CN210364125U - Biped robot bionic foot capable of improving walking stability and gait naturality - Google Patents
Biped robot bionic foot capable of improving walking stability and gait naturality Download PDFInfo
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- CN210364125U CN210364125U CN201921091674.1U CN201921091674U CN210364125U CN 210364125 U CN210364125 U CN 210364125U CN 201921091674 U CN201921091674 U CN 201921091674U CN 210364125 U CN210364125 U CN 210364125U
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Abstract
The utility model discloses an improve bionical foot of biped robot of walking stability and gait naturality, at first, heel rubber slipmat lands, heel damping spring and heel component
The elastic deformation of the shape structure plays a role in buffering. Then the toe rubber non-slip mat lands on the ground, because the thickness of the second bionic arch on the outer side is smaller than that of the first bionic arch on the inner side, the outer bionic arch with lower rigidity firstly generates elastic deformation, and along with the rise of the height of the outer arch support, the inner arch support also starts to receive larger acting force to generate upward acting forceAnd the inner side bionic arch begins to generate elastic deformation, the inner side bionic arch and the outer side bionic arch play a role in buffering at the same time, the variable rigidity interval of the whole bionic arch is enlarged, and effective absorption of different impacts can be better completed. And finally, approaching the bionic foot to the toe off, wherein at the moment, the toe component rotates around the pin shaft, and the first spring is stretched to restore the original state.
Description
Technical Field
The utility model relates to the technical field of robots, more specifically the biped robot bionical foot that relates to an improvement walking stability and gait naturality that says so.
Background
With the progress of science and technology, the bionic walking robot is rapidly developed and widely applied to various fields of society, such as industrial automation, agriculture, military, scientific research, emergency rescue and disaster relief and the like. However, since the biped robot has the closest walking mode to that of humans, research on the biped robot is becoming important for researchers.
The existing biped robot is mostly arc-shaped feet, flat-plate feet and large in overall rigidity, and can not finish all stages of similar human foot bottoming in the walking process, so that the walking posture is stiff and unnatural, the walking efficiency of the biped robot is reduced to a certain extent, meanwhile, the overall rigid design can not play the role of human foot arch buffering and energy storage, the impact of the bottom surface can not be effectively absorbed or relieved when the biped robot touches the ground, the walking stability is remarkably reduced, and the control difficulty is increased.
Therefore, how to provide a bionic foot capable of improving walking stability and gait naturalness is a problem which needs to be solved urgently by the technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides an improve walking stability and gait naturality's bionical sufficient of biped robot, at first, heel rubber slipmat lands, heel damping spring and heel component
The elastic deformation of the shape structure plays a role in buffering. Then the toe rubber non-slip mat lands on the ground, because the thickness of the second bionic arch on the outer side is smaller than that of the first bionic arch on the inner side, the outer bionic arch with lower rigidity firstly generates elastic deformation, the inner bionic arch support also starts to receive larger acting force along with the rise of the height of the outer arch support to generate upward displacement, the inner bionic arch starts to generate elastic deformation, and at the moment, the inner and outer bionic arches simultaneously play a role of buffering to serve as bufferingThe application is as follows. The outer side bionic arch with lower rigidity is matched with the inner side bionic arch with higher rigidity for use in a whole set, so that the variable rigidity interval of the whole bionic arch is enlarged, and the effective absorption of different impacts can be better completed. And finally, approaching the bionic foot to the toe off, wherein at the moment, the toe component rotates around the pin shaft, and the first spring is stretched to restore the original state.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a biped robot bionic foot for improving walking stability and gait naturality comprises: a biomimetic arch, toe member, heel member and ankle member; one end of the bionic arch is fixed on the heel member through a bionic arch connecting piece, and the other end of the bionic arch is fixedly connected with the connecting end of the toe member; the ankle member is mounted to an upper end surface of the heel member.
Preferably, in the above bionic foot of the biped robot for improving walking stability and gait naturalness, at least three bionic arches are provided, and the three bionic arches are divided into a first bionic arch in the middle and second bionic arches on two sides; wherein, a strip-shaped hole is arranged on the second bionic arch.
Preferably, in the above-described bionic foot of the biped robot for improving walking stability and gait naturalness, the toe member comprises a fingertip, a first spring and a support base; the fingertip is connected with the supporting seat through a pin shaft, one end of the first spring is connected with the fingertip, and the other end of the first spring is connected with the supporting seat.
Preferably, in the bionic foot of the biped robot for improving walking stability and gait naturality, the bionic foot further comprises a second spring, one end of the second spring is fixedly connected with the heel component, and the other end of the second spring is connected with the supporting seat.
Preferably, in the above-described biped robotic bionic foot for improving walking stability and gait naturalness, the ankle member includes: a ball rod, a ball socket seat, a ball socket; the upper end surface of the heel component is provided with a ball socket seat; the ball socket is arranged in the ball socket seat; the ball head of the ball head rod is placed in the ball socket and is fixed by the ball pair retaining ring; the ball head of the ball head rod and the ball socket form a ball pair structure, and the ball pair is in clearance fit.
Preferably, in the bionic foot of the biped robot for improving walking stability and gait naturality, the ball head rod is of a hollow structure, the upper end of the ball head rod is provided with a step spigot, the adapter plate is installed on the step spigot, the semicircular socket ring is provided with three through holes, and the adapter plate is fixed on the three-dimensional force sensor by penetrating the three through holes of the semicircular socket ring through the semicircular socket ring by using a semicircular socket ring connecting screw; the shank connecting plate is arranged on the three-dimensional force sensor through shank connecting plate connecting screws, and the upper end of the shank connecting plate is connected with a leg structure of the robot; three spring hooks are circumferentially and uniformly distributed; the spring hook is connected to the shank connecting plate through a spring hook connecting screw, 3 spring lifting lugs provided with spring lifting lug pins are circumferentially and uniformly distributed and installed on the ball socket seat, three extension springs are circumferentially and uniformly distributed, one ends of the extension springs are hung at the spring hook, and the other ends of the extension springs are hung on the spring lifting lug pins.
Preferably, in the above bionic foot of the biped robot for improving walking stability and gait naturalness, a heel rubber non-slip pad is adhered to the lower end surface of the heel member.
Preferably, in the bionic foot of the biped robot for improving walking stability and gait naturalness, the toe rubber anti-slip pad is adhered to the lower surface of the support seat of the toe member.
Preferably, in the above-mentioned bionic foot of the biped robot for improving walking stability and gait naturalness, the heel member is in the shape of
And a damping spring is vertically installed.
Preferably, in the above bionic foot of the biped robot for improving walking stability and gait naturalness, the bionic arch is crescent-shaped.
According to the above technical scheme, compare with prior art, the utility model discloses an improve biped machine of walking stability and gait naturalityThe artificial foot is made up through such steps as landing the heel rubber antiskid pad, damping heel spring and heel member
The elastic deformation of the shape structure plays a role in buffering. And then the toe rubber non-slip mat lands on the ground, because the thickness of the second bionic arch on the outer side is smaller than that of the first bionic arch on the inner side, the outer bionic arch with lower rigidity firstly generates elastic deformation, the inner bionic arch support also starts to receive larger acting force along with the rise of the height of the outer arch support to generate upward displacement, the inner bionic arch starts to generate elastic deformation, and at the moment, the inner and outer bionic arches simultaneously play a role in buffering. The outer side bionic arch with lower rigidity is matched with the inner side bionic arch with higher rigidity for use in a whole set, so that the variable rigidity interval of the whole bionic arch is enlarged, and the effective absorption of different impacts can be better completed. And finally, approaching the bionic foot to the toe off, wherein at the moment, the toe component rotates around the pin shaft, and the first spring is stretched to restore the original state.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of the present invention;
figure 2 is a cross-sectional view of an ankle member according to the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model discloses improve walking stability and gait naturality's bionical sufficient of biped robot, at first, heel rubber slipmat lands, heel damping spring and heel component
The elastic deformation of the shape structure plays a role in buffering. And then the toe rubber non-slip mat lands on the ground, because the thickness of the second bionic arch on the outer side is smaller than that of the first bionic arch on the inner side, the outer bionic arch with lower rigidity firstly generates elastic deformation, the inner bionic arch support also starts to receive larger acting force along with the rise of the height of the outer arch support to generate upward displacement, the inner bionic arch starts to generate elastic deformation, and at the moment, the inner and outer bionic arches simultaneously play a role in buffering. The outer side bionic arch with lower rigidity is matched with the inner side bionic arch with higher rigidity for use in a whole set, so that the variable rigidity interval of the whole bionic arch is enlarged, and the effective absorption of different impacts can be better completed. And finally, the bionic foot approaches to the step of 'tiptoe off', at the moment, the toe component rotates around the pin shaft, the stretching action of the first spring is recovered to the original state, three stretching springs of the ankle component are uniformly distributed in the circumferential direction, one end of each stretching spring is hung at the spring hook, the other end of each stretching spring is hung on the spring lifting lug pin, and the walking stability of the robot is guaranteed.
A biped robot bionic foot for improving walking stability and gait naturality comprises: a biomimetic arch, toe member, heel member 4 and ankle member 5; one end of the bionic arch is fixed on the heel member 4 through a bionic arch connecting piece, and the other end of the bionic arch is fixedly connected with the connecting end of the toe member; an ankle member 5 is mounted on the upper end of heel member 4.
In order to further optimize the technical scheme, at least three bionic arches are arranged, and the three bionic arches are divided into a first bionic arch 1 in the middle and second bionic arches 2 on two sides; wherein, a strip-shaped hole is arranged on the second bionic arch 2.
In order to further optimize the above technical solution, the toe member comprises a fingertip 31, a first spring 32 and a support seat 33; the fingertip 31 is pinned to the support 33 by a pin, and one end of the first spring 32 is connected to the fingertip 31 and the other end is connected to the support 33.
In order to further optimize the above technical solution, the shoe further comprises a second spring 41, one end of the second spring 41 is fixedly connected with the heel member 4, and the other end is connected with the supporting seat 33.
In order to further optimize the above solution, the ankle member 5 comprises: a ball rod 51, a socket 52, a socket 53; the upper end surface of the heel member 4 is provided with a ball socket 52; the socket 53 is mounted in the socket seat 52; the ball head of the ball head rod 51 is placed in the ball socket 53 and is fixed by a ball pair retaining ring 54; the ball head of the ball head rod 51 and the ball socket 53 form a ball pair structure, and the ball pair is in clearance fit.
In order to further optimize the technical scheme, the ball head rod 51 is of a hollow structure, the upper end of the ball head rod 51 is provided with a step spigot, the adapter plate 57 is installed on the step spigot, the semicircular inserting ring 58 is provided with three through holes, and the adapter plate 57 is fixed on the three-dimensional force sensor 56 by connecting screws of the semicircular inserting ring 58 through the three through holes of the semicircular inserting ring 58; the shank connecting plate 55 is arranged on the three-dimensional force sensor 56 through a shank connecting plate 55 connecting screw, and the upper end of the shank connecting plate 55 is connected with a leg structure of the robot; three spring hooks are circumferentially and uniformly distributed; the spring hook is connected to the shank connecting plate 55 through a spring hook connecting screw, 3 spring lifting lugs provided with spring lifting lug pins are circumferentially and uniformly distributed and installed on the ball socket seat 52, three extension springs 59 are circumferentially and uniformly distributed, one ends of the extension springs 59 are hung at the spring hook, and the other ends of the extension springs are hung on the spring lifting lug pins.
In order to further optimize the above technical solution, a heel rubber non-slip pad is stuck to the lower end surface of the heel member 4.
In order to further optimize the technical scheme, a toe rubber anti-skid pad is adhered to the lower surface of the supporting seat 33 of the toe component.
In order to further optimize the solution, the heel member 4 is shaped as
And a damping spring is vertically installed.
In order to further optimize the technical scheme, the bionic arch is crescent-shaped.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an improve walking stability and gait naturality's bionical foot of biped robot which characterized in that includes: a biomimetic arch, toe member, heel member and ankle member; one end of the bionic arch is fixed on the heel member through a bionic arch connecting piece, and the other end of the bionic arch is fixedly connected with the connecting end of the toe member; the ankle member is mounted to an upper end surface of the heel member.
2. The bionic foot of the biped robot for improving walking stability and gait naturalness as claimed in claim 1, wherein the bionic arches are at least three, and the three bionic arches are divided into a first bionic arch in the middle and second bionic arches on two sides; wherein, a strip-shaped hole is arranged on the second bionic arch.
