CN115848530A - Robot foot joint - Google Patents
Robot foot joint Download PDFInfo
- Publication number
- CN115848530A CN115848530A CN202310109871.6A CN202310109871A CN115848530A CN 115848530 A CN115848530 A CN 115848530A CN 202310109871 A CN202310109871 A CN 202310109871A CN 115848530 A CN115848530 A CN 115848530A
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- Prior art keywords
- foot
- arm
- inner bag
- robot
- joint according
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000003108 foot joint Anatomy 0.000 title claims abstract description 24
- 239000012530 fluid Substances 0.000 claims abstract description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 210000000689 upper leg Anatomy 0.000 description 30
- 210000003127 knee Anatomy 0.000 description 19
- 210000000883 ear external Anatomy 0.000 description 11
- 210000002414 leg Anatomy 0.000 description 11
- 210000003027 ear inner Anatomy 0.000 description 6
- 238000005452 bending Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Abstract
The utility model relates to a robot foot joint relates to the robotechnology field, and it includes sufficient link and sufficient cover, establishes elastic inner bag in the sufficient cover, and inner bag is connected with pressure sensor, is filled with fluid medium in the inner bag. The application has the advantage of accurately detecting the stress conditions of the foot ends in different directions.
Description
Technical Field
The application relates to the technical field of robots, in particular to a foot joint of a robot.
Background
The function of the robot in the contemporary society becomes more and more important, and the foot type robot becomes an important direction and development trend of the research at home and abroad at present due to the good adaptability to the unstructured environment. For a quadruped robot, the leg joint configuration of a single leg is generally of two types, knee and elbow, which can be used in combination.
The related art sees utility model patent of publication No. CN218021917U, and it discloses a servo pump accuse directly drives robot leg foot system, including shank joint, foot end joint and the passive joint of damping, the passive joint of damping connects between shank joint and foot end joint, and foot end joint includes foot end and draws pressure sensor.
Aiming at the related technology, the tension and pressure sensor can accurately detect the stress from the linear direction of the foot end, and the stress sensing deviation of the foot end in other directions is larger in the walking process of the robot.
Disclosure of Invention
In order to improve the problem that the force perception deviation of the foot end of the existing robot is large, the application provides a foot joint of the robot.
The application provides a robot foot joint adopts following technical scheme:
a robot foot joint comprises a foot connecting end and a foot sleeve, wherein an elastic inner sac is arranged in the foot sleeve, and the inner sac is connected with a pressure sensor.
By adopting the technical scheme, in the walking process of the robot, the foot sleeve deforms to a certain degree when being extruded by an external object, the foot sleeve extrudes the elastic inner bag inwards, the pressure in the inner bag changes, and the pressure sensor can detect the pressure change in real time. Because the pressure from different directions of the foot sleeve is finally transmitted to the inner bag, the pressure sensor can detect the stress conditions in different directions.
In summary, the present application includes the following beneficial technical effects: the inner sac is extruded by the foot sleeve to generate pressure change, so that the stress of the foot end in different directions can be accurately detected.
Drawings
FIG. 1 is a schematic structural diagram of a leg and foot device of a robot according to an embodiment of the present disclosure;
FIG. 2 isbase:Sub>A cross-sectional view taken along the line A-A in FIG. 1;
FIG. 3 is a schematic view of the thigh arm;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 3;
FIG. 5 is a schematic view of the construction of the calf arm;
FIG. 6 is a cross-sectional view taken along plane C-C of FIG. 5;
fig. 7 is a partial structural view of a foot joint portion.
Description of reference numerals:
1. a thigh arm; 11. a first lightening hole; 12. an outer ear plate; 13. an inner ear plate; 14. mounting grooves; 15. a pin hole; 16. a first knee ear plate; 17. a through hole; 18. a wire hole;
2. a shank arm; 21. a second lightening hole; 22. a second knee ear plate; 23. perforating; 24. a foot connection end; 25. mounting holes; 26. an extension groove;
3. a hydraulic cylinder; 31. a cylinder body; 32. a piston rod; 33. a mounting frame;
4. a first connection portion;
5. a second connecting portion;
6. a foot joint; 61. a foot cover; 611. an anti-slip groove; 62. an inner bag; 621. a threaded segment; 63. a cover plate; 64. fixing a nut;
7. a cable;
8. a pressure sensor.
