CN206394737U - A kind of walking robot foot sole mounting structure - Google Patents
A kind of walking robot foot sole mounting structure Download PDFInfo
- Publication number
- CN206394737U CN206394737U CN201621417932.7U CN201621417932U CN206394737U CN 206394737 U CN206394737 U CN 206394737U CN 201621417932 U CN201621417932 U CN 201621417932U CN 206394737 U CN206394737 U CN 206394737U
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- China
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- mounting structure
- heel
- walking robot
- connection component
- foot
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Abstract
The utility model discloses a kind of walking robot foot sole mounting structure, the mounting structure includes sole and connection component, the sole is provided with foot's shell, hinge and sensor, the hinge is provided with two, sole is divided into three parts by two hinges, it is toe respectively, arch of the foot and heel, the toe and heel and plane-parallel, the arch of the foot is arc, the arc has elastic construction, the sensor is provided with two, it is located at respectively at toe and heel, the heel is connected by first rotating shaft with connection component axle, the connection component is provided with supporting plate, the supporting plate is connected with connection component by support spring, the supporting plate is provided with leg, the leg is connected by the second rotating shaft with support board shaft.The utility model is more steady and flexible and simple in construction when causing robot to stand, move.
Description
Technical field
The utility model discloses a kind of robot motion's technical field, more particularly to a kind of walking robot foot sole
Mounting structure.
Background technology
Mobile robot can be divided into by its travel mechanism：Sufficient leg formula motion mode, wheel type movement mode, crawler type motion side
Formula, hybrid move mode, sufficient leg formula motion mode are a kind of motion biomimeticses modes, and its two foots (personification) structure type is and people
A kind of immediate robot of class.The motion mode of biped robot is the building environment for being best suitable for human living, but is also existed
Many technical problems, are that gait synthtic price index is not solved also the problem of maximum, especially in circumstances not known
Gait is integrated, and the purpose that gait is integrated is the adaptability of the stability, high efficiency and orographic condition of realizing walking.Stability is
The basic demand that gait is integrated, efficiency and adaptability are the practical necessary conditions of biped robot.
Its foot of existing two-foot walking robot is whole board structure or is simple chain structure, and the foot of whole board structure is walked
Road is unstable, it is impossible to run；The foot of simple chain structure, the toe rear for the similar human foot in position that hinge is set, is simply examined
Consider the flexibility that toe is moved with sole, do not account for the motion process between sole and heel, it is rugged
In uneven landform, in unknown landform, dynamic role is poor as stability.And existing foot sole and the peace of leg
Dress all stresses at heel so that moved after robot entirety center of gravity, is that robot can be caused to stand more to stablize seemingly, but
It is the reach of center of gravity when have ignored motion, adds motion destabilizing factor.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of walking robot foot sole mounting structure, should
Utility model is more steady and flexible and simple in construction when causing robot to stand, move.
The utility model solves the technical scheme that is used of above-mentioned technical problem：
A kind of walking robot foot sole mounting structure, it is characterised in that the mounting structure includes sole and connection group
Part, the sole is provided with foot's shell, hinge and sensor, and the hinge is provided with two, and sole is divided into three by two hinges
Part, is toe, arch of the foot and heel respectively, the toe and heel and plane-parallel, the arch of the foot are arc, institute
State arc and have elastic construction, the sensor is provided with two, respectively at toe and heel, and the heel leads to
Cross first rotating shaft to be connected with connection component axle, the connection component is provided with supporting plate, the supporting plate passes through with connection component
Support spring is connected, and the supporting plate is provided with leg, and the leg is connected by the second rotating shaft with support board shaft.
As preferred, the elastic construction is the elastomeric material mutually be bonded with arc, the elastomeric material lower surface
Parallel with horizontal plane, the elastomeric material is rubber.
As preferred, the elastic construction includes balancing spring and balance plate, and the balance plate is fixed with arc to be connected
Connect, the balancing spring is located between balance plate and arc.
As preferred, angle is provided between the supporting plate and connection component, the angle is between 10 ° -20 °.
As preferred, the connection component is included under two symmetrical oscillating decks and a connecting rod, the oscillating deck
Surface is arcuate structure, and the oscillating deck is connected with heel by first rotating shaft axle, and the connecting rod consolidates two oscillating decks
Fixed connection, the support spring has two, respectively positioned at the two ends of connecting rod.
As preferred, the connecting rod is located at one end away from first rotating shaft on oscillating deck.
It is used as preferred, supporting plate setting parallel with horizontal plane.
The utility model has the advantage of：
1st, when foot movement, rear heel is lifted, and first rotating shaft is rotated, and drives oscillating deck to turn forward, then second turn
Axle drives leg curvature, and spring and angle are provided between first rotating shaft and the second rotating shaft, is that first rotating shaft is passed to the second rotating shaft
Power provides buffering, substantially increases the stationarity of robot ambulation.
2nd, in view of in the sole of people, arch of the foot on a horizontal plane, and has certain radian not with toe and heel,
In order to preferably simulate the foot of people, we will be set to arcuate structure at arch of the foot, and elastomeric material is arranged below in arch of the foot, and one is to protect
Demonstrate,prove contact with horizontal plane, ensured stability, two be by it is rugged local when, elastomeric material ensure that sole has
Good flexibility.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structure chart of embodiment 1.
Fig. 2 is the structure chart of embodiment 2.
Fig. 3 is the structural representation of connection component.
Wherein：1st, connection component 2, foot's shell 3, hinge 4, sensor
5th, toe 6, arch of the foot 7, heel 8, first rotating shaft
9th, supporting plate 10, angle 11, support spring 12, leg
13rd, the second rotating shaft 14, oscillating deck 15, connecting rod 16, elastomeric material
17th, balancing spring 18, balance plate
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outer " are, based on orientation shown in the drawings or position relationship, to be only
Described for the ease of description the utility model and simplifying, rather than to indicate or imply that signified device or element must have specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
Embodiment 1
A kind of walking robot foot sole mounting structure, the mounting structure includes sole and connection component 1, the sole
Foot's shell 2, hinge 3 and sensor 4 are provided with, the hinge 3 is provided with two, and sole is divided into three parts by two hinges 3, point
It is not toe 5, arch of the foot 6 and heel 7, mostly in the prior art is to set a hinge, and sole is divided into two parts, and this practicality is new
Two hinges are provided with type, the flexibility of motion is enhanced.
The toe 5 and heel 7 and plane-parallel, the arch of the foot 6 are arc, and the arc is divided into flexible
Structure, the elastic construction is the elastomeric material 16 mutually be bonded with arc, the lower surface of elastomeric material 16 and horizontal plane phase
Parallel, the elastomeric material 16 is rubber.In view of in the sole of people, arch of the foot is not with toe and heel in a horizontal plane
On, and have certain radian, in order to preferably simulate the foot of people, we will be set to arcuate structure at arch of the foot, below arch of the foot
Provided with elastomeric material, one is to ensure contact with horizontal plane, has ensured stability, two be by it is rugged local when, bullet
Property material ensure that sole has good flexibility.
The sensor 4 is provided with two, and respectively at toe 5 and heel 7, the heel 7 passes through first rotating shaft 8
It is connected with the axle of connection component 1, the connection component 1 is provided with supporting plate 9, provided with folder between the supporting plate 9 and connection component 1
Angle 10, the angle 10 is between 10 ° -20 °, and the supporting plate 9 is parallel with horizontal plane to be set, and the supporting plate 9 is with being connected
Component 1 is connected by support spring 11, and the supporting plate 9 is provided with leg 12, and the leg 12 passes through the second rotating shaft 13 and branch
The axle of fagging 9 is connected, and the connection component 1 is included under two symmetrical oscillating decks 14 and a connecting rod 15, the oscillating deck 14
Surface is arcuate structure, and the oscillating deck 14 is connected with heel 7 by the axle of first rotating shaft 8, and the connecting rod 15 puts two
Dynamic plate 14 is fixedly connected, and the support spring 11 has two, respectively positioned at the two ends of connecting rod 15, and the connecting rod 15 is located at pendulum
One end away from first rotating shaft 8 on dynamic plate 14.When foot movement, rear heel is lifted, first rotating shaft rotate, drive oscillating deck to
Top rake, then the second rotating shaft drives leg curvature, and spring and angle are provided between first rotating shaft and the second rotating shaft, is first
Rotating shaft provides buffering to the second rotating shaft transmission power, substantially increases the stationarity of robot ambulation.
Embodiment 2
As preferred, the elastic construction includes balancing spring 17 and balance plate 18, the balance plate 18 and arc
It is fixedly connected, the balancing spring 17 is located between balance plate 18 and arc.Balance plate is deformable resilient material, using flat
Weigh plate and balancing spring elasticity of substitution material, by it is rugged local when, can equally play that to ensure that sole has good
The effect of good flexibility.
Finally it should be noted that：Various embodiments above is only limited to illustrate the technical solution of the utility model, rather than to it
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (7)
1. a kind of walking robot foot sole mounting structure, it is characterised in that the mounting structure includes sole and connection component,
The sole is provided with foot's shell, hinge and sensor, and the hinge is provided with two, and sole is divided into three by two hinges
Point, it is toe, arch of the foot and heel respectively, the toe and heel and plane-parallel, the arch of the foot are arc, described
Arc has elastic construction, and the sensor is provided with two, and respectively at toe and heel, the heel passes through
First rotating shaft is connected with connection component axle, and the connection component is provided with supporting plate, and the supporting plate passes through branch with connection component
Support spring to be connected, the supporting plate is provided with leg, the leg is connected by the second rotating shaft with support board shaft.
2. a kind of walking robot foot sole mounting structure according to claim 1, it is characterised in that the elasticity knot
Structure is the elastomeric material mutually be bonded with arc, and the elastomeric material lower surface is parallel with horizontal plane, and the elastomeric material is
Rubber.
3. a kind of walking robot foot sole mounting structure according to claim 1, it is characterised in that the elasticity knot
Structure includes balancing spring and balance plate, and the balance plate is fixedly connected with arc, and the balancing spring is located at balance plate and arc
Between shape plate.
4. a kind of walking robot foot sole mounting structure according to claim 1, it is characterised in that the supporting plate
Angle is provided between connection component, the angle is between 10 ° -20 °.
5. a kind of walking robot foot sole mounting structure according to claim 1, it is characterised in that the connection group
Part includes two symmetrical oscillating decks and a connecting rod, and the oscillating deck lower surface is arcuate structure, the oscillating deck and pin
Heel is connected by first rotating shaft axle, and two oscillating decks are fixedly connected by the connecting rod, and the support spring has two, respectively
Positioned at the two ends of connecting rod.
6. a kind of walking robot foot sole mounting structure according to claim 5, it is characterised in that the connecting rod
It is located at one end away from first rotating shaft on oscillating deck.
7. a kind of walking robot foot sole mounting structure according to claim 1, it is characterised in that the supporting plate
It is parallel with horizontal plane to set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621417932.7U CN206394737U (en) | 2016-12-22 | 2016-12-22 | A kind of walking robot foot sole mounting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621417932.7U CN206394737U (en) | 2016-12-22 | 2016-12-22 | A kind of walking robot foot sole mounting structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206394737U true CN206394737U (en) | 2017-08-11 |
Family
ID=59511306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621417932.7U Expired - Fee Related CN206394737U (en) | 2016-12-22 | 2016-12-22 | A kind of walking robot foot sole mounting structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206394737U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276409A (en) * | 2018-10-17 | 2019-01-29 | 苏州帝维达生物科技有限公司 | A kind of foot face reshaping structure |
| CN112319650A (en) * | 2020-11-11 | 2021-02-05 | 武汉理工大学 | Umbrella-shaped all-terrain foot mechanism |
-
2016
- 2016-12-22 CN CN201621417932.7U patent/CN206394737U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276409A (en) * | 2018-10-17 | 2019-01-29 | 苏州帝维达生物科技有限公司 | A kind of foot face reshaping structure |
| CN109276409B (en) * | 2018-10-17 | 2024-01-19 | 苏州帝维达生物科技有限公司 | Foot surface shaping structure |
| CN112319650A (en) * | 2020-11-11 | 2021-02-05 | 武汉理工大学 | Umbrella-shaped all-terrain foot mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170811 Termination date: 20181222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |