CN116080789A - Foot structure of shock attenuation energy storage and biped robot - Google Patents
Foot structure of shock attenuation energy storage and biped robot Download PDFInfo
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- CN116080789A CN116080789A CN202310361919.2A CN202310361919A CN116080789A CN 116080789 A CN116080789 A CN 116080789A CN 202310361919 A CN202310361919 A CN 202310361919A CN 116080789 A CN116080789 A CN 116080789A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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Abstract
The invention discloses a foot structure capable of absorbing and storing energy and a bipedal robot, wherein the foot structure comprises a shank, a supporting lug, a connecting rod, a universal joint, a foot supporting component and an elastic component capable of absorbing and storing energy, the foot supporting component comprises an upper connecting plate, a lower connecting plate and an inclined connecting plate, and a first connecting part of the shank is arranged in a first connecting hole of the universal joint; the first mounting part of the support lug is hinged on the support lug mounting part of the lower leg; the pin part at one end of the connecting rod is arranged on the second connecting part of the supporting lug, and the other end of the pin part is arranged on the second mounting part of the upper connecting plate; the third installation part of the upper connecting plate is installed in the first connecting hole through threads; the damping energy storage elastic component is respectively arranged on the inclined connecting plate and the lower connecting plate. According to the invention, the damping energy storage elastic components are added on the sole and the toes, so that the damping energy storage capacity of the foot structure is realized, the foot structure is prevented from having larger rigid impact with the ground in the motion process, and the motion performance of the bipedal robot is improved.
Description
Technical Field
The invention relates to the field of foot design of humanoid biped robots, in particular to a foot structure capable of absorbing shock and storing energy and a biped robot.
Background
The humanoid biped robot is a robot with higher control difficulty and lower requirements on the ground environment, and can realize actions such as jumping ravines, fast running, active obstacle avoidance and the like through a biped movement mode. The humanoid biped robot can play an important role in dangerous scenes such as fire rescue, field exploration, rescue and disaster relief, and has a large wide application scene. However, in the motion process of the humanoid biped robot, the foot of the humanoid biped robot adopts a rigid structural member to generate larger vibration impact on the structural member of the humanoid biped robot, so that the humanoid biped robot is damaged. Therefore, the foot structure with the shock absorption and energy storage functions is adopted for solving the shock impact problem of the humanoid biped robot in the motion process, the shock absorption and energy storage device is arranged at the toe part of the foot structure, so that the foot structure is more in accordance with human kinematics in the motion process, the shock absorption and energy storage device is arranged at the bottom of the foot, the foot structure can be in shock absorption and energy storage motion, the foot structure of the biped robot can have shock absorption and energy storage functions, the foot structure of the biped robot is prevented from having larger rigid impact with the ground in the motion process, and the motion performance of the biped robot can be improved.
Disclosure of Invention
The invention aims to provide a foot structure for damping and storing energy and a bipedal robot, aiming at the problem of rigid impact between the foot structure of the humanoid bipedal robot and the ground in the prior art.
The aim of the invention is realized by the following technical scheme: in a first aspect, an embodiment of the present invention provides a shock absorbing and energy storing foot structure comprising:
the calf comprises a first main body part and a tibia-like part arranged below the first main body part, wherein lug installation parts are arranged on two sides of the first main body part, and a first connecting part is arranged at the bottom of the tibia-like part;
the two lugs comprise lug rods, and a first installation part and a second connection part which are arranged at two ends of the lug rods, and the first installation part is installed on the lug installation part through hinging;
the two connecting rods comprise a connecting rod main body part and ball parts arranged at two ends of the connecting rod main body part, pin parts are arranged on the ball parts, and the pin parts are arranged on the second connecting parts;
the universal joint comprises a cross shaft and transmission forks arranged at two ends of the cross shaft, a first connecting hole is formed in the transmission forks, and the first connecting part is installed in the first connecting hole in a threaded fit manner;
the foot supporting component comprises an upper connecting plate, a lower connecting plate and an inclined connecting plate, wherein a second mounting part and a third mounting part are arranged on the upper connecting plate, the pin component is mounted on the second mounting part, and the third mounting part is mounted in the first connecting hole through threads; and
the damping energy storage elastic component comprises a first damping energy storage elastic component and a second damping energy storage elastic component, wherein the first damping energy storage elastic component is installed on the inclined connecting plate, and the second damping energy storage elastic component is installed on the lower connecting plate.
Optionally, a motor mounting part for mounting a driving motor is further arranged on the lower leg.
Optionally, the ball component is provided with a first through hole, and the pin component is installed in the first through hole;
the end of the pin member is provided with a second through hole in which the cotter pin member is installed.
Optionally, the lower connecting plate is located below the upper connecting plate, and the inclined connecting plate is arranged at one end of the upper connecting plate;
the two ends of the oblique connecting plate are provided with a first joint shaft and a second joint shaft, the oblique connecting plate is provided with a first rotating joint, and the first rotating joint is positioned between the first joint shaft and the second joint shaft;
a first moving groove and a second moving groove are arranged on the lower connecting plate in a crossing manner;
and a third moving groove and a fourth moving groove are arranged on the lower plane of the upper connecting plate in a crossing manner.
Optionally, the first damping energy storage elastic component comprises a first support connecting rod and a second support connecting rod, the first support connecting rod is arranged in a crossing way with the second support connecting rod through a first pin, and the first pin is arranged at the center point of the first support connecting rod and the second support connecting rod;
the two ends of the first support connecting rod are provided with first mounting blocks through second rotating joints, the two ends of the second support connecting rod are provided with second mounting blocks through second rotating joints, and a first spring component is mounted between the first mounting blocks and the second mounting blocks;
the first installation block is provided with a second connecting hole, the second installation block is provided with a third connecting hole, two ends of the first joint shaft are installed in the second connecting hole and the third connecting hole in a one-to-one correspondence mode, and two ends of the second joint shaft are installed in the second connecting hole and the third connecting hole in a one-to-one correspondence mode.
Optionally, the second damping energy storage elastic component includes upper plane connecting component, lower plane connecting component and supporting component, the supporting component sets up upper plane connecting component with between the lower plane connecting component, just upper plane connecting component with lower plane connecting component all is provided with around supporting component.
Optionally, the upper plane connection part includes a first moving part and a second spring part, and the second spring part is disposed between two adjacent first moving parts;
the lower plane connecting part comprises a second moving part and a third spring part, and the third spring part is arranged between two adjacent second moving parts;
the support component comprises a third support connecting rod and a fourth support connecting rod, the third support connecting rod is crossed with the fourth support connecting rod through a second pin, and the second pin is arranged at the center point of the third support connecting rod and the center point of the fourth support connecting rod; one end of the third support connecting rod is arranged on the first moving part through a third rotating joint, and the other end of the third support connecting rod is arranged on the second moving part through a third rotating joint; one end of the fourth support connecting rod is installed on the first moving part through a third rotating joint, and the other end of the fourth support connecting rod is installed on the second moving part through a third rotating joint.
Optionally, the first moving member is installed in the third moving groove and the fourth moving groove, and the second moving member is installed in the first moving groove and the second moving groove.
Optionally, the foot structure is symmetrical about a sagittal plane passing through a center point of the universal joint.
A second aspect of an embodiment of the present invention provides a shock absorbing and energy storing bipedal robot, including:
a torso member;
the left leg part comprises a first driving motor and the damping and energy-storing foot structure, and is rotatably connected to the trunk part; and
the right leg part comprises a second driving motor and the damping and energy-storing foot structure, and is rotatably connected to the trunk part;
wherein the left leg member and the right leg member are symmetrically disposed on both sides of the torso member.
The foot structure has the beneficial effects that the damping and energy storage device is arranged at the toe part of the foot structure, so that the foot structure is more in accordance with the human body kinematic characteristic in the movement process; the damping and energy storage device is arranged at the bottom of the foot so that the foot structure can perform damping and energy storage movements, and the damping and energy storage device is beneficial to relieving the rigid impact between the foot structure and the ground; according to the invention, by introducing the sole buffering elastic device and the toe buffering elastic device, the damping and energy storage capacity of the foot structure of the biped robot is realized, and meanwhile, the foot structure of the biped robot is prevented from having larger rigid impact with the ground in the movement process, so that the movement performance of the biped robot is improved.
