CN215436685U - Foot robot, foot component and foot - Google Patents
Foot robot, foot component and foot Download PDFInfo
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- CN215436685U CN215436685U CN202121154300.7U CN202121154300U CN215436685U CN 215436685 U CN215436685 U CN 215436685U CN 202121154300 U CN202121154300 U CN 202121154300U CN 215436685 U CN215436685 U CN 215436685U
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Abstract
The utility model provides a foot robot, a foot component and a foot, wherein the foot of the foot robot comprises: the foot base body is fixedly connected with the crus of the legged robot through a connecting piece; the foot shell is fixed on the foot substrate, is made of elastic materials and covers the lower end part of the foot substrate, and the outer contour of the foot substrate and the inner contour of the foot shell surround an air accommodating cavity; and the air channel is arranged on the foot substrate or the foot shell and is communicated with the air accommodating cavity and the outside. When the foot of the foot type robot touches the ground, the foot shell elastically deforms under the stress, and the gas in the air containing cavity is exhausted to the outside through the gas channel, namely the gas in the air containing cavity cannot interfere with the deformation of the foot shell, the deformation of the foot shell is large, and the buffering and shock absorption capacity is high. The large deformability leads to a large contact area between the foot and the ground, and slipping can be avoided.
Description
Technical Field
The utility model belongs to the technical field of robots, and particularly relates to a foot type robot, a foot component and a foot.
Background
The existing mobile robots are mainly divided into wheel type, crawler type, foot type and the like. The wheeled robot needs continuous and flat ground in the moving process and is difficult to adapt to unknown complex road surfaces. The crawler-type robot motion needs great turning radius, leads to the flexibility low. In the walking process, the legs of the legged robot are in discontinuous contact with the ground, so that the legged robot can flexibly cross obstacles with high rugged degree, has high obstacle crossing capability and meets the requirement of running in a complex non-structural terrain environment.
At present, the control mode of the foot robot is mainly force control, namely, a force sensor arranged on a foot is used as a sensing device, a controller combines a force feedback signal with an input signal of position control (or speed control), and the motion control of the upper leg and the lower leg is realized through a related force/position hybrid algorithm (or force/speed hybrid algorithm). Therefore, the foot with the pressure sensor is equivalent to a tactile system of the foot type robot, and a good foot design can enable the foot type robot to walk more conveniently and adapt to more complex terrains.
At present, most foot type robots are made of solid rubber, the deformation capacity of the solid rubber is small, the stress area is small when the feet are in contact with the ground, the robots easily slip, and the stability of the robots is obviously reduced on non-stable roads. In addition, the solid rubber has small deformability, so that the buffering, damping and energy absorbing effects during movement are poor, the driving device or the joint connecting piece is deformed due to large impact, the service life of the robot is shortened, and the poor buffering effect also causes low movement precision. Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a foot type robot and a foot part of the foot type robot, and aims to solve the problem that the foot part of the foot type robot in the prior art is poor in buffering, shock absorbing and energy absorbing effects, so that a driving device or a joint connecting piece is deformed due to large impact, and the movement precision is influenced.
In order to achieve the above purpose, the utility model provides the following technical scheme:
a foot of a legged robot, comprising:
the foot base body is fixedly connected with a shank of the legged robot through a connecting piece;
the foot shell is fixed on the foot substrate, the foot shell is made of elastic materials and covers the lower end part of the foot substrate, and an air accommodating cavity is defined by the outer contour of the foot substrate and the inner contour of the foot shell;
and the air channel is arranged on the foot base body or the foot shell and is communicated with the air accommodating cavity and the outside.
Further, the foot part also comprises a connecting bolt which penetrates through the foot part outer shell and is fixedly connected with the foot part base body.
Further, the gas channel is arranged on the foot base body and comprises a main channel, a first branch channel and a second branch channel;
the first branch channel is communicated with the main channel and the air accommodating cavity, the second branch channel is communicated with the main channel and the outside, and the first branch channel and the second branch channel are provided with a plurality of channels.
Further, one end of the main passage extends to the air accommodating chamber.
Foot component comprising
A pressure sensor;
a foot, comprising:
the foot base body is fixedly connected with a shank of the legged robot through a connecting piece;
the foot shell is fixed on the foot substrate, the foot shell is made of elastic materials and covers the lower end part of the foot substrate, and an air accommodating cavity is defined by the outer contour of the foot substrate and the inner contour of the foot shell;
the air channel is arranged on the foot base body or the foot shell, the air channel is communicated with the air containing cavity and the outside, and the foot is fixedly connected with the shank of the foot type robot through the pressure sensor; the lower end of the pressure sensor is provided with a lower screw rod, a first jack is arranged on the foot base body, the first jack accommodates part of the pressure sensor, a first threaded hole is formed in the bottom of the first jack, and the lower screw rod is in threaded fit with the first threaded hole.
