CN206510059U - A kind of toe movable type robot foot structure - Google Patents
A kind of toe movable type robot foot structure Download PDFInfo
- Publication number
- CN206510059U CN206510059U CN201720030200.0U CN201720030200U CN206510059U CN 206510059 U CN206510059 U CN 206510059U CN 201720030200 U CN201720030200 U CN 201720030200U CN 206510059 U CN206510059 U CN 206510059U
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- China
- Prior art keywords
- toe
- plate
- stepper motor
- movable type
- swing
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Abstract
The utility model discloses a kind of toe movable type robot foot structure, including sole plate, sole plate front end is connected with some toe blocks by some Hooks coupling universal couplings, the column that thigh bone is acted on has been connected with by gantry pillars in the rear end of sole plate, universal driver is installed on column, a driving plate is fixed with the drive end of universal driver, being connected one to one on some toe blocks has some connecting rods, the lower end of connecting rod is rotated with toe block by the second universal ball end structure and is connected, connecting rod upper end is rotated with driving plate by the first universal ball end structure and is connected, driving plate is driven to swing by universal driver, so as to promote each connecting rod, so that the swing of different directions occurs for corresponding toe block.The utility model has advantages below compared with prior art：The Multidirectional motion of toe block can be realized.
Description
Technical field
The utility model is related to robot architecture field, more particularly to a kind of toe movable type robot foot structure.
Background technology
Some concrete conditions that the toe of people is mainly used for ground when people walks are adjusted and fed back, from
And ensure the stationarity of walking, and traditional robot foot bottom is generally flat, so behavior of being walked on foot from people is different, more
It is strange, and once there is the uneven situation of road, the robot of flat sole can not just make amendment, and topple over.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art that there is provided a kind of toe movable type robot foot knot
Structure, to realize the Multidirectional motion of toe block.
The utility model is achieved through the following technical solutions：
A kind of toe movable type robot foot structure, including sole plate, the sole plate front end passes through some universal
Shaft coupling is connected with some toe blocks, and the vertical of thigh bone effect has been connected with by gantry pillars in the rear end of the sole plate
It is provided with post, the column on universal driver, the drive end of the universal driver and is fixed with a driving plate, if described
Being connected one to one on butt-swelling toe block has some connecting rods, the lower end of the connecting rod by the second universal ball end structure with it is described
Toe block rotates connection, and the connecting rod upper end is rotated with the driving plate by the first universal ball end structure and is connected, and passes through institute
Stating universal driver drives the driving plate to swing, so as to promote each connecting rod so that not Tongfang occurs for corresponding toe block
To swing.
As further optimization of the present utility model, the universal driver includes positioning disk and the swing be arrangeding in parallel
A center stepper motor is provided with the middle part of disk, the positioning disk, in the positioning disk circumferentially around the center stepper motor
Be additionally provided with some circumferential stepper motors, the output shaft of the center stepper motor and some circumferential stepper motors with it is described fixed
Position disk is perpendicular, and a swivel nut is fixedly connected with the output shaft of the circumferential stepper motor, screw thread is passed through on the swivel nut
A screw rod is connected with, a bulb is provided with the outer end of the screw rod；It is disposed with the wobble-plate and some screw rods
Corresponding some swing seats, the swing seat is rotated with wobble-plate by clutch shaft bearing and is connected, and the swing seat is internally provided with
The spherical swing cavity of circumference of one interior end opening, the bulb is embedded into the corresponding spherical swing cavity of circumference；Described
The central spherical that an interior end opening is additionally provided with the middle part of wobble-plate is swung outside cavity, the output shaft of the center stepper motor
End is provided with a ball block being embedded into the central spherical swing cavity；The driving plate is fixedly installed on the swing
The outer end of disk.
As further optimization of the present utility model, a support plate, institute have also been fixedly and coaxially connected on the positioning disk
State support plate to be located between the positioning disk and the wobble-plate, if being provided with what is passed through for some swivel nuts in the support plate
Dry rotation hole, rotates connection between the swivel nut and rotation hole, the confession center step is additionally provided with the middle part of positioning disk
The sliding eye that the output shaft of stepper motor is passed through, is slidably connected between the output shaft and the sliding eye of the center stepper motor.
As further optimization of the present utility model, the driving plate is swung in sector, the driving plate perpendicular to described
Plate is set.
As further optimization of the present utility model, the connecting rod is length-adjustable screw rod group structure, in the spiral shell
An anti-rotation locking nut is additionally provided with bar group structure.
It is used as further optimization of the present utility model, axis and the column of the output shaft of the center stepper motor
Angle between axis is acute angle.
