CN202624435U - Flexible-landing humanoid robot foot mechanism - Google Patents
Flexible-landing humanoid robot foot mechanism Download PDFInfo
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- CN202624435U CN202624435U CN2012202861073U CN201220286107U CN202624435U CN 202624435 U CN202624435 U CN 202624435U CN 2012202861073 U CN2012202861073 U CN 2012202861073U CN 201220286107 U CN201220286107 U CN 201220286107U CN 202624435 U CN202624435 U CN 202624435U
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- rubber pad
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- flexible hinge
- wavy spring
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Abstract
The utility model relates to a flexible-landing humanoid robot foot mechanism. An existing robot foot is poor in impact absorption effect. The flexible-landing humanoid robot foot mechanism comprises a foot bottom plate, a bottom rubber pad, a middle rubber pad, flat-end opposite-top waveform springs, covering pieces, multi-dimensional flexible hinges, a six-dimensional force/torque sensor and an ankle bearing seat. The multi-dimensional flexible hinges are fixedly arranged above the foot bottom plate, the ankle bearing seat is connected with the multi-dimensional flexible hinges via the six-dimensional force/torque sensor, and the middle rubber plate and the bottom rubber plate are arranged below the foot bottom plate from top to bottom. The flexible-landing humanoid robot foot mechanism has the advantages of high bearing load, short travel distance, and small occupation space and the like, and impact absorption of the foot is improved greatly.
Description
Technical field
The utility model belongs to anthropomorphic robot's technical field, relates to flexible humanoid robot foot section mechanism of landing.
Background technology
Anthropomorphic robot is one of most active research direction of current robot field of research; It is the senior platform of research human intelligence, combines multi-disciplinary complicated intelligent machines such as machinery, electronics, computing machine, sensor, control technology, artificial intelligence, bionics.Anthropomorphic robot has people's profile, and have locomotive function, operating function, associative memory, learning ability, emotion communication, sociability and have the part human experience near people's intelligent robot.
Anthropomorphic robot is different from the general industrial robot; Because it no longer is fixed on the position; This robot has running gear flexibly; So that go to the place that needs at any time, comprise that some are difficult for place and the corner that arrives concerning the ordinary people, accomplish the work that people or intelligence system are provided with appointment in advance.So the gordian technique of anthropomorphic robot is to have traveling gear, the alerting ability of the speed of its walking, stability, gait can directly influence working ability and efficient.In the process of walking, when foot contacts with ground and produces when impacting, the impact meeting is sent to the trunk of robot gradually through ankle-joint; Just because of this impact; The dynamical equilibrium of robot can be interfered, thereby causes instability of gait fixed, and more serious is to cause damage to precise parts such as the accurate speed reduction gearing of in-to-in, servomotor, sophisticated sensors by robot; Certainly will just limit the continuity of the walking speed and the walking step state of anthropomorphic robot like this; Cause the anthropomorphic robot lack of equilibrium, influence control stiffness etc., so when the foot mechanism of design anthropomorphic robot, must take into full account the problem of impact absorption.
In order to address the above problem, developed the multiple anthropomorphic robot foot mechanism that during walking, can absorb impact at present.
Chinese patent CN101402380A, a kind of humanoid robot foot section impact absorption mechanism, this scheme comprises sole; Shock structure, top board, upper cover plate; Adjusting disk, instep shell, six-dimension force sensor; Slipmat, and the front-end and back-end of sole all are designed to the inclined-plane, the walking manner of help realizing heelstrike, tiptoe is liftoff.Shock structure is arranged in the middle of sole and the top board, and upper cover plate also links to each other with sole through adjusting disk, and six-dimension force sensor links to each other with the shank of anthropomorphic robot.When Humanoid Robot Based on Walking; Slipmat contacts with ground, directly receives ground-surface antagonistic force, and power is passed to shock structure through sole; Shock structure absorbs this impulsive force effectively, and can change the thrust of shock structure through the thickness of regulating adjusting disk.The device for impact absorbing of this type has drawback, when vibration is applied to heel or the toe place of robot, can not weaken the vibration that is produced effectively.
Chinese patent CN101108146A; A kind of foot of anthropomorphic robot; Provide a kind of method of designing of foot of anthropomorphic robot, comprised Rubber foot bottom, sole, six-dimension force sensor, upper flange, lower flange, obliquity sensor, tactile array pad, signal handling equipment and instep.Signal handling equipment is installed in the front portion of sole, and obliquity sensor is installed in the middle part, and six-dimension force sensor is installed in the heel place.When robot ambulation, the ground reaction force when pin contacts with the road surface in the six-dimension force sensor detection machine person walks process on the foot of anthropomorphic robot, obliquity sensor detects the angle of inclination of sole; The tactile array pad detects pin and information such as ground-surface contact position and contact condition; These information is gathered and handled to signal handling equipment in real time, the ZMP track during the computing machine person walks, the state of judgement pin; Infer the walking road surface situation of robot; And send to the ROBOT CONTROL system, and for robot's gait planning provides foundation, gait stability property and naturality when improving the anthropomorphic robot walking.The lower surface that the Rubber foot bottom contacts with the road surface has anti-slip tank, and the Rubber foot bottom has elasticity, the impulsive force when being used to absorb foot of anthropomorphic robot and landing.This invention mainly is the impulsive force when relying on Rubber foot bottom absorption pin to land, and the effect of impact absorption is very limited.And if will change the flexibility of impact absorption mechanism, then must thicken or reduction processing whole Rubber foot bottom, practical operation is got up more loaded down with trivial details.
Summary of the invention
The purpose of the utility model is in order to overcome the weak point of prior art, the humanoid robot foot section mechanism of flexible landing to be provided.
The utility model technical scheme is following:
A kind of flexible humanoid robot foot section mechanism of landing, comprise the front along the sole of K/UP, bottom rubber pad, interlayer rubber pad, flush end to top wavy spring, covering piece, multidimensional flexible hinge, sextuple power/torque sensor, ankle support seat.
The plate upper fixed is provided with the multidimensional flexible hinge under foot, and the ankle support seat is connected with the multidimensional flexible hinge through sextuple power/torque sensor; The plate below is disposed with interlayer rubber pad and bottom rubber pad from top to bottom under foot.
Described multidimensional flexible hinge comprises the part that flexibly connects between three supports, disk and support and the disk; Described support is evenly distributed on around the disk, and three are uniformly distributed with and are configured to a parallel institution, the plane parallel that the plane at three support places and disk belong to.
Distribution three annular grooves in described sole bottom surface are used to place flush end to the top wavy spring, wherein near the tiptoe place two annular grooves arranged side by side are arranged, and are distributed in the both sides of tiptoe; Near the heel place annular groove is arranged, be positioned on the axis of symmetry of above-mentioned two annular groove lines of centres; Surface distribution three and the cooresponding convexity of groove on the sole; Have between two convexities near the tiptoe place to connect the support that boss is used for installing the multidimensional flexible hinge, also have near the protruding both sides at sole heel place and extend two supports in addition that boss is used for installing the multidimensional flexible hinge.
Corresponding three through holes that distributing of three annular grooves of described interlayer rubber pad and sole bottom surface; Corresponding three blind holes that distributing of three through holes of bottom rubber pad upper surface and interlayer rubber pad; Be placed with flush end to the top wavy spring in the through hole between sole and the bottom rubber pad; Flush end puts in the annular groove of sole bottom surface top wavy spring one end, and the other end puts in the blind hole, and is coated togather with the covering piece of blind hole internal fixation.
Described bottom rubber is lined with three circular protrusions, and this circular protrusions is corresponding with blind hole, and three circular protrusions and peripheral region are the fold transition, also are that the bottom rubber pad is thicker than other place at the thickness of these three positions.
