (16) is rotatably connected with a guide wheel (17), the inner side wall of the vertical plate (3) is fixedly connected with a steel wire rope (5), the surface of the steel wire rope (5) is in sliding connection with the inner side wall of the wiring groove (15), and the surface of the steel wire rope (5) is in sliding connection with the surface of the guide wheel (17).
7. The foot structure of the bionic robot for sand and flat ground according to claim 6, wherein: the upper surface fixed connection of base (1) has supporting leg (18), supporting leg (18) are located between wiring groove (15) and sealed chamber (9), lateral wall fixedly connected with motor (19) of supporting leg (18), motor (19) and normally closed switch (4) electric connection.
8. The foot structure of the bionic robot for sand and flat ground as claimed in claim 7, wherein: the output shaft fixedly connected with wire rope (5) of motor (19), the last fixed surface of supporting leg (18) is connected with pneumatic cylinder (6), pneumatic cylinder (6) and normally closed switch (4) electric connection, piston rod (20) of pneumatic cylinder (6) are located two downwards between supporting leg (18).
9. The foot structure of the bionic robot for sand and flat ground according to claim 8, wherein: the lower fixed surface of piston rod (20) is connected with horizontal pole (21), the surface of the equal fixedly connected with power pole (8) in both ends of horizontal pole (21), two the lower extreme relative lateral wall of power pole (8) rotates and is connected with pivot (22), the fixed surface of pivot (22) is connected with gyro wheel (7), the last fixed surface of base (1) is connected with protective housing (23), the front end fixedly connected with balancing piece (24) of base (1).
10. The use method of the foot structure of the bionic robot for the sand and the flat ground according to any one of claims 1 to 9 comprises the following steps: step one, connecting the foot structure of the bionic robot with the tail end of the leg of the robot, electrically connecting the foot structure of the bionic robot with a hydraulic cylinder (6) and a motor (19), and providing power for the foot structure of the bionic robot through a robot body; secondly, the two vertical plates (3) are closed by setting a motor (19) and a hydraulic cylinder (6) to contract, so that the artificial camel-shaped wide sole is used for walking in the sand; and thirdly, winding the steel wire rope (5) by rotating an output shaft of the driving motor (19) so as to separate the two vertical plates (3), when the limiting rod (13) is contracted into the slot (12) to press the normally closed switch (4), stopping the motor (19), starting the hydraulic cylinder (6), driving the cross rod (21) and the roller (7) to be pressed downwards by the piston rod (20) to lift the robot body, so that the base (1) is not directly contacted with the ground, and thus the robot runs on the flat ground through the roller (7).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114801.6A CN111252161B (en) | 2020-02-25 | 2020-02-25 | Foot structure of dual-purpose bionic robot for sand land and flat land |
| CN202011214761.9A CN112319645A (en) | 2020-02-25 | 2020-02-25 | Dual-purpose bionic robot foot structure and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114801.6A CN111252161B (en) | 2020-02-25 | 2020-02-25 | Foot structure of dual-purpose bionic robot for sand land and flat land |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011214761.9A Division CN112319645A (en) | 2020-02-25 | 2020-02-25 | Dual-purpose bionic robot foot structure and using method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111252161A true CN111252161A (en) | 2020-06-09 |
| CN111252161B CN111252161B (en) | 2021-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011214761.9A Withdrawn CN112319645A (en) | 2020-02-25 | 2020-02-25 | Dual-purpose bionic robot foot structure and using method |
| CN202010114801.6A Active CN111252161B (en) | 2020-02-25 | 2020-02-25 | Foot structure of dual-purpose bionic robot for sand land and flat land |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011214761.9A Withdrawn CN112319645A (en) | 2020-02-25 | 2020-02-25 | Dual-purpose bionic robot foot structure and using method |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0985553A1 (en) * | 1998-03-06 | 2000-03-15 | Shigeo Takizawa | Caster for robot |
| CN204915891U (en) * | 2015-04-29 | 2015-12-30 | 青岛通产智能机器人有限公司 | Wheeled wheeled motion of lift type biped and robot |
| CN105922237A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-shaft robot capable of moving freely |
| CN208179509U (en) * | 2018-03-08 | 2018-12-04 | 淮安信息职业技术学院 | A kind of tumbler robot base with expanding pulley |
-
2020
- 2020-02-25 CN CN202011214761.9A patent/CN112319645A/en not_active Withdrawn
- 2020-02-25 CN CN202010114801.6A patent/CN111252161B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0985553A1 (en) * | 1998-03-06 | 2000-03-15 | Shigeo Takizawa | Caster for robot |
| CN204915891U (en) * | 2015-04-29 | 2015-12-30 | 青岛通产智能机器人有限公司 | Wheeled wheeled motion of lift type biped and robot |
| CN105922237A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-shaft robot capable of moving freely |
| CN208179509U (en) * | 2018-03-08 | 2018-12-04 | 淮安信息职业技术学院 | A kind of tumbler robot base with expanding pulley |
Non-Patent Citations (1)
| Title |
|---|
| 付宜利，等: "沙地环境移动机器人驱动轮的发展概况综述", 《机器人技术与应用》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112319645A (en) | 2021-02-05 |
| CN111252161B (en) | 2021-01-08 |
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