As further optimization of the present utility model, the center stepper motor is linear stepping motor, the circumferential step
Stepper motor is rotary stepped machine.
As further optimization of the present utility model, the universal driver is connected by a trapezoidal cushion block and the column
Connect, a guide rail is provided with the column, the trapezoidal cushion block can be moved up and down along the guide rail.
As further optimization of the present utility model, the toe block bottom is provided with slipmat.
The utility model has advantages below compared with prior art：
1st, a kind of toe movable type robot foot structure that the utility model is provided, it is in the sole plate front end of robot
Some toe blocks are added, the driving to toe block is realized by universal driver, the swing for occurring different directions passes through toe
The swing of plate, is realized to sole plate and the amendment for contacting contact point between ground, effectively prevents robot inclining when walking
Cover, improve the stability of robot ambulation.In addition, the utility model is realized to some toes by a universal swing mechanism
The driving of block, compared to each toe set a unidirectional drive structure, the utility model be not only simple in structure it is easy to maintain, together
When can realize the Multidirectional motion of some toe blocks, movable range is higher, by the swing of universal driver, it is flexible can be machine
The sole of device people provides bigger extent of amendment.
2nd, a kind of toe movable type robot foot structure that the utility model is provided, its universal driver passes through a center
The cooperation of stepper motor and some circumferential stepper motors, can both realize the multidirectional swing of wobble-plate, stretching for wobble-plate can be realized again
Contracting, can preferably drive toe block to carry out multidirectional swing.
3rd, a kind of toe movable type robot foot structure that the utility model is provided, it is defeated that its support plate reduces each motor
The radial load power of shaft, it is ensured that the steady operation of each rotating stepper motor and linear stepping motor, reduces each motor
Export the possibility of shaft distortion.
4th, a kind of toe movable type robot foot structure that the utility model is provided, its connecting rod uses length-adjustable spiral shell
Bar group structure so that toe block, driving plate, universal driver can make standardization accessory, when specifically installing, can be by adjusting
The length of whole connecting rod is adjusted to whole link gear.
Brief description of the drawings
Fig. 1 is structure diagram of the present utility model.
Fig. 2 is driving plate of the present utility model and connecting rod matching chart.
Fig. 3 is the partial sectional view of universal driver of the present utility model.
Fig. 4 is Fig. 3 right view.
Label in figure：1st, trapezoidal cushion block；2nd, driving plate；3rd, column；4th, sole plate；5th, connecting rod；6th, Hooks coupling universal coupling；
7th, toe block；8th, support plate；9th, positioning disk；10th, rotary stepped machine；11st, linear stepping motor；12nd, swivel nut；13rd, screw rod；
14th, bulb；15th, ball block；16th, wobble-plate；17th, gantry pillars；18th, the first universal ball end structure.
Embodiment
Embodiment of the present utility model is elaborated below, the present embodiment using technical solutions of the utility model before
Put and implemented, give detailed embodiment and specific operating process, but protection domain of the present utility model is not limited
In following embodiments.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " suitable
The orientation or position relationship of the instruction such as hour hands ", " counterclockwise " are based on orientation shown in the drawings or position relationship, merely to just
Described in description the utility model with simplified, rather than indicate or imply that the device or element of meaning must be with specific sides
Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that two or two
More than, unless otherwise specifically defined.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood as the case may be
Concrete meaning in the utility model.
Referring to Fig. 1 to Fig. 2, a kind of toe movable type robot foot structure, including sole plate 4 are present embodiments provided,
The front end of sole plate 4 is connected with some toe blocks 7 by some Hooks coupling universal couplings 6, and the bottom of toe block 7 is provided with slipmat,
The rear end of sole plate 4 has been connected with the column 3 that thigh bone is acted on, column 3 by gantry pillars 17 and has been provided with universal driver,
It is fixed with to connect one to one on a driving plate 2, some toe blocks 7 on the drive end of universal driver and there are some connecting rods 5,
The lower end of connecting rod 5 is rotated with toe block 7 by the second universal ball end structure and is connected, and the upper end of connecting rod 5 passes through the first multi-directional ball
Header structure 18 is rotated with driving plate 2 and is connected, and drives driving plate 2 to swing by universal driver, so that each connecting rod 5 is promoted,
So that the swing of different directions occurs for corresponding toe block 7.Wherein connecting rod 5 is length-adjustable screw rod group structure, in screw rod
An anti-rotation locking nut is additionally provided with group structure.Universal driver is connected by a trapezoidal cushion block 1 with column 3, vertical
A guide rail is provided with post 3, trapezoidal cushion block 1 can be moved up and down along guide rail.