Drawings
FIG. 1 is a schematic overall structure of a foot structure of a humanoid biped robot;
FIG. 2 is a schematic diagram of the structure of a human-like bipedal robot calf;
FIG. 3 is a schematic view of the structure of the lugs;
FIG. 4 is a schematic structural view of a connecting rod;
FIG. 5 is a schematic view of the structure of the universal joint;
FIG. 6 is a schematic view of the structure of the foot-supporting member;
FIG. 7 is a schematic structural view of a shock absorbing energy storing resilient member;
FIG. 8 is a schematic structural view of a shock absorbing and energy storing resilient member.
In the figure, a lower leg 1, a motor mounting part 101, a lug mounting part 102, a tibia-like member 103, and a first connecting part 104;
a link 3, a cotter member 301, a ball member 302, a pin member 303, and a link body 304;
the foot supporting member 5, the inclined connecting plate 501, the second mounting portion 502, the third mounting portion 503, the first joint shaft 504, the first rotation joint 505, the second joint shaft 506, the first movement groove 507, the second movement groove 508, the upper connecting plate 509, and the lower connecting plate 510;
the first damping and energy storage elastic component 6, the first support connecting rod 601, the second support connecting rod 602, the first mounting block 603, the second mounting block 604, the second rotary joint 605, the first spring component 606, the first pin 607, the second connecting hole 608 and the third connecting hole 609;
the second shock absorbing and energy storing elastic member 7, the upper planar connection member 701, the lower planar connection member 702, the first moving member 703, the second spring member 704, the second moving member 705, the third spring member 706, the third support link 707, the fourth support link 708, the second pin 709, and the third rotational joint 710.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the invention. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
The present invention will be described in detail with reference to the accompanying drawings. The features of the examples and embodiments described below may be combined with each other without conflict.
Referring to fig. 1, the shock absorbing and energy storing foot structure of the present invention has two degrees of freedom, namely pitch and roll, and includes a calf 1, two lugs 2, two links 3, a universal joint 4, a foot support member 5, and a shock absorbing and energy storing resilient member.
In this embodiment, the calf 1 includes a first body portion and a tibial-like component 103 disposed below the first body portion. Wherein, the two sides of the first main body part are provided with a lug installation part 102 for installing lugs, the first main body part is provided with a motor installation part 101 for installing a driving motor, and the bottom of the tibia-like component 103 is provided with a first connection part 104, as shown in fig. 2.
In this embodiment, the support lug 2 includes a support lug rod 202, and a first mounting portion 201 and a second connecting portion 203 disposed at two ends of the support lug rod 202, that is, one end of the support lug rod 202 is provided with the first mounting portion 201, and the other end of the support lug rod 202 is provided with the second connecting portion 203, as shown in fig. 3. The first mounting portion 201 is hinged to the lug mounting portion 102, so that two lugs 2 can be mounted on both sides of the first body portion of the lower leg 1.
In this embodiment, the link 3 includes a link body 304 and ball members 302 provided at both ends of the link body 304, the ball members 302 are mounted with pin members 303, and the pin members 303 are mounted on the second connection portions 203, as shown in fig. 4. The ball part 302 is a fish-eye joint or a joint bearing, a stud is arranged at the bottom of the ball part 302, and the ball part 302 is installed on the connecting rod main body 304 through threaded connection; in addition, the ball member 302 is further provided with a first through hole in which the pin member 303 is fitted. The end of the pin member 303 is provided with a second through hole, and the cotter member 301 is mounted in the second through hole, so that the pin member 303 can be firmly mounted and is not easily detached by the cotter member 301.
The two connecting rods 3 are correspondingly arranged on the corresponding lugs 2 one by one through pin parts 303 at one end, specifically, the pin parts 303 arranged on the ball parts 302 at one end of the connecting rods 3 are arranged on the second connecting parts 203 of the lugs 2, and the cotter pin parts 301 at the end parts of the pin parts 303 enable the pin parts 303 to be firmly arranged and not easy to fall off; at this time, the ball member 302 is inserted into the bearing of the second connection portion 203, and when the driving motor is driven to work, the connecting rod 3 can be driven to rotate.
In this embodiment, the universal joint 4 includes a cross 402 and drive forks 401 disposed at two ends of the cross 402, the drive forks 401 are provided with first connection holes 403, the first connection portions 104 disposed at the bottom of the tibia-like member 103 are mounted in the upper first connection holes 403 by screw-fitting, and the lower first connection holes 403 are used for mounting on the foot supporting member 5, as shown in fig. 5. It will be appreciated that cross 402 serves to support calf 1 on foot-supporting member 5 and is more freely rotatable during movement.
Specifically, the first connecting portion 104 provided at the bottom of the tibia-like member 103 is screwed into the first connecting hole 403 provided in the upper driving fork 401, so that the lower leg 1 can be mounted on the upper end of the universal joint 4.
Further, the foot structure is symmetrical about a sagittal plane passing through the center point of the universal joint 4.
The lug mounts 102 of the lower leg 1, which are symmetrical about the sagittal plane, are respectively connected to the links 3, and the links 3 to which two identical lugs 2 are connected and the universal joints 4 to which the lower leg 1 is connected provide two degrees of freedom for pitching and rolling the foot structure of the bipedal robot.
Specifically, the two lugs 2 are driven to rotate in the same direction through the two driving motors installed on the motor installation part 101, so that the two connecting rods 3 connected with the lugs 2 are driven to rotate simultaneously and uniformly, the rotation of the lower leg 1 can be driven, and the lower leg 1 can rotate freely due to the existence of the universal joint 4, so that the foot structure of the bipedal robot can be controlled to rotate around the pitching degree of freedom; two lugs 2 are driven to rotate in opposite directions simultaneously by two driving motors arranged on the motor mounting part 101, so that two connecting rods 3 connected with the lugs 2 are driven to rotate in opposite directions simultaneously, the rotation of the lower leg 1 can be driven simultaneously, and the lower leg 1 can freely rotate due to the existence of the universal joint 4, so that the foot structure of the bipedal robot can be controlled to rotate around the rolling degree of freedom.
In this embodiment, the foot-supporting member 5 includes an upper connecting plate 509, a lower connecting plate 510, and an inclined connecting plate 501, the lower connecting plate 510 being located below the upper connecting plate 509, the inclined connecting plate 501 being provided at one end of the upper connecting plate 509, as shown in fig. 6.
Wherein, the upper connecting plate 509 is provided with a second mounting portion 502 and a third mounting portion 503, the pin member 303 is mounted on the second mounting portion 502, and the third mounting portion 503 is mounted in the first connecting hole 403 of the universal joint 4 by screw-fitting.
Further, the outer side wall of the third mounting portion 503 is provided with threads, which can be fitted into the first coupling hole 403 provided in the lower drive fork 401 by the threads, so that the lower end of the universal joint 4 can be mounted above the upper coupling plate 509 of the foot supporting member 5, and the universal joint 4 can support the lower leg 1 on the foot supporting member 5.
The two connecting rods 3 are mounted on the upper connecting plate 509 of the foot supporting member 5 through the pin members 303 at the other ends, specifically, the pin members 303 mounted on the ball members 302 at the other ends of the connecting rods 3 are mounted on the second mounting portions 502 provided on the upper connecting plate 509, and the cotter pin members 301 at the ends of the pin members 303 can make the mounting of the pin members 303 firm and not easy to fall off; when the driving motor drives to work, the connecting rod 3 moves along with the lug 2 when the connecting rod 3 is driven to rotate. It should be appreciated that the connection movement relationship of the pin member 303 and the second mounting portion 502 as a revolute pair may facilitate movement of the link 3.
Further, two second mounting portions 502 are provided on the upper connecting plate 509, and the pin members 303 at the other ends of the two links 3 are mounted on the corresponding second mounting portions 501 in one-to-one correspondence.
The two ends of the oblique connecting plate 501 are provided with a first joint shaft 504 and a second joint shaft 506, the oblique connecting plate 501 is also provided with a first rotary joint 505, and the first rotary joint 505 is positioned between the first joint shaft 504 and the second joint shaft 506. Wherein the first joint shaft 504 and the second joint shaft 506 are cylindrical, it should be understood that the first joint shaft 504 and the second joint shaft 506 are detachable for mounting the shock absorbing and energy storing elastic component.