Further, the foot part also comprises a connecting bolt which penetrates through the foot part outer shell and is fixedly connected with the foot part base body.
Further, the gas channel is arranged on the foot base body and comprises a main channel, a first branch channel and a second branch channel;
the first branch channel is communicated with the main channel and the air accommodating cavity, the second branch channel is communicated with the main channel and the outside, and the first branch channel and the second branch channel are provided with a plurality of channels.
Further, one end of the main passage extends to the air accommodating chamber.
Foot formula robot, its characterized in that: comprises that
A fuselage and leg module;
the leg module is fixed on the machine body and comprises a thigh, a shank and a foot component, and the foot component comprises
A pressure sensor;
a foot, comprising:
the foot base body is fixedly connected with a shank of the legged robot through a connecting piece;
the foot shell is fixed on the foot substrate, the foot shell is made of elastic materials and covers the lower end part of the foot substrate, and an air accommodating cavity is defined by the outer contour of the foot substrate and the inner contour of the foot shell;
the air channel is arranged on the foot base body or the foot shell, the air channel is communicated with the air containing cavity and the outside, and the foot is fixedly connected with the shank of the foot type robot through the pressure sensor; the lower end of the pressure sensor is provided with a lower screw rod, a first jack is arranged on the foot base body, the first jack accommodates part of the pressure sensor, a first threaded hole is formed in the bottom of the first jack, and the lower screw rod is in threaded fit with the first threaded hole.
Further, the foot part also comprises a connecting bolt which penetrates through the foot part outer shell and is fixedly connected with the foot part base body.
Further, the gas channel is arranged on the foot base body and comprises a main channel, a first branch channel and a second branch channel;
the first branch channel is communicated with the main channel and the air accommodating cavity, the second branch channel is communicated with the main channel and the outside, and the first branch channel and the second branch channel are provided with a plurality of channels.
Further, one end of the main passage extends to the air accommodating chamber.
Furthermore, the shank comprises a shank main body and a connecting sleeve, and the connecting sleeve is fixed at the lower end of the shank main body;
the lower end of the connecting sleeve is provided with a second jack, the second jack accommodates part of the pressure sensor, the hole bottom of the second jack is provided with a second threaded hole, the upper end of the pressure sensor is provided with an upper screw rod, and the upper screw rod is in threaded fit with the second threaded hole.
Furthermore, the shank main body is provided with a through hole along the axial direction;
the second threaded hole is a through hole, and a wire holder protrudes from the upper end of the upper screw rod;
the wire holder penetrates through the second threaded hole and extends into the wire passing through hole, or the second threaded hole accommodates the wire holder.
Furthermore, the upper end of the connecting sleeve is provided with a slot, the lower end of the shank main body is provided with a small-diameter section, and the small-diameter section is in inserting fit with the slot;
the shank further comprises a fixing bolt, and the fixing bolt penetrates through the groove side wall of the slot and is in threaded connection with the small-diameter section.
Furthermore, the pressure sensor is sleeved with a rubber ring, and the rubber ring is arranged between the hole edge of the first jack and the hole edge of the second jack.
Compared with the closest prior art, the technical scheme provided by the utility model at least has the following beneficial effects:
1) when the foot of the foot type robot touches the ground, the foot shell elastically deforms under stress, and gas in the air containing cavity is exhausted to the outside through the gas channel, namely the gas in the air containing cavity cannot interfere with the deformation of the foot shell, the deformation of the foot shell is large, the buffering and shock absorbing capacity is high, and the problems of short service life and low movement precision caused by poor buffering capacity are solved. The large deformability leads to a large contact area between the foot and the ground, and slipping can be avoided.
2) The foot shell and the foot base body are connected through the connecting bolts, so that the foot shell is firmly connected and can be conveniently replaced after being damaged.
3) The gas channel is formed by the main channel, the first branch channel and the second branch channel, and the structure is simple and the processing is convenient.
4) The main channel extends to the air accommodating cavity, so that the air in the air accommodating cavity is accelerated to be discharged.
5) The shank is divided into two parts which are combined after being processed separately, so that the shank can be processed and manufactured conveniently.
6) The lower end of the shank is inserted into the slot, and the shank can be more firmly connected with the foot base body.
7) The shank main part is equipped with the line hole along the axial, and signal transmission line can walk the line from shank inside, and elegant appearance for setting up outside the shank, does benefit to sufficient robot and removes in narrow and small space.
8) The connecting sleeve is connected with the shank main body through the threaded fastener after being spliced, and the connection is reliable.
9) When the foot is stressed and does not axially move along the pressure sensor, the rubber ring can play a role in buffering and absorbing energy, and the foot component is prevented from being damaged.
Drawings
FIG. 1 is a cross-sectional view of a lower leg and foot assembly in an embodiment of a legged robot of the present invention;
FIG. 2 is an exploded view of the lower leg and foot components of an embodiment of the legged robot of the present invention;
FIG. 3 is a cross-sectional view of the foot base of FIG. 2;
FIG. 4 is a cross-sectional view of the coupling sleeve of FIG. 2;
FIG. 5 is a schematic structural diagram of the pressure sensor of FIG. 2;
fig. 6 is a cross-sectional view of the lower leg body of fig. 2.
In the figure: 1. a shank body; 11. a wire passing through hole; 12. a small diameter section; 2. fixing the bolt; 3. a connecting sleeve; 31. a slot; 32. a second jack; 33. a second threaded hole; 4. a pressure sensor; 41. an upper screw rod; 42. a lower screw rod; 43. a wire holder; 5. a rubber ring; 6. a foot base; 61. a second branch channel; 62. a main channel; 63. a first branch channel; 64. a first jack; 65. a first threaded hole; 7. a foot shell; 8. an air accommodating chamber; 9. and connecting the bolts.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The specific embodiment of the foot robot of the utility model: the foot robot comprises a robot body and a leg module, wherein the leg module is fixed on the robot body and comprises a thigh, a shank and a foot component, as shown in fig. 1, 2 and 6, the shank comprises a shank main body 1 and a connecting sleeve 3, as shown in fig. 4, the connecting sleeve 3 is fixed at the lower end of the shank main body 1, and the foot robot is specific in that: the upper end of the connecting sleeve 3 is provided with a slot 31, the lower end of the lower leg main body 1 is provided with a small-diameter section 12, and the small-diameter section 12 is in inserted fit with the slot 31. The shank further comprises a fixing bolt 2, the fixing bolt 2 penetrates through the side wall of the slot 31 and is in threaded connection with the small-diameter section 12, and the shank main body 1 is fixedly connected with the connecting sleeve 3.
As shown in fig. 5, the foot assembly comprises a pressure sensor 4 and a foot comprising a foot base 6 and a foot shell 7. The pressure sensor 4 forms a connecting piece for connecting the shank and the foot, specifically, the lower end of the connecting sleeve 3 is provided with a second insertion hole 32, the bottom of the second insertion hole 32 is provided with a second threaded hole 33, and the second threaded hole 33 is a through hole. The upper end of the pressure sensor 4 is provided with an upper screw rod 41, the second insertion hole 32 accommodates part of the pressure sensor 4, and the upper screw rod 41 is in threaded fit with the second threaded hole 33 to realize the fixed connection of the pressure sensor 4 and the connecting sleeve 3. The lower end of the pressure sensor 4 is provided with a lower screw rod 42, the foot base body 6 is provided with a first jack 64, the first jack 64 accommodates part of the pressure sensor 4, the bottom of the first jack 64 is provided with a first threaded hole 65, and the lower screw rod 42 is in threaded fit with the first threaded hole 65 to realize connection of the pressure sensor 4 and the foot base body 6. The cover is equipped with rubber circle 5 on pressure sensor 4, and rubber circle 5 sets up between the hole edge of first jack 64 and the hole edge of second jack 32, can be when foot atress direction and sensor axis are collineation not, and rubber circle 5 can produce elastic deformation, plays the effect of buffering energy-absorbing to the axis that prevents foot base member 6 and pressure sensor 4 produces great skew, leads to the uneven and damage of foot subassembly atress.
The shank main body 1 is provided with a through hole 11 along the axial direction, the upper end of the upper screw rod 41 is protruded with a wire holder 43, the wire holder 43 is used for connecting a signal transmission line, and the signal transmission line transmits data detected by the pressure sensor 4 to a data processing device arranged on the machine body. In this embodiment, the wire holder 43 extends into the wire passing through hole 11 through the second threaded hole 33, and in other embodiments, a manner that the wire holder 43 is accommodated in the second threaded hole 33 may be adopted.
The foot shell 7 is for contacting the ground and is made of an elastic material (e.g., TPE thermoplastic elastomer material or high abrasion rubber material). The foot shell 7 covers the lower end part of the foot substrate, the outer contour of the foot substrate 6 and the inner contour of the foot shell 7 enclose an air accommodating cavity 8, the foot substrate 6 and the foot shell 7 are connected through a connecting bolt 9, and specifically: the connecting bolt 9 passes through the foot shell 7 and is fixedly connected with the foot base 6.
As shown in fig. 3, the foot base 6 is provided with an air passage which communicates the air accommodating chamber 8 with the outside. The gas passage includes a main passage 62, a first branch passage 63 and a second branch passage 61, the first branch passage 63 communicates the main passage 62 and the air accommodating chamber 8, the second branch passage 61 communicates the main passage 62 and the outside, the first branch passage 63 and the second branch passage 61 each have a plurality, and the main passage 62 extends to the air accommodating chamber 8. In other embodiments, the air channel may also be provided on the foot casing 7.
When the foot of the foot type robot of the embodiment touches the ground, the foot shell 7 is elastically deformed under the stress, the air in the air accommodating cavity 8 is exhausted to the outside through the air channel, namely, the air in the air accommodating cavity cannot interfere with the deformation of the foot shell 7, the deformation of the foot shell 7 is large, the buffering and shock absorption capacity is strong, the contact area with the ground is large, and the foot type robot can better prevent skidding.
The structure of the foot component of the foot robot according to the present invention is the same as that of the foot component of the above-described embodiment of the foot robot, and thus the description thereof is omitted.
The structure of the foot robot according to the present invention is the same as that of the foot of the above-described embodiment of the foot robot, and the description thereof is omitted. The utility model is not to be considered as limited to the particular embodiments shown, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. Foot of sufficient robot, its characterized in that: the method comprises the following steps:
the foot base body is fixedly connected with a shank of the legged robot through a connecting piece;
the foot shell is fixed on the foot substrate, the foot shell is made of elastic materials and covers the lower end part of the foot substrate, and an air accommodating cavity is defined by the outer contour of the foot substrate and the inner contour of the foot shell;
and the air channel is arranged on the foot base body or the foot shell and is communicated with the air accommodating cavity and the outside.
2. The foot of the legged robot of claim 1, wherein: the foot further comprises a connecting bolt, and the connecting bolt penetrates through the foot shell and is fixedly connected with the foot base body.
3. The foot of the legged robot of claim 1, wherein: the gas channel is arranged on the foot base body and comprises a main channel, a first branch channel and a second branch channel;
the first branch channel is communicated with the main channel and the air accommodating cavity, the second branch channel is communicated with the main channel and the outside, and the first branch channel and the second branch channel are provided with a plurality of channels.
4. A foot of a legged robot according to claim 3, characterized by: one end of the main channel extends to the air accommodating cavity.
5. A foot component characterized by: comprises that
A pressure sensor;
a foot part of the foot type robot as claimed in any one of claims 1 to 4, wherein the foot part is fixedly connected with the lower leg of the foot type robot through the pressure sensor; the lower end of the pressure sensor is provided with a lower screw rod, a first jack is arranged on the foot base body, the first jack accommodates part of the pressure sensor, a first threaded hole is formed in the bottom of the first jack, and the lower screw rod is in threaded fit with the first threaded hole.
6. Foot formula robot, its characterized in that: comprises that
A fuselage and leg module;
the leg module is secured to the fuselage, the leg module including a thigh, a calf and a foot assembly, the foot assembly being as claimed in claim 5.
7. The legged robot according to claim 6, characterized in that: the shank comprises a shank main body and a connecting sleeve, and the connecting sleeve is fixed at the lower end of the shank main body;
the lower end of the connecting sleeve is provided with a second jack, the second jack accommodates part of the pressure sensor, the hole bottom of the second jack is provided with a second threaded hole, the upper end of the pressure sensor is provided with an upper screw rod, and the upper screw rod is in threaded fit with the second threaded hole.
8. The legged robot according to claim 7, wherein: the shank main body is provided with a through hole along the axial direction;
the second threaded hole is a through hole, and a wire holder protrudes from the upper end of the upper screw rod;
the wire holder penetrates through the second threaded hole and extends into the wire passing through hole, or the second threaded hole accommodates the wire holder.
9. The legged robot according to claim 7, wherein: the upper end of the connecting sleeve is provided with a slot, the lower end of the shank main body is provided with a small-diameter section, and the small-diameter section is in inserting fit with the slot;
the shank further comprises a fixing bolt, and the fixing bolt penetrates through the groove side wall of the slot and is in threaded connection with the small-diameter section.
10. The legged robot according to claim 9, wherein: the pressure sensor is sleeved with a rubber ring, and the rubber ring is arranged between the hole edge of the first jack and the hole edge of the second jack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121154300.7U CN215436685U (en) | 2021-05-25 | 2021-05-25 | Foot robot, foot component and foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121154300.7U CN215436685U (en) | 2021-05-25 | 2021-05-25 | Foot robot, foot component and foot |
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| Publication Number | Publication Date |
|---|---|
| CN215436685U true CN215436685U (en) | 2022-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121154300.7U Active CN215436685U (en) | 2021-05-25 | 2021-05-25 | Foot robot, foot component and foot |
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| Country | Link |
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| CN (1) | CN215436685U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115848530A (en) * | 2023-02-14 | 2023-03-28 | 七腾机器人有限公司 | Robot foot joint |
-
2021
- 2021-05-25 CN CN202121154300.7U patent/CN215436685U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115848530A (en) * | 2023-02-14 | 2023-03-28 | 七腾机器人有限公司 | Robot foot joint |
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