CN207345972U - Robot, which contacts to earth, perceives sole structure - Google Patents
Robot, which contacts to earth, perceives sole structure Download PDFInfo
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- CN207345972U CN207345972U CN201721189624.8U CN201721189624U CN207345972U CN 207345972 U CN207345972 U CN 207345972U CN 201721189624 U CN201721189624 U CN 201721189624U CN 207345972 U CN207345972 U CN 207345972U
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Abstract
It the utility model is related to robotic technology field, disclose a kind of robot contact to earth perceive sole structure, including sole skeleton, the front bottom end of sole skeleton is equipped with forefoot body, the rear end bottom of sole skeleton is equipped with hind paw body, forefoot body, the inner of hind paw body are rotatablely connected between support plate, front compression spring is equipped between the bottom of preceding tie-beam and the top surface of forefoot body, the front end of sole skeleton is equipped with preceding microswitch, and the driving lever on preceding microswitch is abutted with forefoot body；The outer end of hind paw body extends to form rear spacing flange, spacing flange is fastened on the outside of rear tie-beam afterwards, it is equipped with rear compression spring between the top surface of the bottom of tie-beam and hind paw body afterwards, the rear end of sole skeleton is equipped with rear microswitch, and the driving lever on rear microswitch is abutted with hind paw body.The utility model has high sensitivity, adapts to that road surface ability is strong, the beneficial effect of advantage of lower cost.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly to a kind of robot contacts to earth and perceives sole structure.
Background technology
Legged mobile robot has the characteristics that movement velocity is fast, balance control is complicated, this requires the very strong fortune of robot
Dynamic real-time perception ability, aerial due to legged mobile robot mutually mutually have different control algolithms from landing, this is just to robot foot
Bottom perceives the state of landing and proposes very high requirement.Such as " legged mobile robot " disclosed in CN101370623, it can ensure trunk
Walked in the case of highly low with big stride, but the length of paces needs predetermined in advance, can not adapt to complex
Pavement behavior；And for example " leg type mobile robot " of CN1860001, employs force snesor feedback leg movements state, still
This kind of sensor it is expensive, and the requirement to installing and using is also higher, this results in robot cost and improves.
Utility model content
The utility model adapts to that road surface can force difference, sensitivity be low, cost to solve robot sole of the prior art
The problem of high, there is provided a kind of high sensitivity, adaptation road surface ability are strong, the robot of advantage of lower cost contacts to earth and perceives sole knot
Structure.
To achieve these goals, the utility model adopts the following technical solution：
A kind of robot, which contacts to earth, perceives sole structure, including sole skeleton, the sole skeleton include two pieces of parallel branch
Fagging, the preceding tie-beam for connecting support plate and rear tie-beam, the front bottom end of the sole skeleton are equipped with forefoot body,
The rear end bottom of sole skeleton is equipped with hind paw body, the forefoot body, hind paw body it is inner with support plate it
Between be rotatablely connected, the outer end of the forefoot body extends to form front limit flange, and the front limit flange connects before being fastened on
The outside of beam is connect, front compression spring is equipped between the bottom of the preceding tie-beam and the top surface of forefoot body, the sole skeleton
Front end, which is located above the middle part of forefoot body, is equipped with preceding microswitch, the driving lever on the preceding microswitch and forefoot body
Abut；The outer end of the hind paw body extends to form rear spacing flange, and the rear spacing flange is fastened on the outer of rear tie-beam
Side, is equipped with rear compression spring, the rear end of the sole skeleton is located at after described between the bottom of tie-beam and the top surface of hind paw body
Rear microswitch is equipped with above the middle part of hind paw body, the driving lever afterwards on microswitch is abutted with hind paw body.
When robot sole and ground are kept completely separate, forefoot body under the action of front compression spring, front limit flange with
Preceding tie-beam abuts, and forefoot rotates down a small angle, and the driving lever on preceding microswitch is upspring, the shape of hind paw body
The state consistency of state and forefoot body, the driving lever on rear microswitch are upspring, and preceding microswitch, rear microswitch are in breaking
Open state, no signal input；When forefoot body is contacted with ground, forefoot body is pressurized and rotates, and then by before
The driving lever pressure of microswitch, preceding microswitch are in closure state, have signal input, and similarly hind paw body is contacted with ground
When, rear microswitch closure, input signal；Therefore preceding microswitch, the state real-time perception robot of rear microswitch are passed through
Sole land state, and forefoot body can be perceived or hind paw body lands, high sensitivity, and overall knot
Structure is simple, compact, cost is low.
Preferably, the preceding tie-beam, the bottom of rear tie-beam are equipped with limit hole, the front compression spring, rear compression spring
One-to-one corresponding is located in limit hole.Limit hole be used for front compression spring, rear compression spring it is spacing, prevent front compression spring, rear compression spring from coming off.
Preferably, it is equipped with chamfering at the outer lateral edges of the preceding tie-beam, rear tie-beam.Chamfering can prevent preceding connection
At the seamed edge of beam with front limit flange, rear tie-beam seamed edge at collide with rear spacing flange, so as to improve monolithic stability
Property.
Preferably, the bottom surface of the forefoot body is equipped with half sole rubber pad, the bottom surface of the hind paw body is equipped with
After slap rubber pad, the half sole rubber pad, the bottom of rear palm rubber pad are equipped with anti-skid chequer.Half sole rubber pad, slap rubber pad afterwards
The frictional force on robot sole and ground can be increased so that robot ambulation is more stablized；Cushioning effect can also be played, improves machine
The service life of device people's sole.
Preferably, the preceding microswitch has two, two preceding microswitches are in parallel；The rear microswitch has
Microswitch is in parallel after two, two.Two groups of microswitches are set, stability is good, even if one of microswitch fails,
The walking dynamic of robot sole can accurately be perceived.
Preferably, the top center of the sole skeleton is equipped with two connecting seats, cross is equipped between two connecting seats
Shaft universal-joint, same two axial spindle noses connect one to one with two connecting seats respectively on Hooke's joint, cross axle
Other two spindle nose on universal joint is connected with robot leg arm.Sole skeleton is connected by Hooke's joint and robot leg arm
Connect to form ankle-joint, maneuverability, to the extremely well-adapted on ground, adapt to various complicated road conditions.
Preferably, the upper end front and rear sides of the robot leg arm are equipped with adjustment seat, the adjustment seat is equipped with
Some adjustment holes, are connected with rotation seat in adjustment seat, are rotatablely connected between rotation seat and adjustment hole, before the sole skeleton
Connecting plate is equipped with the top of end, rear end, the both ends of connecting plate are connected by tension spring with rotation seat.Robot sole and ground are complete
After fully separating, tension spring can play position-limiting action to sole, it is ensured that the angle that sole is contacted with ground next time is consistent；Foot at the same time
When the palm is contacted with ground, tension spring faces the colliding forces of sole in which can absorb, and plays a protective role to robot sole, improves
Service life.
Therefore, the utility model has high sensitivity, adapts to that road surface ability is strong, the beneficial effect of advantage of lower cost.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of the utility model.
Fig. 2 is the structure diagram of sole skeleton.
Fig. 3 is the sectional view of Fig. 1.
Fig. 4 is close-up schematic view at A in Fig. 3.
Fig. 5 is the connection diagram of sole skeleton and leg arm.
In figure：Sole skeleton 1, support plate 100, preceding tie-beam 101, rear tie-beam 102, limit hole 103, front compression spring 104,
Compression spring 105, chamfering 106, forefoot body 2, front limit flange 200, half sole rubber pad 201, hind paw body 3, rear spacing turn over
Side 300, rear palm rubber pad 301, preceding microswitch 4, rear microswitch 5, connecting seat 6, Hooke's joint 7, robot leg arm
8th, adjustment seat 9, adjustment hole 10, rotation seat 11, connecting plate 12, tension spring 13.
Embodiment
The utility model is further described with reference to the accompanying drawings and detailed description：
A kind of robot as shown in Figure 1, Figure 2 and Figure 3, which contacts to earth, perceives sole structure, including sole skeleton 1, sole skeleton
Preceding tie-beam 101 and rear tie-beam 102 including two pieces of parallel support plates 100, for connecting support plate, before sole skeleton
End bottom is equipped with forefoot body 2, and the rear end bottom of sole skeleton is equipped with hind paw body 3, forefoot body, hind paw body
The inner be rotatablely connected between support plate.
As shown in Figure 3 and Figure 4, the outer end of forefoot body 2 extends to form front limit flange 200, and front limit flange fastens
In the outside of preceding tie-beam, the bottom of preceding tie-beam 101 is equipped with limit hole 103, and preceding pressure is equipped with the limit hole on preceding tie-beam
Spring 104, the lower end of front compression spring are pressed in the top surface of forefoot body, and the front end of sole skeleton 1 is located on the middle part of forefoot body
Side is equipped with preceding microswitch 4, and preceding microswitch has two, and two preceding microswitches are in parallel, and the driving lever on preceding microswitch is with before
Sole body abuts；The outer end of hind paw body 3 extends to form rear spacing flange 300, and rear spacing flange is fastened on rear tie-beam
102 outside, the bottom of rear tie-beam are equipped with limit hole, are equipped with rear compression spring 105 in rear tie-beam upper limit hole, under rear compression spring
For side pressure in the top surface of hind paw body, the rear end of sole skeleton, which is located above the middle part of hind paw body, is equipped with rear microswitch 5,
Microswitch is in parallel after microswitch has two, two afterwards, and the driving lever on rear microswitch is abutted with hind paw body；Preceding connection
Beam, rear tie-beam outer lateral edges at be equipped with chamfering 106.
The bottom surface of forefoot body 2 is equipped with half sole rubber pad 201, and rubber pad is slapped in the bottom surface of hind paw body 3 after being equipped with
301, half sole rubber pad, the bottom of rear palm rubber pad are equipped with anti-skid chequer.
As shown in figure 5, the top center of sole skeleton 1 is equipped with two connecting seats 6, cross axle is equipped between two connecting seats
Universal joint 7, same two axial spindle noses connect one to one with two connecting seats respectively on Hooke's joint, cross axle ten thousand
It is connected to the other two spindle nose on section with robot leg arm 8；The upper end front and rear sides of robot leg arm 8 are equipped with adjustment seat 9,
The adjustment seat is equipped with some adjustment holes 10, is connected with rotation seat 11 in adjustment seat, is rotated between rotation seat and adjustment hole
Connection, front end, the rear end top of sole skeleton are equipped with connecting plate 12, and the both ends of connecting plate pass through tension spring 13 and rotation seat connects
Connect.
With reference to attached drawing, the principle of the utility model is as follows：Robot walks on the ground, and two soles are intermittent and ground
Contact, separation, when sole is with surface separation, under the action of front compression spring, front limit flange supports forefoot body with preceding tie-beam
Connect, forefoot rotates down a small angle, and the driving lever on preceding microswitch is upspring, the state and forefoot of hind paw body
The state consistency of body, the driving lever on rear microswitch are upspring, and preceding microswitch, rear microswitch are in off-state, nothing
Signal inputs；When forefoot body is contacted with ground, forefoot body is pressurized and rotates, and then by preceding microswitch
Driving lever is depressed, and preceding microswitch is in closure state, has signal input, when similarly hind paw body is contacted with ground, rear fine motion
Switch closure, input signal；Therefore landed by the sole of preceding microswitch, the state real-time perception robot of rear microswitch
State, and forefoot body can be perceived or hind paw body lands, high sensitivity, and also overall structure is simple, tight
Gather, cost it is low；In the process of walking, tension spring, compression spring, half sole rubber pad, rear palm rubber pad play bumper and absorbing shock for robot
Effect, improves the service life and stability of robot sole.
Claims (7)
1. a kind of robot, which contacts to earth, perceives sole structure, including sole skeleton, it is characterized in that, the sole skeleton, which includes two pieces, puts down
Capable support plate, the preceding tie-beam for connecting support plate and rear tie-beam, the front bottom end of the sole skeleton are equipped with front foot
Slap body, the rear end bottom of sole skeleton is equipped with hind paw body, the forefoot body, hind paw body the inner with branch
It is rotatablely connected between fagging, the outer end of the forefoot body extends to form front limit flange, and the front limit flange fastens
Front compression spring, the sole are equipped between the outside of preceding tie-beam, the bottom of the preceding tie-beam and the top surface of forefoot body
The front end of skeleton, which is located above the middle part of forefoot body, is equipped with preceding microswitch, driving lever and front foot on the preceding microswitch
Body is slapped to abut；The outer end of the hind paw body extends to form rear spacing flange, and the rear spacing flange connects after being fastened on
The outside of beam, rear compression spring is equipped with after described between the bottom of tie-beam and the top surface of hind paw body, after the sole skeleton
End, which is located above the middle part of hind paw body, is equipped with rear microswitch, and the driving lever on the rear microswitch is supported with hind paw body
Connect.
2. robot according to claim 1, which contacts to earth, perceives sole structure, it is characterized in that, the preceding tie-beam, rear connection
The bottom of beam is equipped with limit hole, and the front compression spring, rear compression spring are corresponded and be located in limit hole.
3. robot according to claim 1 or 2 contact to earth perceive sole structure, it is characterized in that, the preceding tie-beam, after connect
Connect and be equipped with chamfering at the outer lateral edges of beam.
4. robot according to claim 1, which contacts to earth, perceives sole structure, it is characterized in that, the bottom surface of the forefoot body
Equipped with half sole rubber pad, rubber pad is slapped in the bottom surface of the hind paw body after being equipped with, the half sole rubber pad, rear palm rubber pad
Bottom is equipped with anti-skid chequer.
5. robot according to claim 1, which contacts to earth, perceives sole structure, it is characterized in that, the preceding microswitch has two
A, two preceding microswitches are in parallel；Microswitch is in parallel after the rear microswitch has two, two.
6. robot according to claim 1, which contacts to earth, perceives sole structure, it is characterized in that, in the top of the sole skeleton
The heart is equipped with two connecting seats, is equipped with Hooke's joint between two connecting seats, same axial two on Hooke's joint
Spindle nose connects one to one with two connecting seats respectively, and the other two spindle nose on Hooke's joint connects with robot leg arm
Connect.
7. robot according to claim 6, which contacts to earth, perceives sole structure, it is characterized in that, the upper end of the robot leg arm
Front and rear sides are equipped with adjustment seat, and the adjustment seat is equipped with some adjustment holes, rotation seat, rotation seat are connected with adjustment seat
It is rotatablely connected between adjustment hole, front end, the rear end top of the sole skeleton are equipped with connecting plate, and the both ends of connecting plate are logical
Tension spring is crossed to be connected with rotation seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721189624.8U CN207345972U (en) | 2017-09-15 | 2017-09-15 | Robot, which contacts to earth, perceives sole structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721189624.8U CN207345972U (en) | 2017-09-15 | 2017-09-15 | Robot, which contacts to earth, perceives sole structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207345972U true CN207345972U (en) | 2018-05-11 |
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ID=62410069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721189624.8U Active CN207345972U (en) | 2017-09-15 | 2017-09-15 | Robot, which contacts to earth, perceives sole structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207345972U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472394A (en) * | 2017-09-15 | 2017-12-15 | 杭州南江机器人股份有限公司 | A kind of robot, which contacts to earth, perceives sole structure |
| CN110587577A (en) * | 2019-08-22 | 2019-12-20 | 南京理工大学 | Pneumatic soft robot with adsorption capacity |
| CN111458766A (en) * | 2020-04-22 | 2020-07-28 | 北京理工大学 | Humanoid robot foot detection device that contacts to earth |
-
2017
- 2017-09-15 CN CN201721189624.8U patent/CN207345972U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472394A (en) * | 2017-09-15 | 2017-12-15 | 杭州南江机器人股份有限公司 | A kind of robot, which contacts to earth, perceives sole structure |
| CN110587577A (en) * | 2019-08-22 | 2019-12-20 | 南京理工大学 | Pneumatic soft robot with adsorption capacity |
| CN110587577B (en) * | 2019-08-22 | 2023-01-24 | 南京理工大学 | Pneumatic soft robot with adsorption capacity |
| CN111458766A (en) * | 2020-04-22 | 2020-07-28 | 北京理工大学 | Humanoid robot foot detection device that contacts to earth |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220309 Address after: Room 101-110, 1st floor, building 8, Jinsheng Industrial Park, 611 Dongguan Road, Binjiang District, Hangzhou, Zhejiang 310000 Patentee after: HANGZHOU IPLUS TECH CO.,LTD. Address before: 310000 three, 3, 66, 68, 70, Dongxin Avenue, Binjiang District, Hangzhou, Zhejiang. Patentee before: HANGZHOU NANJIANG ROBOTICS Co.,Ltd. |
|
| TR01 | Transfer of patent right |