CN113895539A - Foot structure and multi-legged robot - Google Patents
Foot structure and multi-legged robot Download PDFInfo
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- CN113895539A CN113895539A CN202111302806.2A CN202111302806A CN113895539A CN 113895539 A CN113895539 A CN 113895539A CN 202111302806 A CN202111302806 A CN 202111302806A CN 113895539 A CN113895539 A CN 113895539A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The application provides a foot structure and a multi-legged robot. The foot structure includes a foot body, a plurality of support legs, an elastic member, and a detecting device. When the foot structure walks on the walking surface, the second abutting parts of the supporting legs contact the walking surface firstly, and under the action of impact force, the second abutting parts and the first abutting parts do lever motion along the pin joint parts, so that the first abutting parts extrude the elastic pieces, the elastic pieces absorb and attenuate the remaining impact force and vibration on one hand, and on the other hand, the detection device extrudes the detection device, and transmits the detected force or distance data of the elastic pieces to the control system, so that the foot contact state is judged and accurately controlled. This application foot structure can both play better buffering shock attenuation effect in all directions, and the foot end stability of grabbing is good, can be through accurate detection and control the land fertility of grabbing moreover, and accurate control foot end is steadily walked to touch ground.
Description
Technical Field
The application relates to the field of robots, in particular to a foot structure and a multi-legged robot.
Background
With the continuous progress of science and technology, the bionic robot is widely concerned by various enterprises, research institutes and colleges at home and abroad, and in view of the diversified application scenes of the foot type robot, uneven hollow ground, stairs, cobblestone pavements, slopes and the like, when the robot walks on the pavements, the robot can receive impact force from the direction vertical to the ground and the horizontal direction, and the impact can cause large slippage between the foot end and the ground, so that the posture of the robot is unstable. The swinging of the thigh and the shank of the robot can cause the increase of the unbalanced force of the robot and aggravate the shaking of the robot; the foot end of the robot is directly contacted with the ground, so that stable support and friction are provided for the robot, and the bionic robot is one of the core components of the bionic robot; if the foot end can not quickly absorb and attenuate the impact force from the ground, the part of the force can be transmitted to the motor and the trunk through the leg connecting rod, so that the motor and the trunk of the robot can bear larger impact force, the body shakes, and the control difficulty and the damage risk of structural parts are increased. Meanwhile, the robot is supported on the ground by the foot end, the foot end and the ground are in a friction state when the robot moves, and the foot end belongs to an easily-worn part; therefore, the foot end with excellent performance can effectively absorb and attenuate impact force from the ground, can attenuate vibration caused by dynamic unbalance force generated by the dynamic swing of the motor, the speed reducer, the thigh and the shank of the foot type robot, can reduce the slippage of the foot end on the ground, improves the self posture stability and reduces the control difficulty, and has good wear resistance.
In view of the above problems, the conventional method in the field adopts a structure of adding air into hollow spherical rubber, then the rubber is adhered to the foot end by glue, and the rubber itself serves as an air-filled spring to achieve the purpose of buffering and damping; however, the foot end is easy to come unstuck under repeated impact force, the air pressure of the foot end is too high, the rebound force is also large, large slippage can be generated between rubber and the ground, the tire pressure is too low, the foot end is large in deformation, and once air leakage occurs, the foot end can lose efficacy; some springs are directly or indirectly connected with foot ends to buffer and damp, but the adjusting force of the springs is suddenly large and small, the springs are unstable and not well controlled, and accurate control cannot be achieved; when some feet contact with the ground, the expansion air bag is used for compressing and exhausting air to play a role in buffering and shock absorption, and meanwhile, the toe board is unfolded outwards to achieve the effect of buffering and shock prevention.
Disclosure of Invention
The invention aims to: the foot end to current sufficient formula robot is when walking to touch down, easily receive the impact force of all directions, it all carries out fine buffering shock attenuation to be difficult to all directions, it is big to lead to self gesture poor stability and the control degree of difficulty, foot end all directions grab the land fertility unstability, neglect greatly little, be difficult to accurate detection and grab the land fertility and its problem of walking stably of accurate control, provide one kind and can both play better buffering shock attenuation effect in all directions, foot end grab the land fertility stability is good, and can grab the land fertility through accurate detection and control, accurate control foot end is walked to touch down steadily.
Therefore, the invention carries out brand-new design on the foot end structure of the existing multi-foot robot, and the specific scheme is as follows:
in a first aspect, the present application provides a foot structure for an object to contact a walking surface, comprising:
the foot body is provided with a first mounting groove and a side wall which circumferentially surrounds the first mounting groove; defining a direction vertical to the walking surface as a supporting direction, wherein the first mounting groove is provided with a top wall and a bottom wall which are oppositely arranged along the supporting direction;
a plurality of support legs, each support leg comprises a pivot part, a side wall pivoted to the first mounting groove, a first abutting part formed by extending from the pivot part towards the first mounting groove, a second abutting part formed by extending from the pivot part away from the first mounting groove and towards the walking surface so as to contact the walking surface, and the first abutting part and the second abutting part of each support leg are configured to do lever motion along the pivot part;
the elastic piece is accommodated in the first installation groove, at least part of the elastic piece is arranged on the inner side of the first abutting parts of the supporting legs and can generate elastic deformation along the pivoting path of the first abutting parts;
the detection device is arranged between the top wall and the bottom wall, is pressed and connected with the elastic piece along the supporting direction to detect elastic deformation force or elastic deformation distance, and judges that the foot structure reaches a supporting stable state if the elastic deformation force or the elastic deformation distance of the elastic piece reaches a preset threshold value; wherein, the elastic deformation distance is the size of the elastic member which generates elastic deformation along the pivoting path of the first abutting part.
In the above technical solution, when the foot structure walks on the walking surface, the second abutting portions of the supporting legs contact the walking surface first, the impact force in the direction perpendicular to the walking surface acts on the second abutting portions of the plurality of supporting legs, the second abutting portions can absorb a part of the impact force and provide good friction, then under the action of the impact force, the second abutting portions and the first abutting portions perform lever motion along the pivoting portion, so that the first abutting portions press the elastic member to generate elastic deformation, the elastic member absorbs and attenuates the remaining impact force and vibration on the one hand, and presses the detection device on the other hand, the detection device transmits the detected change of the force or distance data of the elastic member to the control system, if the elastic deformation force or the elastic deformation distance of the elastic member reaches the preset threshold value, it is determined that the foot structure reaches the supporting stable state, that is, the set ground contact state, the ground contact of the next foot is carried out under the control, whether the foot contacts the ground or not is judged by detecting the real ground contact condition of the foot end and feeding back an accurate pressure value to the upper computer of the foot type robot, the ground grabbing force of the foot can be accurately controlled, the walking frequency and the ground grabbing force of each foot are consistent, and the stable walking of each foot is further better ensured.
In addition, the foot structure adopts a plurality of supporting legs, and a plurality of facets at the bottoms of the supporting legs are in contact with the contact surface; meanwhile, the plurality of supporting legs are distributed along the circumferential direction of the side wall, so that the foot structure is guaranteed to have better buffering performance in any direction when contacting the ground, and the foot bottom and the ground can be effectively prevented from sliding.
Further, traditional sticky mode falls inefficacy easily under the alternating load strikes, and the after-maintenance that drops is more difficult, and this application adopts mechanical fit's mode to install elastic component and supporting leg in foot main part, under the effect of alternating load, can effectually prevent to produce the risk of falling, even if wearing and tearing appear in elastic component and supporting leg, can change by quick convenient efficient.
As an optional technical solution of the present application, the detection device is disposed on the top wall or the bottom wall.
As an optional technical solution of the present application, the detection device is a pressure sensor or a distance sensor.
As an optional technical solution of the present application, the elastic member is interposed between the top wall and the bottom wall, and a portion of the elastic member is radially deformed in a direction perpendicular to the supporting direction, and each of the first abutting portions abuts against the radially deformed portion of the elastic member.
In the technical scheme, the bottom wall can be detached, so that the elastic piece, the supporting leg and the like can be conveniently replaced; when the second abutting parts of the supporting legs are not in contact with the walking surface, parts of the elastic pieces are radially deformed along the direction perpendicular to the supporting direction, and each first abutting part abuts against the part of the elastic piece with the largest radial deformation. When the second abutting parts of the supporting legs are in contact with the walking surface, under the action of impact force, the second abutting parts and the first abutting parts do lever motion along the pivoting parts, the first abutting parts extrude the elastic pieces to generate elastic deformation, the elastic pieces absorb and attenuate the rest impact force and vibration on one hand, on the other hand, the detection devices extrude the detection devices, the detection devices transmit the detected force or distance data of the elastic pieces to the control system, and if the elastic deformation force or the elastic deformation distance of the elastic pieces reaches a preset threshold value, the foot structure is judged to reach a supporting stable state, namely, a set ground contact state.
As an optional technical scheme of this application, the lateral wall corresponds each the supporting leg is concave establishes and forms first breach, the diapire corresponds each the supporting leg is concave establishes and forms the second breach, each the supporting leg passes through first breach with the second breach pin joint in the lateral wall of first mounting groove, first breach with the second breach is used for stepping down the lever motion of supporting leg.
In the above technical solution, the first abutting portion of the supporting leg extends into the first mounting groove through the second notch, the pivot portion of the supporting leg is pivotally connected to the side wall through the first notch, and when the second abutting portion of the supporting leg contacts the traveling surface, under the action of an impact force, the first abutting portion and the second abutting portion rotate along the pivot path of the pivot portion, that is, a so-called lever motion.
As an optional technical solution of the present application, an indicator light is further disposed on one side of the foot structure; when the foot structure is in a support stable state, the indicating state of the indicating lamp changes.
In the technical scheme, the elastic piece generates elastic deformation and further compresses the detection device, the detection device can detect the change of force data or distance data and transmit corresponding data to the control system of the foot type robot, and the state indicating lamp can display the grounding state of the foot end in time through the change of color.
As an optional technical solution of the present application, the elastic member is an elastic ball, and the plurality of first abutting portions circumferentially abut against a spherical surface of the elastic ball.
In above-mentioned technical scheme, when the elastic component is the elastic ball, its contact with second butt portion can be more abundant, and it receives the extrusion force of second butt portion can be more even, absorption and attenuation impact force and vibrations that can be better on the one hand, and on the other hand can make the data that detection device detected more accurate and stable.
As an optional technical scheme of this application, the quantity of supporting leg is at least three.
In the multi-legged robot in the prior art, for example, a four-legged robot is used, a spherical foot end is in point contact with the ground, and when one foot is lifted (three points are in contact with the ground), the center of mass of a body falls outside the range of a triangle formed by the three points, the overturning risk exists; for 3 at least supporting legs between the foot end of this application and the ground, also have 3 facet contacts at least, after a foot end is mentioned, three foot end (9 at least facets) and ground contact in addition, and the adjustment that 3 at least supporting legs can be fine comes from the impact force of all directions to timely carry out feedback control through extrusion elastic component, detection device, and then can make robot self stabilize very well. In addition, this application at least three supporting leg sets up along lateral wall circumference, can prevent effectively that the production from sliding between sole and the ground.
As an optional technical scheme of this application, the first butt portion with the contained angle that the second butt portion is constituteed is theta, theta is 120~160 degrees.
As an optional technical solution of the present application, θ is 150 degrees.
When theta is too small, the first abutting part and the second abutting part cannot well rotate along the pivoting part, and when theta is too large, the supporting leg cannot well contact the ground; a large number of attempts and researches have shown that when theta is 120-160 degrees, a plurality of support legs can be simultaneously grounded, and when the support legs are stressed to be grounded, the first abutting part and the second abutting part can rotate well along the pivoting part, namely, effective lever motion is realized.
As an optional aspect of the present application, a vulcanized rubber layer is provided on a surface of the second abutting portion.
The vulcanized rubber layer can ensure that the supporting leg has a larger friction coefficient and good wear resistance when contacting with the ground. Meanwhile, when the second abutting portion is in contact with the running surface, the vulcanized rubber layer is deformed by the impact force to absorb a part of the impact force and provide good friction.
In a second aspect, the present application also provides a multi-legged robot having the foot structure.
When the multi-legged robot walks on a walking surface, the second abutting parts of the foot supporting legs firstly contact the walking surface, the impact force in the direction perpendicular to the walking surface acts on the second abutting parts of the plurality of supporting legs, the second abutting parts can firstly absorb a part of the impact force and provide good friction, then under the action of the impact force, the second abutting parts and the first abutting parts do lever motion along the pivoting parts, the first abutting parts squeeze the elastic pieces to generate elastic deformation, the elastic pieces absorb and attenuate the rest impact force and vibration on one hand, on the other hand, the detection device is squeezed, the detection device transmits the detected change of the force or distance data of the elastic pieces to a control system of an upper computer of the multi-legged robot, if the elastic deformation force or the elastic deformation distance of the elastic pieces does not reach a preset threshold value, the control system increases the contact area between the feet and the contact surface by controlling a motor of the legs of the robot, so that the elastic deformation force or the elastic deformation distance reaches a preset threshold value; if the elastic deformation force or the elastic deformation distance of the elastic piece is detected to reach a preset threshold value, the fact that the foot structure reaches a support stable state, namely a set ground contact state, is judged, the ground contact of the next foot is conducted under the control, the ground contact condition of the foot end is detected, and an accurate pressure value is fed back to a foot type robot upper computer to judge whether the foot structure contacts the ground or not, so that the ground contact force of the foot can be accurately controlled, the walking frequency and the ground contact force of each foot are consistent, and the stable walking of the multi-foot robot is better guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a diagram illustrating an application scenario of a foot structure provided in an embodiment of the present application;
FIG. 2 is a schematic overall structure diagram of a foot structure provided by an embodiment of the present application;
FIG. 3 is an exploded view of a foot structure provided by an embodiment of the present application;
FIG. 4 is another exploded view of a foot structure provided in accordance with an embodiment of the present application;
FIG. 5 is a cross-sectional view of a foot structure provided in accordance with an embodiment of the present application as it would appear when not in contact with a walking surface from perspective A-A;
FIG. 6 is a cross-sectional view of a foot structure contacting a walking surface from perspective B-B provided by an embodiment of the present application;
icon: 100-foot structure; 200-a multi-legged robot; 30-a foot body; 301-a first mounting groove; 302-a detection device; 303-an elastic member; 304-a bottom wall; 305-a top wall; 306-a first gap; 307-a second gap; 60-supporting legs; 601-a first abutment; 602-a second abutment; 603-a pivot joint; 604-a vulcanized rubber layer; 40-indicator light.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Examples
Referring to fig. 1, the present embodiment provides an multi-legged robot 200, the multi-legged robot 200 includes a plurality of foot structures 100 for the multi-legged robot 200 to contact a walking surface; the walking surface can be any contact surface, such as a wall surface, a stair, a ground surface, a slope and the like;
further, referring to fig. 2-5, the foot structure 100 includes:
the foot body 30 is provided with a first mounting groove 301 and a side wall which circumferentially surrounds and forms the first mounting groove 301, and the first mounting groove 301 can also be called as a mounting cavity; defining the direction perpendicular to the walking surface as the supporting direction, the first mounting groove 301 has a top wall 305 and a bottom wall 304 oppositely arranged along the supporting direction, preferably, the bottom wall 304 is detachable, so that the elastic piece, the supporting leg and the like can be conveniently replaced;
a plurality of support legs 60, each support leg 60 including a pivot portion 603 pivoted to a side wall of the first mounting groove 301, a first abutting portion 601 extending from the pivot portion 603 toward the first mounting groove 301, a second abutting portion 602 extending from the pivot portion 603 away from the first mounting groove 301 and toward the walking surface to contact the walking surface, the first abutting portion 601 and the second abutting portion 602 of each support leg 60 configured to perform a lever motion along the pivot portion 603; the lever movement here can be understood as: the first abutment 601 and the second abutment 602 of each support leg 60 are configured to rotate along the pivot 603; that is, when the second abutting portion 602 contacts the traveling surface, an impact force is generated, and as the contact area between the second abutting portion 602 and the traveling surface increases, the first abutting portion 601 and the second abutting portion 602 can rotate along the pivot portion 603 under the action of the impact force;
an elastic member 303 accommodated in the first mounting groove 301, wherein at least a part of the elastic member 303 is disposed inside the plurality of first abutting portions 601 of the plurality of support legs 60 and is elastically deformable along the pivoting path of the first abutting portions 601;
a detection device 302, preferably, the detection device 302 may be a force detection device or a distance detection device, further preferably, a pressure sensor or a distance sensor, the detection device 302 is disposed between the top wall 305 and the bottom wall 304, preferably, the top wall 305 or the bottom wall 304, and is pressed against the elastic member 303 along the supporting direction to detect an elastic deformation force or an elastic deformation distance; if the elastic deformation force or the elastic deformation distance of the elastic member 303 is detected to reach the predetermined threshold, it is determined that the foot structure 100 has contacted the walking surface, i.e., the supporting stable state is reached. The detection device 302 can detect the real touchdown situation of the foot end and feed back an accurate pressure value to the upper computer of the foot robot to judge whether the upper computer touches the ground, namely, the upper computer is in a stable supporting state. The elastic deformation distance is a dimension of the elastic member 303 elastically deformed along the pivoting path of the first abutting portion 601.
Specifically, when the foot structure 100 walks on the walking surface, the second abutting portions 602 of the support legs 60 first contact the walking surface, and an impact force in a direction perpendicular to the walking surface acts on the second abutting portions 602 of the plurality of support legs 60; optionally, a vulcanized rubber layer is disposed on the surface of the second abutting portion 602, the second abutting portion 602 can absorb a portion of the impact force and provide good friction, then under the action of the impact force, the second abutting portion 602 and the first abutting portion 601 perform lever motion (rotation) along the pivot joint portion 603, so that the first abutting portion 601 presses the elastic member 303 to generate elastic deformation, on one hand, the elastic member 303 absorbs and attenuates the remaining impact force and vibration, on the other hand, the detection device 302 presses the detection device 302, the detection device 302 transmits the detected change of the force or distance data of the elastic member to the control system, and if the detected change of the force or distance of the elastic member reaches a preset threshold value, it is determined that the foot structure reaches a support stable state, that is, a set touchdown state, so as to control touchdown of the next foot, and determine whether touchdown occurs by detecting the true touchdown condition of the foot end and feeding back an accurate pressure value to the upper computer of the foot robot, the ground grabbing force of the feet can be accurately controlled, so that the walking frequency and the ground grabbing force of each foot are consistent, and the stable walking of each foot is better ensured.
Furthermore, as the foot structure adopts a plurality of supporting legs 60, and a plurality of facets at the bottoms of the supporting legs 60 are in contact with the walking surface, the good stability of the robot during walking is ensured; meanwhile, the plurality of supporting legs 60 are circumferentially distributed along the side wall, so that when the foot structure 100 is in contact with the walking surface, the foot structure 100 has better buffering performance in any direction, and the slippage between the sole and the walking surface can be effectively prevented.
Optionally, the number of support legs 60 is at least three; in the multi-legged robot in the prior art, for example, a four-legged robot is used, a spherical foot end is in point contact with the ground, and when one foot is lifted (three points are in contact with the ground), the center of mass of a body falls outside the range of a triangle formed by the three points, the overturning risk exists; for 3 at least supporting legs between the foot end of this application and the ground, also have 3 facet contacts at least, after a foot end is mentioned, three foot end (9 at least facet) and ground contact in addition, can cushion the impact force that comes from all directions, and the adjustment that 3 at least supporting legs can be fine comes from the impact force of all directions to timely carry out feedback control through extrusion elastic component, detection device, and then can make robot self stabilize very well. In addition, this application at least three supporting leg sets up along lateral wall circumference, can prevent effectively that the production from sliding between sole and the ground.
In some embodiments, the included angle between the first abutting portion 601 and the second abutting portion 602 is θ, θ can be further defined as an included angle formed between a plane formed by the first abutting portion 601 extending along the pivot portion 603 and a plane formed by the second abutting portion 602 extending along the pivot portion 603, and θ is 120 to 160 degrees. Preferably, θ is 150 degrees. When θ is too small, the first abutting portion 601 and the second abutting portion 602 do not perform well in rotation along the pivot joint portion 603, and when θ is too large, the supporting leg 60 does not perform well in contact with the ground; through a lot of trials and researches, when θ is 120-160 degrees, not only can the plurality of support legs 60 touch the ground simultaneously, but also when the ground is stressed, the first abutting portion 601 and the second abutting portion 602 realize good rotation along the pivoting portion 603, i.e. effective lever motion.
In some embodiments, the sidewall of the first mounting groove 301 is recessed to form a first notch 306 corresponding to each of the supporting legs 60, the bottom wall 304 is recessed to form a second notch 307 corresponding to each of the supporting legs 60, each of the supporting legs 60 is pivotally connected to the sidewall of the first mounting groove 301 through the first notch 306 and the second notch 307, and the first notch 306 and the second notch 307 are used for allowing the lever movement of the supporting leg 60.
That is, the first abutting portion 601 of the supporting leg 60 extends into the first mounting groove 301 through the second notch 307, the pivoting portion 603 of the supporting leg 60 is pivoted to the sidewall of the first mounting groove 301 through the first notch 306, and when the second abutting portion 602 of the supporting leg 60 contacts the traveling surface, the first abutting portion 601 and the second abutting portion 602 rotate along the pivoting path of the pivoting portion 603 under the action of the impact force, that is, the so-called lever motion. Preferably, the pivot portion 603 is a connecting rod, two ends of the connecting rod extend out of the first abutting portion 601, and the extending portion is pivoted with the sidewall of the first mounting groove 301 through the first notch 306, so that when the second abutting portion contacts with the walking surface, the first abutting portion 601 can be driven to rotate around the foot main body through the connecting rod, i.e. so-called lever motion is realized.
In some embodiments, the elastic member 303 is sandwiched between the top wall 305 and the bottom wall 304, and a portion of the elastic member 303 is radially deformed along a direction perpendicular to the supporting direction, and each of the first abutting portions 601 abuts against the radially deformed portion of the elastic member 303. Alternatively, the elastic member 303 is an elastic ball, such as a rubber ball, a spherical spring, a spherical foam, or the like, and the plurality of first abutting portions 601 circumferentially abut against a spherical surface of the elastic ball. When the elastic member 303 is an elastic ball, the contact between the elastic member 303 and the second abutting portion 602 is more sufficient, and the pressing force of the second abutting portion 602 is more uniform, so that on one hand, the impact force and the vibration can be better absorbed and attenuated, and on the other hand, the data detected by the detecting device can be more accurate and stable.
In some embodiments, one side of foot structure 100 is also provided with indicator light 40; when the foot structure 100 is in the support stable state, the indication state of the indicator light 40 changes, which may be represented as an indicator light being on. That is, the force detection device and the distance detection device detect the change of the force data and the distance data, and transmit the corresponding data to the control system of the foot type robot, and the state indicating lamp can display the touchdown state of the foot end in time through the change of the color.
Referring to fig. 5, in cooperation with fig. 6, when the second abutting portion 602 of the supporting leg 60 does not contact the traveling surface, the portion of the elastic member 303 is radially deformed in a direction perpendicular to the supporting direction, and each first abutting portion 601 abuts against the maximum radially deformed portion of the elastic member 303. When the second abutting portion 602 of the supporting leg 60 contacts the traveling surface, the impact force is larger and larger along with the increase of the contact area, and under the action of the impact force, the second abutting portion 602 drives the first abutting portion 601 to rotate along the pivot portion 603, so that the first abutting portion 601 presses the elastic member 303 to elastically deform along the radial direction, and the elastic member 303 can further absorb and attenuate the residual impact force and vibration well.
Meanwhile, the elastic piece 303 extrudes the detection device, the detection device transmits the detected change of the force or distance data of the elastic piece to a control system of the multi-legged robot upper computer, and if the elastic deformation force or the elastic deformation distance of the elastic piece is detected to not reach a preset threshold value, the control system increases the contact area between the foot and the contact surface by controlling a motor of the leg part of the robot so as to enable the elastic deformation force or the elastic deformation distance to reach the preset threshold value; if the elastic deformation force or the elastic deformation distance of the elastic piece is detected to reach the preset threshold value, the foot structure is judged to reach the support stable state, namely the set ground contact state, and at the moment, the state indicating lamp can timely display the ground contact state of the foot end through the color change. The ground contact of the next foot is carried out under the control, whether the foot contacts the ground or not is judged by detecting the real ground contact condition of the foot end and feeding back an accurate pressure value to the upper computer of the foot type robot, the ground grabbing force of the foot can be accurately controlled, the walking frequency and the ground grabbing force of each foot are consistent, and the stable walking of each foot is further better ensured.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A foot structure for an object to contact a walking surface, comprising:
the foot body is provided with a first mounting groove and a side wall which circumferentially surrounds the first mounting groove; defining a direction vertical to the walking surface as a supporting direction, wherein the first mounting groove is provided with a top wall and a bottom wall which are oppositely arranged along the supporting direction;
a plurality of support legs, each support leg comprises a pivot part, a side wall pivoted to the first mounting groove, a first abutting part formed by extending from the pivot part towards the first mounting groove, a second abutting part formed by extending from the pivot part away from the first mounting groove and towards the walking surface so as to contact the walking surface, and the first abutting part and the second abutting part of each support leg are configured to do lever motion along the pivot part;
the elastic piece is accommodated in the first installation groove, at least part of the elastic piece is arranged on the inner side of the first abutting parts of the supporting legs and can generate elastic deformation along the pivoting path of the first abutting parts;
the detection device is arranged between the top wall and the bottom wall, the supporting direction is pressed and connected with the elastic piece in order to detect elastic deformation force or elastic deformation distance, and if the elastic deformation force or the elastic deformation distance of the elastic piece reaches a preset threshold value, the foot structure is judged to reach a supporting stable state.
2. The foot structure according to claim 1, wherein said detection device is provided in said top wall or said bottom wall.
3. Foot structure according to claim 1, characterised in that said detection means are pressure sensors or distance sensors.
4. The foot structure according to claim 1, wherein the elastic member is interposed between the top wall and the bottom wall and portions of the elastic member are radially deformed in a direction perpendicular to the supporting direction, and each of the first abutting portions abuts against the radially deformed portion of the elastic member.
5. The foot structure of claim 1, wherein the side wall is recessed to form a first notch corresponding to each of the support legs, the bottom wall is recessed to form a second notch corresponding to each of the support legs, each of the support legs is pivoted to the side wall of the first mounting groove through the first notch and the second notch, and the first notch and the second notch are used for abdicating the lever motion of the support legs.
6. The foot structure of claim 1, further comprising an indicator light on one side of the foot structure; when the foot structure is in a support stable state, the indicating state of the indicating lamp changes.
7. The foot structure according to any one of claims 1 to 6, wherein the elastic member is an elastic ball, and the plurality of first abutting portions circumferentially abut against a spherical surface of the elastic ball.
8. The foot structure of claim 1, wherein the number of support legs is at least three.
9. The foot structure according to claim 1, wherein the first abutting portion and the second abutting portion form an included angle θ, and θ is 120-160 degrees.
10. A foot structure according to claim 1, characterized in that said second abutment surface is provided with a vulcanized rubber layer.
11. A multi-legged robot having the foot structure according to any one of claims 1 to 10.
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| CN113895539B (en) | 2022-04-26 |
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