The beneficial effect of the utility model: the employed multidimensional flexible hinge of the utility model has advantages such as bearing load is big, stroke is short, requisite space is little, has strengthened foot greatly and has absorbed the ability of impacting; The flush end of being selected for use also has the short and little characteristics of requisite space of stroke to the top wavy spring, in the process that absorbs foot impacts, is playing the part of crucial role; Flush end is to the bikini configuration of top wavy spring and the mode of multidimensional flexible hinge supported at three point; When foot lands, can realize the rotation of robot trunk certain amplitude on pitch orientation and rotating direction, thereby obviously improve the self-adjustment capability of robot when the reply foot lands impact; Lift in the process of pin starting; Compressed multidimensional flexible hinge and flush end can discharge elastic deformation energy to the top wavy spring; In the walking process of robot, play purpose of energy saving; Compressed interlayer rubber pad and bottom rubber pad play the effect of damping again, prevent to start to walk to impact ambassador's robot lack of equilibrium; Pleated structure around three convexities of bottom rubber pad lower surface is equivalent to the effect of spring when foot lands, can effectively slow down the compression stroke of trunk; Above-described flush end can absorb when landing top wavy spring, multidimensional flexible hinge, interlayer rubber pad, bottom rubber pad and impact the energy that produces, and is more steady when making Humanoid Robot Based on Walking, comfortable and energy-conservation.
Description of drawings
Fig. 1 is the overall construction drawing of the flexibility that provides of the utility model humanoid robot foot section mechanism of landing;
Fig. 2 is the part sectional view of Fig. 1;
Fig. 3 is the constructional drawing of multidimensional flexible hinge;
Fig. 4 is the birds-eye view after Fig. 1 removes sextuple power/torque sensor and these two parts of ankle support seat;
Fig. 5 is the echelon sectional view of Fig. 4 at A-A place;
Fig. 6 is the part sectional view of Fig. 4 at C-C place;
Fig. 7 is the constructional drawing of covering piece;
Among the figure: 1 multidimensional flexible hinge, 2 soles, 3 external diameters are that the flush end of 35mm is that the flush end of 60mm is the covering piece of 35mm, covering piece, 7 interlayer rubber pads, 8 bottom rubber pads, 9 sextuple power/torque sensors, the 10 ankle support seats that 6 diameters are 60mm to top wavy spring, 5 diameters to top wavy spring, 4 external diameters.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further
As shown in Figure 1, the utility model comprises multidimensional flexible hinge 1, sole 2, interlayer rubber pad 7, bottom rubber pad 8, sextuple power/torque sensor 9, ankle support seat 10.
Sole 2 is captiveed joint with multidimensional flexible hinge 1, and ankle support seat 9 is captiveed joint with multidimensional flexible hinge 1 through sextuple power/torque sensor 10, and bottom rubber pad 8 is captiveed joint with sole 2 through interlayer rubber pad 7.
As shown in Figure 2; Flexible humanoid robot foot section mechanism of landing comprises that also flush end is to top wavy spring (external diameter is that the flush end of 35mm is that the flush end of 60mm is to top wavy spring 4 to top wavy spring 3, external diameter), covering piece (diameter is the covering piece 5 of 35mm, the covering piece 6 that diameter is 60mm).
External diameter is that two flush ends of 35mm are placed on top wavy spring 3 in two annular grooves of sole 2 tiptoe both sides, and external diameter is that the flush end of 60mm is placed in the annular groove of sole 2 heels one end top wavy spring 4.
Diameter be the covering piece 5 of 35mm be coated on external diameter be the flush end of 35mm on the top wavy spring 3, and be fixed up with two blind hole bottom surfaces of bottom rubber pad 8 near tiptoe one end; Diameter be the covering piece 6 of 60mm be coated on external diameter be the flush end of 60mm on the top wavy spring 4, and be fixed up with the blind hole bottom surface of bottom rubber pad 8 near heel one end;
As shown in Figure 3, the multidimensional flexible hinge comprises the part that flexibly connects between three supports, disk and support and the disk; Support is evenly distributed on around the disk, and three are uniformly distributed with and are configured to a parallel institution, the plane parallel that the plane at three support places and disk belong to; Flexibly connecting part is the circular arc grooving, and promptly thickness is thinner than the peripheral region, and the grooved hole was arranged in the middle of the while.
As shown in Figure 4; Sole 2 upper surfaces have three convexities, and there are two convexities the both sides of tiptoe, and the boss that middle interconnecting piece divides is used to install a support of multidimensional flexible hinge 1; One end of heel has a convexity, and the boss that extends to the periphery is used to install two supports of multidimensional flexible hinge 1.