Referring also to Fig. 3 and Fig. 4, the universal driver includes the positioning disk 9 and wobble-plate 16 be arrangeding in parallel, positioning disk 9
Middle part is provided with a center stepper motor, and some circumferential steppings are additionally provided with circumferentially around center stepper motor in positioning disk 9
The output shaft of motor, center stepper motor and some circumferential stepper motors is perpendicular with positioning disk 9, and center stepper motor is used
Linear stepping motor 11, circumferential stepper motor uses rotary stepped machine 10.It is fixed on the output shaft of circumferential stepper motor to connect
A swivel nut 12 is connected to, a screw rod 13 has been connected through a screw thread on swivel nut 12, the outer end of screw rod 13 is provided with one
Bulb 14；Some swing seats corresponding with some screw rods 13 are disposed with wobble-plate 16, swing seat is by clutch shaft bearing with swinging
Disk 16 rotates connection, and swing seat is internally provided with the spherical swing cavity of circumference of an interior end opening, and bulb 14 is embedded into correspondence
Circumference it is spherical swing cavity in；The central spherical that an interior end opening is additionally provided with the middle part of wobble-plate 16 swings cavity,
The output shaft outer end of center stepper motor is provided with a ball block 15 being embedded into central spherical swing cavity；Driving plate 2
In sector, driving plate 2 is vertically and fixedly arranged at the outer end of wobble-plate 16.After universal driver is installed, center stepper motor it is defeated
Angle between the axis of shaft and the axis of column 3 is acute angle.
During specific setting, a support plate 8 is also fixedly and coaxially connected on positioning disk 9, support plate 8 is located at the He of positioning disk 9
Between wobble-plate 16, some rotation holes passed through for some swivel nuts 12 are provided with support plate 8, between swivel nut 12 and rotation hole
Connection is rotated, the sliding eye that the output shaft of a Ge Gong centers stepper motor is passed through, center step are additionally provided with the middle part of positioning disk 9
It is slidably connected between the output shaft and sliding eye of stepper motor.
The operation principle of the present embodiment is as follows：
In use, when needing 16 integral telescopic of wobble-plate, starting the linear stepping motor 11 at center so that straight line stepping
The output elongate axis of motor 11, while the rotary stepped machine 10 of periphery rotates also by rotating band movable snail sleeve 12, and then band
Move screw rod 13 for linear motion so that positioning movement occurs for whole wobble-plate 16, is achieved that after the completion of movement to wobble-plate 16
The adjustment of the distance of relative positioning disk 9, that is, realize the integral telescopic of wobble-plate 16, so as to adjust wobble-plate according to actual needs
16 position.
When needing wobble-plate 16 to swing, the drive circuit of linear stepping motor 11 is closed, starts rotary stepped machine
10, swivel nut 12 is rotated under the promotion of rotary stepped machine 10 so that sent out between screw rod 13 and swivel nut 12 by screw thread
Raw relative displacement, is extended, another part screw rod 13 shortens by a part of screw rod 13, it is possible to realize the positioning pendulum of wobble-plate 16
It is dynamic, and then drive driving plate 2 to swing, connecting rod 5 is promoted by driving plate 2, driven accordingly by different connecting rods 5
Toe block 7 is swung.By the swing of toe plate, realize to sole plate 4 and the amendment for contacting contact point between ground, have
Effect prevents robot toppling when walking, improves the stability of robot ambulation.
During adjustment, it is fixedly connected, is provided with column 3 by a trapezoidal cushion block 1 between universal driver and column 3
One guide rail, is slidably connected between trapezoidal cushion block 1 and guide rail, be can adjust during installation by movement of the trapezoidal cushion block 1 on guide rail
The relative position of universal driver, while adjusting connecting rod 5 so that toe block 7 is kept and sole plate 4 under static state
Level；The adjustment to whole support triangle size can be thus realized, triangle size is bigger, the precision of its adjustment is lower, leads to
An equalization point can be set between the size, stability of triangle by crossing this structure.
Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit the utility model
Any modifications, equivalent substitutions and improvements made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (9)
1. a kind of toe movable type robot foot structure, including sole plate, it is characterised in that：The sole plate front end passes through
Some Hooks coupling universal couplings are connected with some toe blocks, and being connected with thigh bone by gantry pillars in the rear end of the sole plate makees
It is provided with column, the column on universal driver, the drive end of the universal driver and is fixed with a driving plate,
Being connected one to one on some toe blocks has some connecting rods, and the lower end of the connecting rod passes through the second universal ball end structure
Rotate and be connected with the toe block, the connecting rod upper end is rotated with the driving plate by the first universal ball end structure and is connected,
The driving plate is driven to swing by the universal driver, so as to promote each connecting rod so that corresponding toe block occurs
The swing of different directions.
2. a kind of toe movable type robot foot structure as claimed in claim 1, it is characterised in that：The universal driver bag
Include and be provided with a center stepper motor in the middle part of the positioning disk and wobble-plate be arrangeding in parallel, the positioning disk, in the positioning disk
Some circumferential stepper motors, the center stepper motor and some circumferential steps are additionally provided with circumferentially around the center stepper motor
The output shaft of stepper motor is perpendicular with the positioning disk, and a spiral shell is fixedly connected with the output shaft of the circumferential stepper motor
Set, a screw rod has been connected through a screw thread on the swivel nut, a bulb is provided with the outer end of the screw rod；The pendulum
Some swing seats corresponding with some screw rods are disposed with Moving plate, the swing seat is rotated by clutch shaft bearing and wobble-plate to be connected
Connect, the swing seat is internally provided with the spherical swing cavity of circumference of an interior end opening, the bulb is embedded into corresponding week
Into spherical swing cavity；The central spherical that an interior end opening is additionally provided with the middle part of the wobble-plate swings cavity, institute
The output shaft outer end for stating center stepper motor is provided with a ball block being embedded into the central spherical swing cavity；It is described
Driving plate is fixedly installed on the outer end of the wobble-plate.
3. a kind of toe movable type robot foot structure as claimed in claim 2, it is characterised in that：It is also same on the positioning disk
Axle is fixedly connected with a support plate, and the support plate is located between the positioning disk and the wobble-plate, in the support plate
On be provided with some rotation holes passed through for some swivel nuts, connection is rotated between the swivel nut and rotation hole, in positioning disk
Portion is additionally provided with the sliding eye that the output shaft of the confession center stepper motor is passed through, the output shaft of the center stepper motor
It is slidably connected between the sliding eye.
4. a kind of toe movable type robot foot structure as claimed in claim 2, it is characterised in that：The driving plate is in fan
Shape, the driving plate is set perpendicular to the oscillating deck.
5. a kind of toe movable type robot foot structure as claimed in claim 1, it is characterised in that：The connecting rod is length
Adjustable screw rod group structure, is additionally provided with an anti-rotation locking nut in the screw rod group structure.
6. a kind of toe movable type robot foot structure as claimed in claim 2, it is characterised in that：The center stepper motor
The axis of output shaft and the axis of the column between angle be acute angle.
7. a kind of toe movable type robot foot structure as claimed in claim 2, it is characterised in that：The center stepper motor
For linear stepping motor, the circumferential stepper motor is rotary stepped machine.
8. a kind of toe movable type robot foot structure as claimed in claim 1, it is characterised in that：The universal driver leads to
Cross a trapezoidal cushion block to be connected with the column, a guide rail is provided with the column, the trapezoidal cushion block can be along institute
Guide rail is stated to move up and down.
9. a kind of toe movable type robot foot structure as claimed in claim 1, it is characterised in that：The toe block bottom is set
It is equipped with slipmat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720030200.0U CN206510059U (en) | 2017-01-11 | 2017-01-11 | A kind of toe movable type robot foot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720030200.0U CN206510059U (en) | 2017-01-11 | 2017-01-11 | A kind of toe movable type robot foot structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206510059U true CN206510059U (en) | 2017-09-22 |
Family
ID=59865374
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720030200.0U Withdrawn - After Issue CN206510059U (en) | 2017-01-11 | 2017-01-11 | A kind of toe movable type robot foot structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206510059U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415330A (en) * | 2018-03-13 | 2018-08-17 | 哈尔滨理工大学 | Bio-robot foot end design method |
| CN108858217A (en) * | 2018-06-26 | 2018-11-23 | 慈溪市小艺机器人科技有限公司 | One kind being used for teen-age household assiatant robot |
| CN109940593A (en) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | The man-machine attachment device in leg |
-
2017
- 2017-01-11 CN CN201720030200.0U patent/CN206510059U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415330A (en) * | 2018-03-13 | 2018-08-17 | 哈尔滨理工大学 | Bio-robot foot end design method |
| CN108858217A (en) * | 2018-06-26 | 2018-11-23 | 慈溪市小艺机器人科技有限公司 | One kind being used for teen-age household assiatant robot |
| CN109940593A (en) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | The man-machine attachment device in leg |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170922 Effective date of abandoning: 20230314 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170922 Effective date of abandoning: 20230314 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |