CN115367016B - Foot end device, mechanical leg and bionic robot - Google Patents
Foot end device, mechanical leg and bionic robot Download PDFInfo
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- CN115367016B CN115367016B CN202110552318.0A CN202110552318A CN115367016B CN 115367016 B CN115367016 B CN 115367016B CN 202110552318 A CN202110552318 A CN 202110552318A CN 115367016 B CN115367016 B CN 115367016B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention relates to a foot end device, a mechanical leg and a bionic robot, which comprises: the foot end bracket is rotatably provided with a rotating shaft assembly; the first traveling wheel set is arranged at one end of the rotating shaft assembly; the first elastic damping unit is arranged in the first walking wheel set; the second traveling wheel set is arranged at the other end of the rotating shaft assembly, and the second traveling wheel set and the first traveling wheel set are arranged on two opposite sides of the foot end bracket; and the second elastic damping unit is arranged in the second walking wheel set. The first elastic damping unit and the second elastic damping unit are elastically deformed to quickly absorb impact energy in the horizontal direction, so that the phenomenon that rigid displacement is generated due to the fact that the impact force in the horizontal direction is larger than the friction force between the first traveling wheel set and the ground and the second traveling wheel set is effectively restrained, and the effects of buffering and attenuating the impact force in the horizontal direction are achieved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a foot end device, a mechanical leg and a bionic robot.
Background
Along with the continuous promotion of the technological level, the bionic robot is widely focused by a plurality of enterprises, research institutions and universities at home and abroad, and in view of the fact that the application scenes of the bionic robot are diversified, uneven pavement, stairs, cobblestone pavement, soil land and the like are provided, and when walking in the application scenes, the bionic robot is inevitably subjected to impact force from the direction vertical to the ground and the direction horizontal to the ground. These impact forces can lead to the generation of great slippage between the foot end of the bionic robot and the ground, so that the posture of the bionic robot is unstable, and in addition, the dynamic unbalance force can be aggravated, so that the bionic robot shakes, and the risk of cracking of a structural member is increased. In view of this, it is necessary to design the cushioning performance of the foot end of the bionic robot.
At present, the foot end of part of bionic robots in the market adopts a spherical rubber inflation structure. The inflated spherical rubber is adhered to the sole of the foot end by using glue and serves as an inflation spring to play a role in buffering and damping. However, when the foot end is subjected to repeated impact force, the spherical rubber is easy to fall off, if the air pressure in the spherical rubber is too large, the rebound force of the foot end is too large, the walking stability of the bionic robot can be affected, and if the air pressure in the spherical rubber is too small, the buffer performance is insufficient, and larger slippage is generated with the ground. In addition, soft foam is adopted at the foot end of part of the bionic robot to achieve the purpose of buffering and damping, but the foam is poor in wear resistance and short in service life, meanwhile, the contact friction force between the foam and the ground is small, sliding is easy to occur between the foam and the ground under horizontal impact, and the stability of the bionic robot is reduced.
Disclosure of Invention
Based on the above, it is necessary to provide a foot device, a mechanical leg and a bionic robot, which aim to solve the problems of poor buffering and damping reliability and poor stability of the bionic robot in the prior art.
In one aspect, the present application provides a foot end device comprising:
the foot end support is rotatably provided with a rotating shaft assembly;
the first traveling wheel set is arranged at one end of the rotating shaft assembly;
the first elastic damping unit is arranged in the first walking wheel set;
the second walking wheel set is arranged at the other end of the rotating shaft assembly, and the second walking wheel set and the first walking wheel set are arranged on two opposite sides of the foot end bracket; and
the second elastic damping unit is arranged in the second walking wheel set.
The foot end device of the scheme is applied to mechanical legs of the bionic robot, and is a member for enabling the mechanical legs to directly contact the ground and realizing walking of the bionic robot. When the mechanical legs bend, swing and walk forwards and backwards, the first walking wheel set and the second walking wheel set rotate relative to the foot end support through the rotating shaft assembly, so that the bionic robot walks stably and quickly. In the process, the first traveling wheel set and the second traveling wheel set are in contact with the ground, at the moment, impact force perpendicular to the ground direction can squeeze the first traveling wheel set and the second traveling wheel set to deform, and the deformation process is an energy absorption process, so that the impact force perpendicular to the ground direction can be buffered and attenuated. Meanwhile, the impact force generated in the horizontal direction is transmitted to the first elastic damping unit and the second elastic damping unit inwards through the first walking wheel set and the second walking wheel set, and at the moment, the first elastic damping unit and the second elastic damping unit elastically deform to quickly absorb the impact energy in the horizontal direction, so that the phenomenon that rigid displacement is generated due to the fact that the impact force in the horizontal direction is larger than the friction force between the first walking wheel set and the ground and the phenomenon that the impact force in the horizontal direction is larger than the friction force between the first walking wheel set and the ground is effectively restrained, and the effects of buffering and attenuating the impact force in the horizontal direction are achieved. Compared with the prior art, the foot end device of this scheme not only can effectively cushion the compound impact force of vertical direction and horizontal direction, simultaneously because first elasticity damping unit and second elasticity damping unit are built-in respectively in first walking wheelset and the second walking wheelset, therefore can not take place pine to take place to take off the problem that drops because of the impact, use reliability is high, be rolling friction between first walking wheelset and the second walking wheelset and the ground in addition, frictional force is little, do benefit to the reduction friction and wear, improve foot end device's life.
The technical scheme of the application is further described below:
in one embodiment, the first elastic damping unit and the second elastic damping unit each comprise at least two elastic elements, and the at least two elastic elements are circumferentially arranged at intervals in the rotation planes of the first walking wheel set and the second walking wheel set.
In one embodiment, the first elastic damping unit and the second elastic damping unit each comprise three elastic elements, and the three elastic elements are arranged at equal angular intervals along the circumferential direction in the rotation planes of the first traveling wheel set and the second traveling wheel set.
In one embodiment, at least two mounting grooves are formed in two opposite side surfaces of the foot end support, and at least part of the elastic element is inserted into the mounting grooves to be fixed.
In one of the embodiments of the present invention,
the foot end device further comprises a first friction plate and a second friction plate, wherein the first friction plate is connected between the first walking wheel set and the foot end support, and the second friction plate is connected between the second walking wheel set and the foot end support.
In one embodiment, at least two mounting grooves are formed in two opposite side surfaces of the foot end support, and at least part of the elastic element is inserted into the mounting grooves to be fixed;
the first friction plate and the second friction plate are respectively provided with at least two avoidance through holes, the avoidance through holes are arranged in one-to-one correspondence with the mounting grooves, and the parts, extending out of the mounting grooves, of the elastic elements penetrate through the avoidance through holes.
In one embodiment, at least two mounting grooves are formed in two opposite side surfaces of the foot end support, and at least part of the elastic element is inserted into the mounting grooves to be fixed; the first friction plate and the second friction plate are respectively provided with at least two avoidance through holes, the avoidance through holes are arranged in one-to-one correspondence with the mounting grooves, and the parts of the elastic elements extending out of the mounting grooves are arranged in the avoidance through holes in a penetrating mode;
the first walking wheel set and the second walking wheel set comprise hubs, at least two limiting grooves are formed in one side, facing the foot end support, of each hub, and the elastic element penetrates through the portion of the corresponding avoidance through hole and is inserted into each limiting groove.
In one embodiment, the first walking wheel set and the second walking wheel set each comprise a wheel hub, a tire core and a tire surface, wherein the tire core is sleeved on the wheel hub, and the tire surface is sleeved on the wheel hub and covers the outside of the tire core; wherein, the tire core is made of soft rubber, and the tire tread is made of hard rubber.
In one embodiment, the first running gear set and the second running gear set each further comprise a mechanical mounting structure, and the tread is detachably connected with the hub through the mechanical mounting structure.
In one embodiment, the foot end device further comprises a first anti-rotation sleeve and a second anti-rotation sleeve, the hub is opposite to one side of the foot end support, anti-rotation holes are formed in the hub, the first anti-rotation sleeve and the second anti-rotation sleeve are inserted into the anti-rotation holes in a one-to-one correspondence mode, and the first anti-rotation sleeve and the second anti-rotation sleeve are fixedly connected with the rotating shaft assembly.
In one embodiment, the rotating shaft assembly comprises a rotating shaft body, a shaft end fastening assembly and a shaft sleeve, the shaft sleeve is inserted into a preset hole of the foot end support, the rotating shaft body is inserted into the shaft sleeve in a rotating mode, the first anti-rotating sleeve is arranged at the first end of the rotating shaft body, the shaft end fastening assembly is arranged at the first end of the rotating shaft body and is in limiting fit with the first anti-rotating sleeve, and the second anti-rotating sleeve is fixed at the second end of the rotating shaft body.
In one embodiment, the shaft end fastening assembly comprises a fastening connector and a pressing plate, wherein the pressing plate is fixed at the first end of the rotating shaft body through the fastening connector, and the pressing plate is tightly attached to the side face of the first anti-rotation sleeve.
In one of the embodiments, the elastic element is provided as a linear spring.
In another aspect, the present application also provides a mechanical leg comprising a foot end device as described above.
When the mechanical legs bend, swing and walk forwards and backwards, the first walking wheel set and the second walking wheel set rotate relative to the foot end support through the rotating shaft assembly, so that the bionic robot walks stably and quickly. In the process, the first traveling wheel set and the second traveling wheel set are in contact with the ground, at the moment, impact force perpendicular to the ground direction can squeeze the first traveling wheel set and the second traveling wheel set to deform, and the deformation process is an energy absorption process, so that the impact force perpendicular to the ground direction can be buffered and attenuated. Meanwhile, the impact force generated in the horizontal direction is transmitted to the first elastic damping unit and the second elastic damping unit inwards through the first walking wheel set and the second walking wheel set, and at the moment, the first elastic damping unit and the second elastic damping unit elastically deform to quickly absorb the impact energy in the horizontal direction, so that the phenomenon that rigid displacement is generated due to the fact that the impact force in the horizontal direction is larger than the friction force between the first walking wheel set and the ground and the phenomenon that the impact force in the horizontal direction is larger than the friction force between the first walking wheel set and the ground is effectively restrained, and the effects of buffering and attenuating the impact force in the horizontal direction are achieved. Compared with the prior art, the foot end device of this scheme not only can effectively cushion the compound impact force of vertical direction and horizontal direction, simultaneously because first elasticity damping unit and second elasticity damping unit are built-in respectively in first walking wheelset and the second walking wheelset, therefore can not take place pine to take place to take off the problem that drops because of the impact, use reliability is high, be rolling friction between first walking wheelset and the second walking wheelset and the ground in addition, frictional force is little, do benefit to the reduction friction and wear, improve foot end device's life.
In addition, the application also provides a bionic robot, which comprises the mechanical leg.
In the walking process of the bionic robot, the first walking wheel set and the second walking wheel set are in contact with the ground, at the moment, the impact force perpendicular to the ground direction can squeeze the first walking wheel set and the second walking wheel set to deform, and the deformation process is an energy absorption process, so that the impact force perpendicular to the ground direction can be buffered and attenuated. Meanwhile, the impact force generated in the horizontal direction is transmitted to the first elastic damping unit and the second elastic damping unit inwards through the first walking wheel set and the second walking wheel set, and at the moment, the first elastic damping unit and the second elastic damping unit elastically deform to quickly absorb the impact energy in the horizontal direction, so that the phenomenon that rigid displacement is generated due to the fact that the impact force in the horizontal direction is larger than the friction force between the first walking wheel set and the ground and the phenomenon that the impact force in the horizontal direction is larger than the friction force between the first walking wheel set and the ground is effectively restrained, and the effects of buffering and attenuating the impact force in the horizontal direction are achieved. Compared with the prior art, the foot end device of this scheme not only can effectively cushion the compound impact force of vertical direction and horizontal direction, simultaneously because first elasticity damping unit and second elasticity damping unit are built-in respectively in first walking wheelset and the second walking wheelset, therefore can not take place pine to take place to take off the problem that drops because of the impact, use reliability is high, be rolling friction between first walking wheelset and the second walking wheelset and the ground in addition, frictional force is little, do benefit to the reduction friction and wear, improve foot end device's life.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an assembled structure of a foot end device according to an embodiment of the present invention;
fig. 2 is a schematic view of an exploded structure of the foot end device according to the present invention.
Reference numerals illustrate:
10. a foot end support; 11. a mounting groove; 20. a spindle assembly; 21. a rotating shaft body; 22. fastening the connecting piece; 23. a pressing plate; 24. a shaft sleeve; 30. a first traveling wheel set; 31. a hub; 311. a limit groove; 312. anti-rotation holes; 32. a tire core; 33. a tread; 40. a first elastic damping unit; 50. a second traveling wheel set; 60. a second elastic damping unit; 70. an elastic element; 80. a first friction plate; 90. a second friction plate; 90a, avoiding the through hole; 100. a first anti-rotation sleeve; 110. and a second anti-rotation sleeve.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
The embodiment of the application provides a bionic robot, which can be specifically intelligent equipment imitating animals, such as a machine dog, a machine cat and the like. Taking a bionic robot as an example, the robot dog has the same structural form, walking mode, life habit and the like as the dog, can assist human beings to complete various works, particularly to develop dangerous works, or to reach places where the human beings are difficult to reach to develop the works such as detection, search and rescue.
The bionic robot comprises a robot main body and mechanical legs arranged on the robot main body. The robot main body is internally provided with functional equipment such as a controller, a battery and the like. The battery supplies power to the controller so that the controller can output instructions to the mechanical legs to enable the mechanical legs to complete walking, jumping and other actions.
Illustratively, the mechanical leg includes at least a thigh, a shank, a drive unit, a transmission unit, and a foot end device. The driving unit and the transmission unit are respectively arranged on the thigh, the shank is rotationally connected with the thigh through the joint module, the shank is connected with the transmission unit, and the foot end device is arranged at one end of the shank far away from the thigh. The driving unit drives the transmission unit to move, so that the lower leg is driven to rotate and swing relative to the thigh, and the foot end device and the ground generate relative movement through friction force, so that the bionic robot walks.
Preferably, the four mechanical legs are arranged on the robot main body in a rectangular shape. The four mechanical legs support the robot main body stably, and the gravity center of the bionic robot is ensured to be stable.
As shown in fig. 1 and 2, a foot end device according to an embodiment of the present application includes: the foot end bracket 10, the first traveling wheel set 30, the first elastic shock absorbing unit 40, the second traveling wheel set 50, and the second elastic shock absorbing unit 60. The foot end bracket 10 is used for loading and fixing the other components and simultaneously realizing assembly connection with the lower leg. The assembly mode can be screw connection, welding, riveting, buckling connection and the like, and can be specifically selected according to actual needs.
A rotating shaft assembly 20 is rotatably arranged on the foot end bracket 10; the first traveling wheel set 30 is disposed at one end of the rotating shaft assembly 20; the first elastic damping unit 40 is disposed in the first traveling wheel set 30; the second traveling wheel set 50 is disposed at the other end of the rotating shaft assembly 20, and the second traveling wheel set 50 and the first traveling wheel set 30 are respectively disposed at two opposite sides of the foot end bracket 10; the second elastic shock absorbing unit 60 is disposed in the second running gear set 50.
In summary, implementing the technical scheme of the embodiment has the following beneficial effects: the foot end device of the scheme is applied to mechanical legs of the bionic robot, and is an execution member for the mechanical legs to directly contact the ground so as to realize walking of the bionic robot. When the mechanical legs bend, swing and walk back and forth, the first walking wheel set 30 and the second walking wheel set 50 rotate relative to the foot end support 10 through the rotating shaft assembly 20, so that the bionic robot walks stably and quickly. In this process, the first running wheel set 30 and the second running wheel set 50 are in contact with the ground, and at this time, the impact force perpendicular to the ground direction will squeeze the first running wheel set 30 and the second running wheel set 50 to deform, and the deformation process is an energy absorption process, so that the impact force perpendicular to the ground direction can be buffered and attenuated. Meanwhile, the impact force generated in the horizontal direction is transmitted to the first elastic shock absorbing unit 40 and the second elastic shock absorbing unit 60 through the first traveling wheel set 30 and the second traveling wheel set 50, and at this time, the first elastic shock absorbing unit 40 and the second elastic shock absorbing unit 60 are elastically deformed to quickly absorb the impact energy in the horizontal direction, so that the phenomenon that rigid displacement is generated due to the fact that the impact force in the horizontal direction is larger than the friction force between the first traveling wheel set 30 and the second traveling wheel set 50 and the ground is effectively inhibited, and the effects of buffering and attenuating the impact force in the horizontal direction are achieved.
Compared with the prior art, the foot end device of the scheme not only can effectively buffer the composite impact force in the vertical direction and the horizontal direction, but also has high use reliability because the first elastic damping unit 40 and the second elastic damping unit 60 are respectively arranged in the first traveling wheel set 30 and the second traveling wheel set 50, and therefore the problem of loosening and falling cannot occur due to impact, and rolling friction is generated between the first traveling wheel set 30 and the second traveling wheel set 50 and the ground, so that the friction force is small, the friction and abrasion are reduced, and the service life of the foot end device is prolonged.
With continued reference to fig. 1 and 2, in some embodiments, each of the first elastic shock absorbing unit 40 and the second elastic shock absorbing unit 60 includes at least two elastic elements 70, and at least two elastic elements 70 are circumferentially spaced apart in the rotation plane of the first running gear set 30 and the second running gear set 50. In this way, when the first running wheel set 30 and the second running wheel set 50 rotate, at least two elastic elements 70 are arranged in the inner circumferential direction of the rotation plane, and at least one elastic element 70 is always located in or approximately located in the horizontal plane, so as to absorb and buffer the impact force generated in the horizontal direction, and prevent the foot end device from generating rigid displacement relative to the ground.
Preferably, each of the first elastic shock absorbing unit 40 and the second elastic shock absorbing unit 60 includes three elastic elements 70, and the three elastic elements 70 are arranged at equal angular intervals along the circumferential direction in the rotation plane of the first running gear set 30 and the second running gear set 50. In this way, by equiangularly arranging three elastic elements 70 in the vertical rotation plane, that is, arranging six elastic elements 70 on the left side and the right side in total, it can be ensured that two elastic elements 70 are always in or approximately in the horizontal plane at the same time, thereby enhancing the buffering and damping effects on impact force generated in the horizontal direction and ensuring stable walking posture of the bionic robot.
On the basis of any of the above embodiments, the elastic element 70 is provided as a linear spring, for example. The linear spring has the advantages of simple structure, good elastic capability and convenient installation, and can play an excellent role in buffering and damping impact force in the linear direction through self shrinkage.
Of course, in other embodiments, the elastic element 70 may be an elastic member or device having elastic capability such as an elastic column or a spring plate, and having an impact-absorbing function.
With continued reference to fig. 1 and 2, in some embodiments, at least two mounting grooves 11 are formed on two opposite sides of the foot end bracket 10, and at least a portion of the elastic element 70 is inserted into the mounting grooves 11 and fixed therein. Thus, the groove walls of the mounting groove 11 play a limiting role on the elastic element 70, so that the elastic element 70 is stably mounted; in addition, the groove wall of the mounting groove 11 also plays a role in guiding the expansion and contraction deformation of the elastic element 70, so that the elastic element 70 can better counteract the horizontal impact force.
The elastic member 70 has a substantial shock absorbing effect on the impact force in the horizontal direction, and the elastic member 70 absorbs and stores impact energy by its own shrinkage deformation to attenuate and consume the impact force in the horizontal direction. Further, the foot end device according to any of the above embodiments further includes a first friction plate 80 and a second friction plate 90, wherein the first friction plate 80 is connected between the first running gear set 30 and the foot end bracket 10, and the second friction plate 90 is connected between the second running gear set 50 and the foot end bracket 10.
The first friction plate 80 and the second friction plate 90 are tightly attached to the foot end bracket 10 under the compression action of the first running wheel set 30 and the second running wheel set 50 respectively, so as to generate a rotating friction force. The elastic element 70 can quickly release the impact energy after absorbing the impact energy, and the friction force generated at the moment can effectively attenuate the energy released by the elastic element 70, so that the foot end device is prevented from shaking, and the stable gesture of the bionic robot is prevented from being influenced.
With continued reference to fig. 1 and fig. 2, further, the first friction plate 80 and the second friction plate 90 are provided with at least two avoidance holes 90a, the avoidance holes 90a are disposed in one-to-one correspondence with the mounting grooves 11, and the portions of the elastic elements 70 extending out of the mounting grooves 11 are disposed in the avoidance holes 90a in a penetrating manner. The avoidance holes 90a are used for allowing the elastic element 70 to pass through, so that the first friction plate 80 and the second friction plate 90 can be clung to the side surface of the foot end bracket 10 to generate friction force, thereby realizing attenuation and consumption of energy released by the elastic element 70.
With continued reference to fig. 1 and 2, in addition, on the basis of any of the foregoing embodiments, the first running wheel set 30 and the second running wheel set 50 each include a hub 31, at least two limiting grooves 311 are formed on a side of the hub 31 facing the foot end support 10, and a portion of the elastic element 70 passing through the avoidance hole 90a is inserted into the limiting grooves 311. The limiting groove 311 is used for restraining the degree of freedom of the elastic element 70 on the opposite side of the mounting groove 11, ensuring that the elastic element 70 is stably mounted, avoiding the elastic deformation and displacement and even falling when being impacted.
On the basis of the above embodiment, the first running wheel set 30 and the second running wheel set 50 further comprise a tire core 32 and a tire tread 33, the tire core 32 is sleeved on the hub 31, and the tire tread 33 is sleeved on the hub 31 and covers the outside of the tire core 32; wherein the tire core 32 is made of soft rubber, and the tire tread 33 is made of hard rubber. The tire tread 33 is made of hard rubber, so that the wear resistance is improved, and the sufficient service life of the foot end device is ensured; the inner tire core 32 is made of soft rubber, so that sufficient buffering and energy absorbing effects are guaranteed, and impact force in the vertical direction is quickly attenuated.
Further, the first running gear set 30 and the second running gear set 50 each further comprise a mechanical mounting structure by which the tire tread 33 is detachably connected to the hub 31. The tire tread 33 is arranged outside the tire core 32 and the hub 31 in a mechanical matching mode, so that the falling risk of the tire tread 33 can be effectively reduced under the action of alternating load, and once the tire tread 33 is worn in the mechanical matching installation mode, the tire tread 33 can be quickly detached and replaced, and the tire is convenient and efficient; the traditional gluing mode is quite prone to falling off and failure under alternating load impact, and maintenance after falling off is difficult.
For example, the mechanical installation structure can be any one of connection modes in the prior art, such as a threaded connection structure, a buckle connection structure, a mortise-tenon connection structure, a wedging connection structure and the like, and the mechanical installation structure is specifically selected according to actual needs.
With continued reference to fig. 1 and 2, the shaft assembly 20 includes a shaft body 21, a shaft end fastening assembly and a shaft sleeve 24, the shaft sleeve 24 is inserted into a preset hole of the foot end support 10, the shaft body 21 is rotatably inserted into the shaft sleeve 24, the first anti-rotation sleeve 100 is disposed at a first end of the shaft body 21, the shaft end fastening assembly is disposed at a first end of the shaft body 21 and is in limit fit with the first anti-rotation sleeve 100, and the second anti-rotation sleeve 110 is fixed at a second end of the shaft body 21. In addition, the foot end device further comprises a first anti-rotation sleeve 100 and a second anti-rotation sleeve 110, an anti-rotation hole 312 is formed in one side of the hub 31, which is opposite to the foot end support 10, the first anti-rotation sleeve 100 and the second anti-rotation sleeve 110 are inserted into the anti-rotation hole 312 in a one-to-one correspondence manner, and the first anti-rotation sleeve 100 and the second anti-rotation sleeve 110 are connected and fixed with the rotating shaft assembly 20.
The first anti-rotation sleeve 100 and the second anti-rotation sleeve 110 are respectively inserted into the corresponding anti-rotation holes 312, so that the left hub 31 and the right hub 31 can be assembled and fixed with the rotating shaft body 21 into a whole, and further the first traveling wheel set 30 and the second traveling wheel set 50 can be ensured to synchronously rotate, and the bionic robot can stably and smoothly walk.
In addition, after the shaft end fastening assembly is locked with the rotating shaft body 21, the first running wheel set 30 and the second running wheel set 50 can apply a pretightening force inwards, so that the first friction plate 80 and the second friction plate 90 are tightly adhered to the foot end bracket 10, and a large enough friction force can be generated to offset the energy released by the elastic element 70.
With continued reference to fig. 1 and 2, specifically, the shaft end fastening assembly includes a fastening connector 22 and a pressing plate 23, where the pressing plate 23 is fixed to the first end of the rotating shaft body 21 by the fastening connector 22, and the pressing plate 23 is tightly attached to a side surface of the first anti-rotation sleeve 100. In this way, the fastening connection piece 22 locks and fixes the pressing plate 23 on the rotating shaft body 21, so that the first friction plate 80 and the second friction plate 90 are pressed on two opposite sides of the foot end bracket 10 through the pressing plate 23, a sufficient friction force is ensured to be generated, and meanwhile, the assembly of each component is ensured to be stable and reliable.
Optionally, the fastening connection piece 22 is set as a screw, the end of the rotating shaft body 21 is concavely provided with a threaded hole, the screw is screwed in the threaded hole, the connection strength is high, and the assembly and the disassembly are convenient.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Claims (14)
1. A foot end device, the foot end device comprising:
the foot end support is rotatably provided with a rotating shaft assembly;
the first traveling wheel set is arranged at one end of the rotating shaft assembly;
the first elastic damping unit is arranged in the first walking wheel set;
the second walking wheel set is arranged at the other end of the rotating shaft assembly, and the second walking wheel set and the first walking wheel set are arranged on two opposite sides of the foot end bracket; and
the second elastic damping unit is arranged in the second walking wheel set; the foot end device further comprises a first friction plate and a second friction plate, wherein the first friction plate is connected between the first walking wheel set and the foot end support, and the second friction plate is connected between the second walking wheel set and the foot end support.
2. The foot end device of claim 1, wherein the first and second elastic shock absorbing units each comprise at least two elastic elements, the at least two elastic elements being circumferentially spaced apart in a plane of rotation of the first and second running gear sets.
3. The foot end device according to claim 2, wherein the first and second elastic shock absorbing units each comprise three of the elastic elements.
4. The foot end device according to claim 2, wherein at least two mounting grooves are formed in two opposite side surfaces of the foot end support, and at least part of the elastic element is inserted into the mounting grooves to be fixed.
5. The foot end device according to claim 2, wherein at least two mounting grooves are formed on two opposite side surfaces of the foot end bracket, and at least part of the elastic element is inserted into the mounting grooves for fixation;
the first friction plate and the second friction plate are respectively provided with at least two avoidance through holes, the avoidance through holes are arranged in one-to-one correspondence with the mounting grooves, and the parts, extending out of the mounting grooves, of the elastic elements penetrate through the avoidance through holes.
6. The foot end device according to claim 2, wherein at least two mounting grooves are formed on two opposite side surfaces of the foot end bracket, and at least part of the elastic element is inserted into the mounting grooves for fixation; the first friction plate and the second friction plate are respectively provided with at least two avoidance through holes, the avoidance through holes are arranged in one-to-one correspondence with the mounting grooves, and the parts of the elastic elements extending out of the mounting grooves are arranged in the avoidance through holes in a penetrating mode;
the first walking wheel set and the second walking wheel set comprise hubs, at least two limiting grooves are formed in one side, facing the foot end support, of each hub, and the elastic element penetrates through the portion of the corresponding avoidance through hole and is inserted into each limiting groove.
7. The foot end device according to claim 1, wherein the first running wheel set and the second running wheel set each comprise a hub, a tire core and a tire surface, the tire core is sleeved on the hub, and the tire surface is sleeved on the hub and covers the outside of the tire core; wherein, the tire core is made of soft rubber, and the tire tread is made of hard rubber.
8. The foot end device of claim 7, wherein the first and second running wheel sets each further comprise a mechanical mounting structure by which the tread is removably coupled to the hub.
9. The foot end device according to claim 7, further comprising a first anti-rotation sleeve and a second anti-rotation sleeve, wherein an anti-rotation hole is formed in one side of the hub facing away from the foot end support, the first anti-rotation sleeve and the second anti-rotation sleeve are inserted into the anti-rotation hole in a one-to-one correspondence manner, and the first anti-rotation sleeve and the second anti-rotation sleeve are both fixedly connected with the rotating shaft assembly.
10. The foot end device according to claim 9, wherein the shaft assembly comprises a shaft body, a shaft end fastening assembly and a shaft sleeve, the shaft sleeve is inserted in a preset hole site of the foot end support, the shaft body is rotatably inserted in the shaft sleeve, the first anti-rotation sleeve is arranged at a first end of the shaft body, the shaft end fastening assembly is arranged at the first end of the shaft body and is in limiting fit with the first anti-rotation sleeve, and the second anti-rotation sleeve is fixed at a second end of the shaft body.
11. The foot end device according to claim 10, wherein the shaft end fastening assembly includes a fastening connector and a pressure plate, the pressure plate is fixed to the first end of the shaft body by the fastening connector, and the pressure plate is tightly fitted to a side surface of the first anti-rotation sleeve.
12. The foot end device according to any one of claims 2 to 6, wherein the resilient element is provided as a linear spring.
13. A mechanical leg comprising a foot end device according to any one of claims 1 to 12.
14. A biomimetic robot comprising a mechanical leg according to claim 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110552318.0A CN115367016B (en) | 2021-05-20 | 2021-05-20 | Foot end device, mechanical leg and bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110552318.0A CN115367016B (en) | 2021-05-20 | 2021-05-20 | Foot end device, mechanical leg and bionic robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115367016A CN115367016A (en) | 2022-11-22 |
| CN115367016B true CN115367016B (en) | 2023-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110552318.0A Active CN115367016B (en) | 2021-05-20 | 2021-05-20 | Foot end device, mechanical leg and bionic robot |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1420839A (en) * | 1920-09-11 | 1922-06-27 | John W Stoverink | Spring wheel |
| RU2102250C1 (en) * | 1996-10-16 | 1998-01-20 | Виктор Павлович Орлов | Variable geometry drive |
| US20060197305A1 (en) * | 2005-03-04 | 2006-09-07 | Wichern David L | Internal wheel suspension and shock absorbing system |
| JP2012125911A (en) * | 2010-11-26 | 2012-07-05 | Nsk Ltd | Legged robot |
| CN104229160B (en) * | 2014-10-15 | 2016-03-30 | 哈尔滨工业大学 | The manned lunar rover moving system of a kind of four-wheel |
| CN110126562B (en) * | 2019-05-22 | 2020-12-18 | 北京理工大学 | Empty ground integrated electric parallel wheel foot driving mechanism |
| CN110962955B (en) * | 2019-11-19 | 2020-11-20 | 北京空间飞行器总体设计部 | Few-driving-wheel leg type composite robot for planet detection |
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2021
- 2021-05-20 CN CN202110552318.0A patent/CN115367016B/en active Active
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