3. The biomimetic foot of a biped robot for improving walking stability and gait naturalness as claimed in claim 1, wherein the toe member comprises a fingertip, a first spring and a support seat; the fingertip is connected with the supporting seat through a pin shaft, one end of the first spring is connected with the fingertip, and the other end of the first spring is connected with the supporting seat.
4. The bionic foot of the biped robot for improving walking stability and gait naturalness as claimed in claim 3, further comprising a second spring, wherein one end of the second spring is fixedly connected with the heel member, and the other end of the second spring is connected with the supporting seat.
5. The biomimetic foot of a biped robot for improving walking stability and gait naturalness according to claim 1, wherein the ankle member comprises: a ball rod, a ball socket seat, a ball socket; the upper end surface of the heel component is provided with a ball socket seat; the ball socket is arranged in the ball socket seat; the ball head of the ball head rod is placed in the ball socket and is fixed by the ball pair retaining ring; the ball head of the ball head rod and the ball socket form a ball pair structure, and the ball pair is in clearance fit.
6. The bionic foot of the biped robot for improving walking stability and gait naturalness as claimed in claim 5, wherein the ball head rod is of a hollow structure, the upper end of the ball head rod is provided with a step spigot, the adapter plate is installed on the step spigot, the semicircular socket ring is provided with three through holes, and the adapter plate is fixed on the three-dimensional force sensor by a semicircular socket ring connecting screw penetrating through the three through holes of the semicircular socket ring; the shank connecting plate is arranged on the three-dimensional force sensor through shank connecting plate connecting screws, and the upper end of the shank connecting plate is connected with a leg structure of the robot; three spring hooks are circumferentially and uniformly distributed; the spring hook is connected to the shank connecting plate through a spring hook connecting screw, 3 spring lifting lugs provided with spring lifting lug pins are circumferentially and uniformly distributed and installed on the ball socket seat, three extension springs are circumferentially and uniformly distributed, one ends of the extension springs are hung at the spring hook, and the other ends of the extension springs are hung on the spring lifting lug pins.
7. The bionic foot of the biped robot for improving walking stability and gait naturalness as claimed in claim 1, wherein a heel rubber non-slip pad is stuck on the lower end surface of the heel member.
8. The bionic foot of the biped robot for improving walking stability and gait naturalness as claimed in claim 1, wherein a toe rubber non-slip pad is adhered to the lower surface of the support base of the toe member.
9. The bionic foot of the biped robot for improving walking stability and gait naturalness as claimed in any one of claims 1-8, wherein the heel member is in the shape of
And a damping spring is vertically installed.
10. The biped robotic bionic foot for improving walking stability and gait naturalness according to any one of claims 1 to 8, wherein the bionic arch is crescent-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921091674.1U CN210364125U (en) | 2019-07-12 | 2019-07-12 | Biped robot bionic foot capable of improving walking stability and gait naturality |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921091674.1U CN210364125U (en) | 2019-07-12 | 2019-07-12 | Biped robot bionic foot capable of improving walking stability and gait naturality |
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| CN210364125U true CN210364125U (en) | 2020-04-21 |
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| CN201921091674.1U Expired - Fee Related CN210364125U (en) | 2019-07-12 | 2019-07-12 | Biped robot bionic foot capable of improving walking stability and gait naturality |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111912453A (en) * | 2020-06-15 | 2020-11-10 | 成都飞机工业（集团）有限责任公司 | Device for simultaneously obtaining target three-dimensional moment and angle for RCS test |
| CN117653432A (en) * | 2024-02-01 | 2024-03-08 | 吉林大学 | Intelligent foot bionic artificial limb |
-
2019
- 2019-07-12 CN CN201921091674.1U patent/CN210364125U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111912453A (en) * | 2020-06-15 | 2020-11-10 | 成都飞机工业（集团）有限责任公司 | Device for simultaneously obtaining target three-dimensional moment and angle for RCS test |
| CN111912453B (en) * | 2020-06-15 | 2021-06-08 | 成都飞机工业（集团）有限责任公司 | Device for simultaneously obtaining target three-dimensional moment and angle for RCS test |
| CN117653432A (en) * | 2024-02-01 | 2024-03-08 | 吉林大学 | Intelligent foot bionic artificial limb |
| CN117653432B (en) * | 2024-02-01 | 2024-04-09 | 吉林大学 | Intelligent foot bionic artificial limb |
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Granted publication date: 20200421 Termination date: 20210712 |