Detailed Description
The present application is described in further detail below with reference to figures 1-7.
The embodiment of the application discloses a robot leg and foot device.
Referring to fig. 1 and 2, the leg and foot device of the robot includes a thigh arm 1, a shank arm 2 and a hydraulic cylinder 3, the thigh arm 1 is rotatably connected to the shank arm 2, a cylinder body 31 of the hydraulic cylinder 3 is rotatably connected to the thigh arm 1, a piston rod 32 of the hydraulic cylinder 3 is rotatably connected to a first connection portion 4 and a second connection portion 5, the other end of the first connection portion 4 is rotatably connected to the thigh arm 1, the other end of the second connection portion 5 is rotatably connected to the shank arm 2, a rotation axis point of the thigh arm 1 and the shank arm 2, a rotation axis point of the first connection portion 4 and the thigh arm 1, a rotation axis point of the second connection portion 5 and the shank arm 2 and a rotation axis point of the first connection portion 4 and the second connection portion 5 form a quadrilateral.
The hydraulic cylinder 3 and the shank arm 2 are in a four-bar structure in transmission, and under the condition that the expansion angles of the shank arm 2 are the same, the swing amplitude of the hydraulic cylinder 3 in the four-bar structure is smaller.
The hydraulic cylinder 3 may be a two-way hydraulic cylinder, here a double-out-rod hydraulic cylinder. In order to protect the piston rod 32 of the hydraulic cylinder 3, the cylinder body 31 of the hydraulic cylinder 3 is fixedly connected with an installation frame 33, the installation frame 33 can be a cylindrical rod hinged in the thigh arm 1, and a cavity for accommodating the piston rod 32 is arranged at one end of the cylindrical rod connected with the cylinder body 31 along the axis. The mounting bracket 33 and the cylinder 31 may be fixed by screws.
First connecting portion 4 and second connecting portion 5 all can be the arc, and the notch of arc sets up towards the pivot point of thigh arm 1 with shank arm 2, more accords with the transmission route of stress in the structure like this, improves life. In other embodiments, the first connection portion 4 and the second connection portion 5 may be a straight plate, an S-shaped plate, a V-shaped plate, or the like.
Referring to fig. 3 and 4, the overall outer contour of the thigh arm 1 is a quadrangular prism structure, and a cavity is arranged inside the thigh arm 1. In order to further reduce the weight, the surface of the thigh arm 1 is provided with a plurality of first lightening holes 11 to form a hollow structure.
A pair of external ear plates 12 are formed on opposite side walls of one end of the thigh arm 1, and a shaft hole is formed on the external ear plates 12. An inner ear plate 13 is fixedly arranged between the two outer ear plates 12, the number of the inner ear plates 13 can be two, and the two outer ear plates 12 and the two inner ear plates 13 are arranged in parallel. In order to mount the angle monitor, a mounting groove 14 is formed at the outer side of the outer ear plate 12 corresponding to the shaft hole.
The thigh arm 1 is close to the position of the inner ear plate 13 and is provided with a pin hole 15, the axis of the pin hole 15 is perpendicular to the shaft hole of the inner ear plate 13, and the end part of the mounting frame 33 is hinged to the pin hole 15, so that the hydraulic cylinder 3 can be integrally accommodated in the cavity inside the thigh arm 1.
The other end of the thigh arm 1 is formed with a pair of first knee lugs 16 on opposite side walls, and the first knee lugs 16 are provided with axle holes. The first knee ear plate 16 and the outer ear plate 12 are respectively arranged on different sides of the thigh arm 1, and the axle hole on the first knee ear plate 16 is perpendicular to the axle hole axis on the outer ear plate 12.
To further reduce the weight of the thigh arm 1, the thigh arm 1 has a cross-sectional area that gradually decreases from one end near the outer ear plate 12 to the other end.
The thigh arm 1 is also provided with a wire hole 18 at one end close to the outer ear plate 12, and the wire hole 18 is used for a cable to pass through so as to be routed from the inside of the thigh arm 1, reduce the winding of the wire when the legs and feet move, and play a role in protecting the stable operation of the leg and foot system.
The thigh arm 1 is provided with a through hole 17 near the first knee ear plate 16, and the axis of the through hole 17 is parallel to the axis of the shaft hole of the first knee ear plate 16. The through hole 17 is used for the first connection 4 to articulate with the thigh arm 1.
The thigh arm 1 is rotatably connected with the hip joint through a shaft hole on the outer ear plate 12, so that the thigh arm 1 can swing inside and outside under external power. The thigh arm 1 is rotatably connected with the lower leg arm 2 through a shaft hole on the first knee ear plate 16, so that the rotation similar to the knee position of a human leg is realized between the thigh arm 1 and the lower leg arm 2. The thigh arm 1 is simple in structure, and the overall leg and foot structure is optimized.
Referring to fig. 5 and 6, the overall lower leg arm 2 is approximately in a quadrangular prism structure, the interior of the lower leg arm 2 is hollow, and in order to further reduce the weight of the lower leg arm 2, a plurality of second lightening holes 21 are formed in the surface of the lower leg arm 2 to form a hollow structure.
A pair of second knee ear plates 22 are formed on two opposite side walls of one end of the lower leg arm 2, shaft holes are formed in the second knee ear plates 22, and the lower leg arm 2 and the thigh arm 1 are aligned through the shaft holes of the first knee ear plates 16 and the second knee ear plates 22 and are connected in a rotating mode through shaft rods.
The lower leg arm 2 is provided with a through hole 23 near the shaft hole of the second knee ear plate 22, the axis of the through hole 23 is parallel to the shaft hole axis of the second knee ear plate 22, and the through hole 23 is used for the second connecting part 5 to hinge with the lower leg arm 2. The width of the second knee ear plate 22 gradually decreases from the perforated hole 23 portion to the axial hole portion.
The other end of the shank arm 2 is bent to form an arc-shaped section, one end of the shank arm 2, which is far away from the second knee ear plate 22, is a foot connecting end 24, and the foot connecting end 24 is of a quadrangular frustum pyramid structure. The end surface of the foot connecting end 24 is provided with a mounting hole 25 communicated with the inner cavity of the shank arm 2, and the shank arm 2 is provided with nail holes around the mounting hole 25.
In order to better accord with the anthropomorphic simulation and increase the support of the movement of the legs and the feet, the arc section of the shank arm 2 close to the foot connecting end 24 is bent towards one side, the radius of the inner side of the bending is R2, and the central angle of the inner side radian is beta; the radius of the outer side of the bend is R3, and the central angle of the outer radian is gamma. Specifically, R2=54mm, β =52 °, R3=80mm, γ =20 °. One surface of the shank arm 2 close to the shaft hole is locally bent, the bending radius is R1, the central angle of the bending cambered surface is alpha, and specifically, R1=100mm and alpha =26 degrees. In the view of fig. 6, the centers O and M of R1 and R2 are located on two sides of the lower leg arm 2, and the corresponding arc surfaces of R1 and R2 are respectively located on two opposite sides of the lower leg arm 2. In other embodiments of the examples of the present application, R1, R2, R3, α, β, and γ can be selected appropriately according to actual needs.
In order to reduce the weight of the lower leg arm 2 as much as possible, the lower leg arm 2 is provided with an extension groove 26 at the edge of the mounting hole 25.
Referring to fig. 7, a foot joint 6 is connected to the foot attachment end 24. The foot joint 6 comprises a foot sleeve 61 and a cover plate 63, the foot sleeve 61 can be a rubber sleeve, the cover plate 63 is fixed with the foot connecting end 24 through a screw, and the foot sleeve 61 can be bonded, welded or fixed on the cover plate 63 through a screw. The surface of the foot cover 61 is provided with a plurality of anti-slip grooves 611.
In order to detect the stress state of the foot joint 6 conveniently, the foot joint 6 further comprises an elastic inner bag 62, fluid media such as hydraulic oil are filled in the inner bag 62, the inner bag 62 is wrapped by the foot sleeve 61, a threaded section 621 is fixedly arranged on the inner bag 62, and the threaded section 621 penetrates through the cover plate 63 and then is fixed through a fixing nut 64. In order to prevent the inner bag 62 from moving up and down relative to the cover plate 63, the fixing nut 64 is fixedly connected to the cover plate 63 by means of integral molding, welding, bonding, embedding, and the like. The inner bag 62 is connected with a pressure sensor 8 at the threaded section 621, and the pressure sensor 8 is connected with an external central processing unit such as a chip or a computer through a cable 7. When the foot sleeve 61 is deformed by force and then presses the inner bag 62, the oil pressure in the inner bag 62 rises, and the pressure sensor 8 detects the pressure value and then transmits the pressure value to the central processing unit through the cable 7.
In the walking process of the robot, the foot sleeve 61 deforms to a certain degree when being extruded by an external object, the elastic inner sac 62 is extruded inwards by the foot sleeve 61, the pressure in the inner sac 62 changes, and the pressure sensor 8 can detect the pressure change in real time. Since the pressure from the foot sleeve 61 in different directions is finally transmitted to the inner bag 62, the pressure sensor 8 can detect the stress in different directions.
The foot cover 61 and/or the inner bladder 62 may be made of rubber.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A robot foot joint, includes foot link (24) and sufficient cover (61), its characterized in that: an elastic inner bag (62) is arranged in the foot sleeve (61), the inner bag (62) is connected with a pressure sensor (8), and the inner bag (62) is filled with fluid medium.
2. The robotic foot joint according to claim 1, wherein: the foot connecting end (24) is provided with a mounting hole (25), the foot connecting end (24) is fixed with a cover plate (63) covering the mounting hole (25), the inner bag (62) is fixedly provided with a thread section (621), and the thread section (621) penetrates through the cover plate (63) and extends into the mounting hole (25) to be connected with a fixing nut (64) through threads.
3. The robotic foot joint of claim 2, wherein: the cover plate (63) is fixed with the foot connecting end (24) through bolts.
4. The robotic foot joint according to claim 2, wherein: the fixing nut (64) is fixed integrally with the cover plate (63).
5. The robot foot joint according to any one of claims 1-4, wherein: the foot sleeve (61) and the cover plate (63) are fixed through bonding or bolts.
6. The robot foot joint according to any one of claims 1-4, wherein: the fluid medium is hydraulic oil.
7. The robot foot joint according to any one of claims 1-4, wherein: the surface of the foot sleeve (61) is provided with a plurality of anti-skidding grooves (611).
8. The robotic foot joint according to claim 6, wherein: the surface of the foot sleeve (61) is provided with a plurality of anti-skid grooves (611).
9. The robot foot joint according to any one of claims 1-4, 8, wherein: the pressure sensor (8) is positioned in the center of the foot connecting end (24).
10. The robot foot joint according to any one of claims 1-4, 8, wherein: the foot cover (61) and/or the inner bag (62) are made of rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310109871.6A CN115848530A (en) | 2023-02-14 | 2023-02-14 | Robot foot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310109871.6A CN115848530A (en) | 2023-02-14 | 2023-02-14 | Robot foot joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115848530A true CN115848530A (en) | 2023-03-28 |
Family
ID=85658003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310109871.6A Pending CN115848530A (en) | 2023-02-14 | 2023-02-14 | Robot foot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115848530A (en) |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1470201A (en) * | 1966-02-28 | 1967-02-17 | American Brake Shoe Co | Fluid-filled pressure transducer |
| US20020026838A1 (en) * | 2000-09-07 | 2002-03-07 | Riken | Non-directional load detecting sensor |
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| CN113060223A (en) * | 2021-04-08 | 2021-07-02 | 哈尔滨理工大学 | Multifunctional robot foot end |
| CN113147950A (en) * | 2021-05-08 | 2021-07-23 | 国铁工建（北京）科技有限公司 | Leg power system mechanism of leg-foot type robot and leg-foot type robot |
| CN113525548A (en) * | 2020-04-21 | 2021-10-22 | 深圳鹏行智能有限公司 | Novel four-footed robot shank joint |
| CN215436685U (en) * | 2021-05-25 | 2022-01-07 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Foot robot, foot component and foot |
| CN114165488A (en) * | 2021-12-18 | 2022-03-11 | 浙江奥莱尔液压有限公司 | Bag type energy accumulator |
| CN114291182A (en) * | 2022-01-06 | 2022-04-08 | 无锡陆吾智能科技有限公司 | Light-duty high performance four-footed robot |
| CN217260387U (en) * | 2022-03-11 | 2022-08-23 | 北京木几创新科技有限公司 | Desktop-level small bionic quadruped robot |
| CN217435884U (en) * | 2021-11-30 | 2022-09-16 | 深圳鹏行智能研究有限公司 | Robot foot end structure |
-
2023
- 2023-02-14 CN CN202310109871.6A patent/CN115848530A/en active Pending
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1470201A (en) * | 1966-02-28 | 1967-02-17 | American Brake Shoe Co | Fluid-filled pressure transducer |
| US20020026838A1 (en) * | 2000-09-07 | 2002-03-07 | Riken | Non-directional load detecting sensor |
| CN102001371A (en) * | 2010-11-23 | 2011-04-06 | 南京航空航天大学 | Hydraulically-driven four-foot robot |
| US9499219B1 (en) * | 2014-08-25 | 2016-11-22 | Google Inc. | Touch-down sensing for robotic devices |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN109398525A (en) * | 2018-10-13 | 2019-03-01 | 东北石油大学 | Flexible quadruped robot |
| CN209604335U (en) * | 2018-11-29 | 2019-11-08 | 昆明理工大学 | A kind of capsule-type leakage compensation device |
| CN110239644A (en) * | 2019-06-04 | 2019-09-17 | 广东省智能制造研究所 | A kind of bionical quadruped robot based on flexible spinal technology |
| CN110132474A (en) * | 2019-06-10 | 2019-08-16 | 哈尔滨理工大学 | A kind of liquid-type, which contacts to earth, detects sufficient end |
| CN210310636U (en) * | 2019-06-24 | 2020-04-14 | 南京工程学院 | Lightweight quadruped robot with joint force control function |
| CN212140715U (en) * | 2020-03-20 | 2020-12-15 | 中国人民解放军总医院第四医学中心 | Medical ice bag of integration |
| CN213323410U (en) * | 2020-04-21 | 2021-06-01 | 深圳鹏行智能有限公司 | Novel four-footed robot shank joint |
| CN113525548A (en) * | 2020-04-21 | 2021-10-22 | 深圳鹏行智能有限公司 | Novel four-footed robot shank joint |
| CN112660263A (en) * | 2020-12-15 | 2021-04-16 | 无锡陆吾智能科技有限公司 | Education system based on bionic quadruped robot |
| CN113060223A (en) * | 2021-04-08 | 2021-07-02 | 哈尔滨理工大学 | Multifunctional robot foot end |
| CN113147950A (en) * | 2021-05-08 | 2021-07-23 | 国铁工建（北京）科技有限公司 | Leg power system mechanism of leg-foot type robot and leg-foot type robot |
| CN215436685U (en) * | 2021-05-25 | 2022-01-07 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Foot robot, foot component and foot |
| CN217435884U (en) * | 2021-11-30 | 2022-09-16 | 深圳鹏行智能研究有限公司 | Robot foot end structure |
| CN114165488A (en) * | 2021-12-18 | 2022-03-11 | 浙江奥莱尔液压有限公司 | Bag type energy accumulator |
| CN114291182A (en) * | 2022-01-06 | 2022-04-08 | 无锡陆吾智能科技有限公司 | Light-duty high performance four-footed robot |
| CN217260387U (en) * | 2022-03-11 | 2022-08-23 | 北京木几创新科技有限公司 | Desktop-level small bionic quadruped robot |
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