The lower connecting plate 510 is provided with a first moving groove 507 and a second moving groove 508 which are crossed and serve as moving grooves of the damping and energy storage elastic component. Similarly, a third moving groove and a fourth moving groove are provided on the lower plane of the upper connecting plate 509 in a crossing manner as moving grooves of the shock-absorbing and energy-storing elastic member.
In this embodiment, the damping and energy-storing elastic component includes a first damping and energy-storing elastic component 6 and a second damping and energy-storing elastic component 7, where the first damping and energy-storing elastic component 6 is installed on the oblique connecting plate 501, and the second damping and energy-storing elastic component 7 is installed on the lower connecting plate 510 and is located below the upper connecting plate 509.
Referring to fig. 7, the first damping and energy storage elastic member 6 includes a first support link 601 and a second support link 602, the first support link 601 is disposed to cross the second support link 602 through a first pin 607, the first pin 607 is disposed at a center point of the first support link 601 and the second support link 602, and the first support link 601 and the second support link 602 disposed to cross can be flexibly rotated by the first pin 607. The first support link 601 is provided at both ends thereof with first mounting blocks 603 through second rotary joints 605, the second support link 602 is provided at both ends thereof with second mounting blocks 604 through second rotary joints 605, first spring members 606 are installed between the first mounting blocks 603 and the second mounting blocks 604, and when the first support link 601 and the second support link 602 rotate, linear movement of the first mounting blocks 603 and the second mounting blocks 604 is facilitated through the second rotary joints 605 provided, and at the same time, the first spring members 606 can be stretched or compressed. The first mounting block 603 is provided with a second connection hole 608, and the second mounting block 604 is provided with a third connection hole 609.
Further, both ends of the first joint shaft 504 are installed in the second connection hole 608 and the third connection hole 609 provided at one end of the first support link 601 and the second support link 602 in one-to-one correspondence; two ends of the second joint shaft 506 are installed in the second connection hole 608 and the third connection hole 609 provided at the other ends of the first support link 601 and the second support link 602 in one-to-one correspondence. By the design, the first damping energy storage elastic component 6 can be installed on the inclined connecting plate 501.
Further, the axes of the first articulation shaft 504, the second articulation shaft 506 and the first spring member 606 are parallel to one another.
Further, the toe portion of the foot structure is comprised of the first shock absorbing and energy storing elastic member 6, the first joint axis 504, the first rotational joint 505 and the second joint axis 506 of the foot supporting member 5.
Specifically, the first joint shaft 504, the first rotating joint 505, the second joint shaft 506 and the first shock-absorbing and energy-storing elastic component 6 are connected to form a toe-cushioning elastic device of the foot structure, and the toe-cushioning elastic device is more in accordance with the human motion characteristics during the movement process. When the first rotation joint 505 rotates, the first support link 601 and the second support link 602 which are disposed to intersect each other rotate around the first pin 607, and the first spring member 606 of the first shock and energy storage elastic member 6 is stretched, thereby putting the toes in a shock and energy storage state.
Referring to fig. 8, the second shock absorbing and energy storing elastic member 7 includes an upper plane connection member 701, a lower plane connection member 702, and a support member disposed between the upper plane connection member 701 and the lower plane connection member 702. Wherein the upper planar connection part 701 comprises four first moving parts 703 and four second spring parts 704, the second spring parts 704 being arranged between two adjacent first moving parts 703. The lower planar connection part 702 includes four second moving parts 705 and four third spring parts 706, the third spring parts 706 being disposed between two adjacent second moving parts 705. The support part includes a third support link 707 and a fourth support link 708, the third support link 707 is disposed to cross the fourth support link 708 by a second pin 709, the second pin 707 is disposed at a center point of the third support link 707 and the fourth support link 708, and the third support link 707 and the fourth support link 708 disposed to cross can be flexibly rotated by the disposed second pin 707; one end of the third support link 707 is mounted to the first moving member 703 through a third rotational joint 710, the other end of the third support link 707 is mounted to the second moving member 705 through the third rotational joint 710, one end of the fourth support link 708 is mounted to the first moving member 703 through the third rotational joint 710, and the other end of the fourth support link 708 is mounted to the second moving member 705 through the third rotational joint 710.
Alternatively, the upper plane connection part 701 and the lower plane connection part 702 are provided with support parts around, and the support parts are located between the upper plane connection part 701 and the lower plane connection part 702. The first moving member 703 has both a third support link 707 and a fourth support link 708 mounted thereon in a plane adjacent to the current plane of the third support link 707.
Further, the first moving part 703 of the upper plane connecting part 701 is installed in the third moving groove and the fourth moving groove which are arranged in a crossing manner on the lower plane of the upper connecting plate 509, so that the second shock-absorbing and energy-storing elastic part 7 is installed below the upper connecting plate 509, when the foot moves, pressure is applied to the structure, and the first moving part 703 makes oblique line movement, so that the opposite two first moving parts 703 move in the corresponding third moving groove or fourth moving groove, and the movement principle of the sliding block in the clamping groove is similar. It should be appreciated that the upper planar connection member 701 is free to move under the upper connection plate 509.
Similarly, the second moving parts 705 of the lower plane connection part 702 are installed in the first moving grooves 507 and the second moving grooves 508 which are arranged on the lower connection plate 510 in a crossing manner, so that the second shock-absorbing and energy-storing elastic part 7 is installed above the lower connection plate 510, when the foot moves, pressure is applied to the structure, and the second moving parts 705 do oblique line movement, so that the two opposite second moving parts 705 move in the corresponding first moving grooves 507 or second moving grooves 508. It should be appreciated that the lower planar connection member 702 is free to move on the lower connection plate 510.
It will be appreciated that the second shock absorbing and energy storing resilient member 7 is arranged below the upper connection 509 and above the lower connection plate 510, i.e. the second shock absorbing and energy storing resilient member 7 is located above the plane formed by the first movement slots 507 and the second movement slots 508.
Further, the plantar portion of the foot structure is made up of the second shock absorbing and energy storing elastic member 7, the upper connecting plate 509 and the lower connecting plate 510 of the foot supporting member 5.
Specifically, the third moving groove and the fourth moving groove provided below the upper plane connection part 701 and the upper connection plate 509 of the second shock-absorbing and energy-storing elastic part 7 are connected, and the first moving groove 507 and the second moving groove 508 provided on the lower plane connection part 702 and the lower connection plate 510 of the second shock-absorbing and energy-storing elastic part 7 are connected, so that a sole buffering elastic device of the foot structure is formed together, and the foot structure is in a buffering and shock-absorbing state in the movement process. When the upper connecting plate 509 is under pressure, the second shock and energy storing elastic member 7 is under pressure, the upper plane connecting member 701 and the lower plane connecting member 702 of the second shock and energy storing elastic member 7 are extended, the third support link 707 and the fourth support link 708 which are disposed to be crossed are rotated about the second pin 707, and the four second spring members 704 and the four third spring members 706 of the second shock and energy storing elastic member 7 are stretched, so that the sole of the foot is in a shock and energy storing state.
It should be understood that the first moving member 703 and the second moving member 705 of the second shock and energy storing elastic member 7 are distributed at each end point of the second shock and energy storing elastic member 7, the diagonally arranged first moving member 703 and second moving member 705 are connected by a third support link 707 and a fourth support link 708, two adjacent first moving members 703 on the upper plane connecting member 701 are connected by a second spring member 704, two adjacent second moving members 705 on the lower plane connecting member 702 are connected by a third spring member 706, and the center points of the third support link 707 and fourth support link 708 are connected by a second pin 709, as shown in fig. 8.
According to the invention, through the linkage of the two same lugs 2, the two same connecting rods 3, the lower leg 1 and the universal joint 4, the pitching and rolling degrees of freedom rotation of the foot structure can be realized, so that the foot structure of the bipedal robot is more in accordance with the human kinematic characteristics. Meanwhile, the foot structure of the biped robot can be more in accordance with the human body kinematic characteristic and the shock absorption and energy storage respectively by researching the foot motion characteristic of a person in the motion process and installing the first shock absorption and energy storage elastic component 6 at the toe part and the second shock absorption and energy storage elastic component 7 at the sole part, so that the foot structure of the biped robot is prevented from having larger rigid impact with the ground in the motion process, and the motion performance of the biped robot is improved.
It is worth mentioning that the embodiment of the invention also provides a damping and energy-storing bipedal robot.
In this embodiment, the biped robot includes a trunk part, a left leg part and a right leg part, wherein the left leg part and the right leg part are symmetrically disposed on both sides of the trunk part and are both rotatably connected to the trunk part. It should be appreciated that the bipedal robot is of a bilateral symmetry.
The left leg part comprises a first driving motor and the shock-absorbing and energy-storing foot structure, and the right leg part comprises a second driving motor and the shock-absorbing and energy-storing foot structure. It should be understood that the left and right leg members also include thigh members, calf members, and the like.
Specifically, when the left foot is used for positioning, moving and starting the right foot, the robot control system sends out an instruction to move the gravity center of the robot to the left foot so that the right foot can move freely, and then the robot control system sends out an instruction to finish the whole process of lifting the right foot, adjusting the moving direction of the right foot, moving the gravity center of the robot, dropping the right foot and transferring the gravity center of the mobile robot to the right foot, so that the process of crossing one step is finished, and the whole process of walking with two feet is realized in a circulating way. When a user walks on feet, the damping and energy storage device is arranged at the toe part of the foot structure, so that the foot structure accords with the human body kinematic characteristic in the movement process; meanwhile, the damping and energy storage device is also arranged on the sole of the foot structure, so that the foot structure can be in damping and energy storage motion during walking, and the damping and energy storage device is beneficial to reducing the rigid impact between the foot structure and the ground. Therefore, by introducing the sole buffering elastic device and the toe buffering elastic device, the damping and energy storage capacity of the foot structure of the biped robot is realized, and meanwhile, the foot structure of the biped robot is prevented from having larger rigid impact with the ground in the movement process, so that the movement performance of the biped robot is improved.
The above embodiments are merely for illustrating the design concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, the scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications according to the principles and design ideas of the present invention are within the scope of the present invention.
Claims (10)
1. A shock absorbing energy storing foot structure comprising:
the calf (1) comprises a first main body part and a tibia-like part (103) arranged below the first main body part, wherein lug installation parts (102) are arranged on two sides of the first main body part, and a first connecting part (104) is arranged at the bottom of the tibia-like part (103);
the two lugs (2) comprise lug rods (202), and a first installation part (201) and a second connection part (203) which are arranged at two ends of the lug rods (202), wherein the first installation part (201) is installed on the lug installation part (102) through hinging;
the two connecting rods (3) comprise a connecting rod main body part (304) and ball parts (302) arranged at two ends of the connecting rod main body part (304), pin parts (303) are arranged on the ball parts (302), and the pin parts (303) are arranged on the second connecting parts (203);
the universal joint (4) comprises a cross shaft (402) and transmission forks (401) arranged at two ends of the cross shaft (402), wherein first connecting holes (403) are formed in the transmission forks (401), and the first connecting parts (104) are installed in the first connecting holes (403) in a threaded fit manner;
a foot supporting member (5) including an upper connection plate (509), a lower connection plate (510) and an inclined connection plate (501), the upper connection plate (509) being provided with a second mounting portion (502) and a third mounting portion (503), the pin member (303) being mounted on the second mounting portion (502), the third mounting portion (503) being threadedly mounted in the first connection hole (403); and
the damping and energy storage elastic component comprises a first damping and energy storage elastic component (6) and a second damping and energy storage elastic component (7), wherein the first damping and energy storage elastic component (6) is installed on the inclined connecting plate (501), and the second damping and energy storage elastic component (7) is installed on the lower connecting plate (510).
2. The shock-absorbing and energy-storing foot structure according to claim 1, wherein the lower leg (1) is further provided with a motor mounting portion (101) for mounting a driving motor.
3. The shock absorbing and energy storing foot structure according to claim 1, wherein the ball member (302) is provided with a first through hole, and the pin member (303) is mounted in the first through hole;
the end of the pin member (303) is provided with a second through hole in which the cotter pin member (301) is installed.
4. The shock absorbing and energy storing foot structure according to claim 1, wherein said lower connecting plate (510) is located below said upper connecting plate (509), said inclined connecting plate (501) being provided at one end of said upper connecting plate (509);
the two ends of the oblique connecting plate (501) are provided with a first joint shaft (504) and a second joint shaft (506), the oblique connecting plate (501) is provided with a first rotating joint (505), and the first rotating joint (505) is positioned between the first joint shaft (504) and the second joint shaft (506);
a first moving groove (507) and a second moving groove (508) are arranged on the lower connecting plate (510) in a crossing manner;
the lower plane of the upper connecting plate (509) is provided with a third moving groove and a fourth moving groove in a crossing mode.
5. The shock and energy storing foot structure according to claim 4, wherein said first shock and energy storing elastic member (6) comprises a first support link (601) and a second support link (602), said first support link (601) being arranged crosswise to said second support link (602) by a first pin (607), said first pin (607) being arranged at a centre point of the first support link (601) and the second support link (602);
the two ends of the first support connecting rod (601) are provided with first mounting blocks (603) through second rotating joints (605), the two ends of the second support connecting rod (602) are provided with second mounting blocks (604) through the second rotating joints (605), and a first spring component (606) is mounted between the first mounting blocks (603) and the second mounting blocks (604);
the first installation block (603) is provided with a second connecting hole (608), the second installation block (604) is provided with a third connecting hole (609), two ends of the first joint shaft (504) are installed in the second connecting hole (608) and the third connecting hole (609) in a one-to-one correspondence manner, and two ends of the second joint shaft (506) are installed in the second connecting hole (608) and the third connecting hole (609) in a one-to-one correspondence manner.
6. The shock and energy storing foot structure according to claim 1, wherein said second shock and energy storing elastic member (7) comprises an upper planar connection member (701), a lower planar connection member (702) and a support member, said support member being provided between said upper planar connection member (701) and said lower planar connection member (702), and said support member being provided around both said upper planar connection member (701) and said lower planar connection member (702).
7. The shock absorbing and energy storing foot structure according to claim 6, wherein said upper planar connection member (701) comprises a first moving member (703) and a second spring member (704), said second spring member (704) being arranged between two adjacent first moving members (703);
the lower planar connection member (702) comprises a second moving member (705) and a third spring member (706), the third spring member (706) being arranged between two adjacent second moving members (705);
the support component comprises a third support link (707) and a fourth support link (708), the third support link (707) being disposed crosswise to the fourth support link (708) by a second pin (709), the second pin (709) being disposed at a center point of the third support link (707) and the fourth support link (708); one end of the third support connecting rod (707) is mounted on the first moving component (703) through a third rotary joint (710), and the other end of the third support connecting rod is mounted on the second moving component (705) through the third rotary joint (710); one end of the fourth supporting link (708) is mounted on the first moving part (703) through a third rotating joint (710), and the other end is mounted on the second moving part (705) through the third rotating joint (710).
8. The shock absorbing and energy storing foot structure according to claim 7, wherein said first moving member (703) is mounted in a third moving slot and a fourth moving slot, and said second moving member (705) is mounted in a first moving slot (507) and a second moving slot (508).
9. A shock absorbing and energy storing foot structure according to claim 7, wherein said foot structure is symmetrical about a sagittal plane passing through the centre point of said universal joint (4).
10. A shock absorbing and energy storing bipedal robot comprising:
a torso member;
a left leg member comprising a first drive motor and the shock absorbing and energy storing foot structure of any one of claims 1-9, said left leg member being rotatably connected to said torso member; and
a right leg member comprising a second drive motor and the shock absorbing and energy storing foot structure of any one of claims 1-9, said right leg member being rotatably connected to said torso member;
wherein the left leg member and the right leg member are symmetrically disposed on both sides of the torso member.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310361919.2A CN116080789B (en) | 2023-04-07 | 2023-04-07 | Foot structure of shock attenuation energy storage and biped robot |
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| CN202310361919.2A CN116080789B (en) | 2023-04-07 | 2023-04-07 | Foot structure of shock attenuation energy storage and biped robot |
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| CN116080789B CN116080789B (en) | 2023-07-18 |
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| CN116080789B (en) | 2023-07-18 |
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