A support of multidimensional flexible hinge 1 is fixed on two protruding middle connection boss of sole 2 near tiptoe, and two supports are fixed on the boss of sole 2 near the protruding extendible portion of heel in addition.
As shown in Figure 5; External diameter is that the flush end of 60mm puts in the annular groove of sole 2 near an end of heel top wavy spring 4 one ends; Pass interlayer rubber pad 7 pairing through holes, it is that the covering piece 6 of 60mm is fixed together that the other end three through covering piece 6 coat ear and diameter.
Diameter is that on covering piece 6 and the bottom rubber pad 8 of 60mm captive joint in the blind hole bottom surface near an end of sole 2 heels.
As shown in Figure 6; External diameter is that the flush end of 35mm puts in two annular grooves at sole 2 tiptoe places to top wavy spring 3 one ends; Pass interlayer rubber pad 7 pairing two through holes, it is that the covering piece 5 of 35mm is fixed together that the other end three through covering piece 5 coat ear and diameter.
Diameter is that the covering piece 5 of 35mm is captiveed joint near the blind hole bottom surface of an end of sole 2 tiptoes with bottom rubber pad 8.
Two flush ends between sole 2 and the bottom rubber pad 8 are the bikini distribution to top wavy spring 3 and a flush end to top wavy spring 4; Three flush ends distribute to this bikini of top wavy spring and can make sole 2 keep stable when robot weight is impacted bearing; And in lifting the process of pin, can also three flush ends be changed into kinetic energy to the elastic deformation energy of top wavy spring, thereby play purpose of energy saving.
As shown in Figure 7, covering piece (comprising that diameter is that the covering piece 5 of 35mm is the covering piece 6 of 60mm with diameter) is the circular sheet part with three aduncate coating ears, and material is an aluminum alloy;
Multidimensional flexible hinge 1 is the multidimensional flexible hinge of a parallel institution, is distributed in the plane between its three supports, and support is installed on the connection boss between two convexities at sole 2 tiptoe places; Two supports are installed on the protruding peripheral boss that extends at sole 2 heel places in addition; The bikini of these three supports distributes and can make sole 2 land and keep stable when impacting bearing robot, and with described three flush ends the bikini of top wavy spring is distributed and to be complementary posture, thereby more steady when making the landing of robot; In addition; The multidimensional flexible hinge of this parallel institution can also provide perpendicular to a plurality of degree of freedom such as ground, pitch orientation and rotating directions; Robot is exercised at uneven road surface can adjust the attitude of self better when withstanding shocks, thus stability and comfort when guaranteeing to land.
Multidimensional flexible hinge 1 is equivalent to spring K
1, two flush ends are equivalent to spring K to top wavy spring 3 and a flush end to top wavy spring 4
2, interlayer rubber pad 7 is equivalent to damping C with bottom rubber pad 8, is equivalent to spring K simultaneously again
3Two quality two degrees of freedom vibrating systems of a toughness damping have so just been constituted; Suffered impact and slow down foot caused vibrations of springback when liftoff in the time of can absorbing foot well and land, thus guaranteed that well robot lands and the stability of starting.
More than through with reference in the accompanying drawings the expression exemplary embodiment the utility model has been done special displaying and explanation; To one skilled in the art; Should be understood that; Being made under thought that does not deviate from the utility model and the scope in form and various modifications and change on the details, all will be infringement to the utility model patent.So real thought and scope that the utility model will be protected are limited appending claims.
Claims (1)
1. flexible humanoid robot foot section mechanism of landing; Comprise the front along the sole of K/UP, bottom rubber pad, interlayer rubber pad, flush end to top wavy spring, covering piece, multidimensional flexible hinge, sextuple power/torque sensor, ankle support seat, it is characterized in that:
The plate upper fixed is provided with the multidimensional flexible hinge under foot, and the ankle support seat is connected with the multidimensional flexible hinge through sextuple power/torque sensor; The plate below is disposed with interlayer rubber pad and bottom rubber pad from top to bottom under foot;
Described multidimensional flexible hinge comprises the part that flexibly connects between three supports, disk and support and the disk; Described support is evenly distributed on around the disk, and three are uniformly distributed with and are configured to a parallel institution, the plane parallel that the plane at three support places and disk belong to;
Distribution three annular grooves in described sole bottom surface are used to place flush end to the top wavy spring, wherein near the tiptoe place two annular grooves arranged side by side are arranged, and are distributed in the both sides of tiptoe; Near the heel place annular groove is arranged, be positioned on the axis of symmetry of above-mentioned two annular groove lines of centres; Surface distribution three and the cooresponding convexity of groove on the sole; Have between two convexities near the tiptoe place to connect the support that boss is used for installing the multidimensional flexible hinge, also have near the protruding both sides at sole heel place and extend two supports in addition that boss is used for installing the multidimensional flexible hinge;
Corresponding three through holes that distributing of three annular grooves of described interlayer rubber pad and sole bottom surface; Corresponding three blind holes that distributing of three through holes of bottom rubber pad upper surface and interlayer rubber pad; Be placed with flush end to the top wavy spring in the through hole between sole and the bottom rubber pad; Flush end puts in the annular groove of sole bottom surface top wavy spring one end, and the other end puts in the blind hole, and is coated togather with the covering piece of blind hole internal fixation;
Described bottom rubber is lined with three circular protrusions, and this circular protrusions is corresponding with blind hole, and three circular protrusions and peripheral region are the fold transition, also are that the bottom rubber pad is thicker than other place at the thickness of these three positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012202861073U CN202624435U (en) | 2012-06-18 | 2012-06-18 | Flexible-landing humanoid robot foot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012202861073U CN202624435U (en) | 2012-06-18 | 2012-06-18 | Flexible-landing humanoid robot foot mechanism |
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| CN202624435U true CN202624435U (en) | 2012-12-26 |
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| CN2012202861073U Expired - Fee Related CN202624435U (en) | 2012-06-18 | 2012-06-18 | Flexible-landing humanoid robot foot mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102730095A (en) * | 2012-06-18 | 2012-10-17 | 杭州电子科技大学 | Flexibly landed foot mechanism of humanoid robot |
| CN105292297A (en) * | 2015-11-21 | 2016-02-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
| CN105438310A (en) * | 2015-12-17 | 2016-03-30 | 常州大学 | Two-degree-of-freedom parallel shock resisting mechanical foot of humanoid robot |
| CN106143672A (en) * | 2016-08-05 | 2016-11-23 | 怀宁县断天自动化设备有限公司 | Robot foot is stepped on the device on ground |
| CN112894773A (en) * | 2021-01-27 | 2021-06-04 | 之江实验室 | Three-dimensional structure foot of robot |
-
2012
- 2012-06-18 CN CN2012202861073U patent/CN202624435U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102730095A (en) * | 2012-06-18 | 2012-10-17 | 杭州电子科技大学 | Flexibly landed foot mechanism of humanoid robot |
| CN102730095B (en) * | 2012-06-18 | 2014-03-05 | 杭州电子科技大学 | Flexibly landed foot mechanism of humanoid robot |
| CN105292297A (en) * | 2015-11-21 | 2016-02-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
| CN105292297B (en) * | 2015-11-21 | 2017-05-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
| CN105438310A (en) * | 2015-12-17 | 2016-03-30 | 常州大学 | Two-degree-of-freedom parallel shock resisting mechanical foot of humanoid robot |
| CN105438310B (en) * | 2015-12-17 | 2017-09-08 | 常州大学 | Anthropomorphic robot two-freedom parallel connection shock resistance machinery foot |
| CN106143672A (en) * | 2016-08-05 | 2016-11-23 | 怀宁县断天自动化设备有限公司 | Robot foot is stepped on the device on ground |
| CN112894773A (en) * | 2021-01-27 | 2021-06-04 | 之江实验室 | Three-dimensional structure foot of robot |
| CN112894773B (en) * | 2021-01-27 | 2022-03-18 | 之江实验室 | Three-dimensional structure foot of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121226 Termination date: 20150618 |
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| EXPY | Termination of patent right or utility model |