CN216374778U

CN216374778U - Foot type robot with sole shape monitoring function

Info

Publication number: CN216374778U
Application number: CN202122905409.6U
Authority: CN
Inventors: 龚圆杰; 赵保文; 宋华; 詹犇; 郑秀谦; 何明强; 张涛
Original assignee: Guangdong Chunmi Electrical Technology Co Ltd
Current assignee: Guangdong Chunmi Electrical Technology Co Ltd
Priority date: 2021-11-24
Filing date: 2021-11-24
Publication date: 2022-04-26
Anticipated expiration: 2031-11-24

Abstract

The utility model relates to a foot type robot with a sole form monitoring function, which comprises a leg part, wherein the leg part comprises a thigh part, a knee joint, a lower leg part, an ankle joint and a foot part which are sequentially connected, a knee joint driving module and an ankle joint driving module are arranged on the leg part, the knee joint driving module controls the leg part to bend at the knee joint, the ankle joint driving module controls the leg part to bend at the ankle joint, a form monitoring module is arranged on the foot part and is used for monitoring an included angle between a plane where the bottom surface of the foot part is located and the horizontal direction, a controller is arranged in the foot type robot and is used for calculating signal feedback of the form monitoring module and sending an instruction to the knee joint driving module or/and the ankle joint driving module, the knee joint driving module or/and the ankle joint driving module perform actions to adjust the foot part to be in a horizontal state, the sole form monitoring function is realized, and the contact area between the sole and the ground is ensured to be as large as possible, therefore, the standing stability of the robot is improved, and the complexity of a balance algorithm is reduced.

Description

Foot type robot with sole shape monitoring function

Technical Field

The utility model relates to the field of foot robots, in particular to a foot robot with a sole shape monitoring function.

Background

As is well known, a robot is a machine device that automatically performs work. The task of which is to assist or replace human work, such as production, construction, or dangerous work. With the improvement of the living standard of people, the daily life of people also depends on robots to help people to complete some tasks, such as: robots in processing plants, robots performing aerial photography tasks, anthropomorphic robots simulating complex movements of human bodies, and the like.

In the prior art, when a foot robot generally walks and stands, one sole or two soles are contacted with the ground, when the shape of the soles changes in the advancing process, the situation that the soles are contacted with the ground through heels or toes exists, the contact area between the soles and the ground is too small, the gravity center adjusting algorithm is too complex, or the foot robot finally falls down due to unstable standing.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention provides a legged robot with a sole form monitoring function, which is used to solve the problem that in the prior art, when a robot sole is in a moving process, a form changes, and a heel or a toe contacts with the ground, so that a contact area between the sole and the ground is too small, which makes a gravity center adjustment algorithm too complex, or eventually causes the legged robot to be unstable and fall down.

In order to achieve one or part or all of the above or other purposes, the utility model provides a foot robot with a sole shape monitoring function, comprising a leg part, wherein the leg part comprises a thigh part, a knee joint, a lower leg part, an ankle joint and a foot part which are sequentially connected, at least one set of knee joint driving module and at least one set of ankle joint driving module are arranged on the leg part, the knee joint driving module controls the relative rotation of the thigh part and the lower leg part, the ankle joint driving module controls the relative rotation of the lower leg part and the foot part, the foot part is provided with a shape monitoring module, is used for monitoring the included angle between the plane of the bottom surface of the foot and the horizontal direction, a controller is arranged in the foot type robot, the knee joint driving module or/and the ankle joint driving module execute actions to adjust the feet to be in a horizontal state. Further, the form monitoring module is one or more of a gyroscope and an acceleration sensor.

Furthermore, a through hole is formed in the foot, the bottom surface in the through hole is parallel to the bottom surface of the foot, and the form monitoring module is installed on the bottom surface in the through hole.

Furthermore, two ends of the ankle joint driving module are respectively hinged with the shank part and the foot part, and when the ankle joint driving module performs telescopic motion, the shank part and the foot part rotate relatively;

two ends of the knee joint driving module are respectively hinged with the thigh part and the shank part, and when the knee joint driving module performs telescopic motion, the thigh part and the shank part rotate relatively.

Further, the knee joint and/or the ankle joint are single-degree-of-freedom or multi-degree-of-freedom joints.

Further, the ankle joint is the multi freedom joint, is equipped with two sets of scalable motion's ankle joint drive module between shank and the foot side by side, the upper end of ankle joint drive module sets up the third hinge with shank portion and rotates and be connected, the lower extreme of ankle joint drive module sets up the fourth hinge with the foot and rotates and be connected, the fourth hinge is a shaft body, set up in the heel department of foot, the shaft body both ends are connected with two sets of ankle joint drive module respectively, control foot is turned from top to bottom when two sets of ankle joint drive module are synchronous flexible, control foot horizontal hunting when asynchronous flexible.

Furthermore, one end of the ankle joint is connected with the shank part, the other end of the ankle joint is a ball head, a corresponding ball socket is arranged at the upper end of the foot part, and the ball head is buckled in the ball socket and rotates in the ball socket.

Further, a cushion pad is arranged between the ball head and the ball socket.

Further, the foot part is hollow.

Further, a plurality of supporting surfaces are vertically arranged inside the foot part.

The embodiment of the utility model has the following beneficial effects:

according to the utility model, the foot is provided with the form monitoring module, the included angle between the plane of the bottom surface of the foot and the horizontal direction is detected, the form of the foot can be monitored by the form monitoring module in real time, and if the foot is not in the horizontal state before the foot is in contact with the ground, the form monitoring module can send an instruction to enable one or more of the knee joint driving module and the ankle joint driving module to execute the action to adjust the foot to be in the horizontal state or the approximate horizontal state through signal feedback calculation. The contact area between the sole and the ground is ensured to be as large as possible, so that the standing stability of the robot is improved, and the complexity of a balance algorithm is reduced.

The problem of robot sole among the prior art appear the form change in the in-process of marcing, with heel or tiptoe contact's condition when having contact ground, lead to sole and ground area of contact undersize and make the focus adjustment algorithm too complicated or finally cause sufficient robot to stand unstability and fall down is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Wherein:

FIG. 1 is a perspective view of a leg of a legged robot with sole shape monitoring;

FIG. 2 is a cross-sectional view of a leg;

FIG. 3 is an enlarged view of a portion A of FIG. 2;

fig. 4 is a cross-sectional view of the pusher motor module.

The reference numerals are explained below: 2-a leg portion; 21-thigh section; 211-thigh shell; 22-knee joint; 23-lower leg; 231-lower leg portion shell; 24-ankle joint; 241-bulb; 25-a foot part; 251-a ball and socket; 252-a via hole; 253-a support surface; 41-a first hinge; 42-a second hinge; 43-a third hinge; 44-a fourth hinge; 5-a knee joint driving module; 6-ankle joint driving module; p-push rod motor module; p1-motor module; p11-top linker; p12-control panel; p13-magnetic encoder; p14-dipole magnet; p15-motor; p2-reduction box module; p21-upper cover of reduction box; p22-lower cover of reduction box; p23-planetary gear set; p3-screw rod transmission module; p31-lead screw; p32-slide; p33-shaft; p34-rod barrel upper end cover; p35-rod barrel lower end cover; p4-pushrod module; p41-push rod; m-form monitoring module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, a preferred embodiment of the present invention is a legged robot having a sole shape monitoring function, including a leg portion 2, characterized in that: the leg part 2 comprises a thigh part 21, a knee joint 22, a shank part 23, an ankle joint 24 and a foot part 25 which are sequentially connected, at least one set of knee joint driving module 5 and at least one set of ankle joint driving module 6 are arranged on the leg part 2, the knee joint driving module 5 controls the relative rotation of the thigh part 21 and the shank part 23, the ankle joint driving module 6 controls the relative rotation of the shank part 23 and the foot part 25, a form monitoring module M is installed on the foot part 25 and used for monitoring the included angle between the plane where the bottom surface of the foot part 25 is located and the horizontal direction, a controller is arranged in the legged robot and used for calculating the signal feedback of the form monitoring module M, an instruction is issued to the knee joint driving module 5 or/and the ankle joint driving module 6, and the knee joint driving module 5 or/and the ankle joint driving module 6 perform the action to adjust the foot part 25 to the horizontal state.

Further, the form monitoring module M is one or more of a gyroscope and an acceleration sensor. For example, the form monitoring module M includes a three-axis acceleration sensor and three angular rate gyroscopes, the three-axis acceleration sensor may measure the acceleration of three axes orthogonal to each other, the angular rate gyroscope may measure the angular rate information of the three axes, the controller writes control signals including range selection, acquisition frequency, calibration parameters, and the like to the three-axis acceleration sensor, and the controller may read out the three-axis acceleration information in a digital form and calculate the three-axis acceleration information to obtain the static foot surface inclination information. The controller can write control signals into the angular rate gyroscope, respectively read three-axis angular rate information in a digital form, and respectively calculate the obtained three-axis angular rate information to obtain an angle change value. And then, the controller calculates according to the static foot surface inclination angle information and the angle change value to obtain real-time and continuous foot surface inclination angle information of the robot. The controller can be connected to a robot motion control computer, the robot motion control computer generally adopts an industrial personal computer and a special real-time operating system, sole form monitoring information is sent to the robot motion control computer and comprises real-time foot face inclination angle information, three-axis acceleration information and an angle change value, the three-axis acceleration information can also be real-time foot acceleration information, and the angular rate information can also be real-time foot rotation angular rate information. If the foot 2 is not in the horizontal state before the foot is in contact with the ground, an instruction is issued to enable one or more of the knee joint driving module 5 and the ankle joint driving module 6 to execute actions to adjust the foot 2 to be in the horizontal state or the approximate horizontal state through signal feedback calculation. Under any state, the contact area between the sole and the ground can be ensured to be as large as possible, so that the standing stability of the robot is improved, and the complexity of a balance algorithm is reduced.

Referring to fig. 2 and fig. 3, preferably, the foot 25 is provided with a through hole 252, the bottom surface of the through hole 252 is parallel to the bottom surface of the foot 25, and the form monitoring module M is mounted on the bottom surface of the through hole 252, so that the form monitoring module M is closer to the ground and the monitoring information is more accurate. The foot 25 is hollow, and as shown in the enlarged sectional view of fig. 3, a plurality of support surfaces 253 are vertically arranged in the foot 25, so that the weight of the foot 25 is reduced, the support strength is maintained, and the leg inertia is reduced.

Referring to fig. 1 and fig. 2 together, as a preferred solution, two ends of the ankle joint driving module 6 are hinged to the shank 23 and the foot 25 respectively, and the ankle joint driving module 6 moves telescopically to drive the shank 23 and the foot 25 to rotate relatively; two ends of the knee joint driving module 5 are respectively hinged with the thigh part 21 and the lower leg part 23, the knee joint driving module 5 performs telescopic motion, and the thigh part 21 and the lower leg part 23 rotate relatively. Further, the ankle joint 24 is a multi-degree-of-freedom joint, two sets of telescopic ankle joint driving modules 6 are arranged between the shank 23 and the foot 25 side by side, the upper end of each ankle joint driving module 6 and the shank 23 are provided with a third hinge 43 to be rotatably connected, the lower end of each ankle joint driving module 6 and the foot 25 are provided with a fourth hinge 44 to be rotatably connected, each fourth hinge 44 is a shaft body and is arranged at the heel of the foot 25, two ends of each shaft body are respectively connected with the two sets of ankle joint driving modules 6, the foot 25 is controlled to be turned up and down when the two sets of ankle joint driving modules 6 are synchronously stretched, the foot 25 is controlled to swing left and right when the two sets of ankle joint driving modules are stretched out and drawn back asynchronously, and two degrees of freedom are realized. When the two push rod motor modules P extend out simultaneously, the foot parts 25 are driven to hook upwards; when the two push rod motor modules P retract simultaneously, the foot part 25 is driven to be stretched straight downwards; when one of them is extended and the other is retracted, the foot parts 25 are driven to swing inwards or outwards. Similarly, an alternative may be provided, in which one end of the ankle joint 24 is fixedly connected to the foot 25, and the ball end forms a spherical pair with the lower leg 23. Similarly, the knee joint 22 may employ the ankle joint 24 configuration and drive scheme described above. Thus, a multiple-degree-of-freedom overstaffed structure achieved by piling steering engines or motors at the ankle joints 24 is avoided.

As shown in FIG. 3, preferably, one end of the ankle joint 24 is connected to the lower leg 23, the other end is a ball 241, the upper end of the foot 25 is provided with a corresponding socket 251, the ball 241 is snapped into the socket 251 and rotates in the socket 251, and a cushion is arranged between the ball 241 and the socket 251.

The knee joint driving module 5 or the ankle joint driving module 6 is a push rod motor module P, and as shown in fig. 4, the push rod motor module P comprises a motor module P1, a reduction box module P2, a screw rod transmission module P3 and a push rod module P4 which are arranged on the same axis and connected in sequence.

As shown in fig. 4, the motor module P1 preferably includes an upper connector P11, a control board P12, a magnetic encoder P13, a bipolar magnet P14 and a motor P15; the reduction box module P2 comprises a reduction box upper cover P21, a reduction box lower cover P22 and a planetary gear set P23; the screw rod transmission module P3 comprises a screw rod P31, a slide block P32, a rod barrel P33, a rod barrel upper end cover P34 and a rod barrel lower end cover P35; the pushrod module P4 includes a pushrod.

The upper joint P11 is hinged with the thigh part 21 or the shank part 23, the upper joint P11 contains a control board P12, a magnetic encoder P13, a bipolar magnet P14 and a motor P15, the bipolar magnet P14 is positioned at the top of the motor P15 and is connected with the rotating shaft of the motor P15, the bipolar magnet P14 is positioned above the bipolar magnet P14 and is fixed at the bottom of the control board P12, the magnetic encoder P13 can identify the rotating angle of the bipolar magnet P14, so that the angle signal selected by the motor P15 can be collected and used for calculating, processing and identifying the rotating angle and the number of turns of the motor P15.

When the knee joint driving module 5 is the push rod motor module P, the motor module P1 is hinged with the thigh 21, and the push rod module P4 is hinged with the shank 23; when the ankle joint driving module 6 is the push rod motor module P, the motor module P1 is hinged to the lower leg portion 23, and the push rod module P4 is hinged to the foot portion 25.

The reduction box module P2 is located below the motor module P1, the planetary gear set P23 is arranged between the upper cover P21 of the reduction box and the lower cover P22 of the reduction box, the planetary gear set P23 comprises a sun gear, at least 2 planet gears which are arranged around the sun gear and meshed with each other, and an outer gear ring meshed with the planet gears, and a rotating shaft of the motor P15 penetrates through the upper cover P21 of the reduction box to be connected with the sun gear.

The screw rod P31 and the slider P32 are in threaded connection, the slider P32 is in sliding connection with the screw rod P31 and moves along the axis of the screw rod P31, the slider P32 is fixedly connected with the upper end of a push rod P41, the screw rod P31 is in transmission connection with the reduction gearbox module P2, the upper end of the screw rod P31 penetrates through the lower cover P22 of the reduction gearbox to be in nested connection with the outer gear ring, the outer gear ring rotates to drive the screw rod P31 to rotate, optionally, the outer gear ring is provided with a non-circular-shaped hole, and a non-circular-shaped shaft is arranged at one end, corresponding to the screw rod P31, of the outer gear ring. Further, a rod barrel P33 is wrapped outside the screw rod P31, the upper end and the lower end of the rod barrel P33 are respectively covered with an upper rod barrel end cover P34 and a lower rod barrel end cover P35, the upper rod barrel end cover P34 and the lower rod barrel end cover P35 are arranged to be of a central hole structure, and the two are in threaded connection with the rod barrel P33. The screw rod transmission module P3 has a self-locking function, optionally, the screw rod P31 is a trapezoidal screw rod, when the lead screw P31 has a lead angle smaller than the static friction angle between the screw rod P31 and the slide block P32, a reverse self-locking function is generated, and optionally, the knee joint driving module 5 or the ankle joint driving module 6 is other telescopic driving modules with a self-locking function or a band-type brake function.

The rotary motion of the motor P15 is transmitted to the sun gear through the rotating shaft of the motor, the rotary motion is transmitted to the screw rod P31 after the planet gear and the deceleration, the rotary motion is converted into the back-and-forth motion of the slide block P32 along the axial direction of the screw rod P31 through the matching of the screw rod P31 and the slide block P32, and finally the linear motion is transmitted out through the push rod P41 connected with the slide block P32. It should be noted that the reduction gearbox module P2 can be implemented by other speed reducers, and the speed reducer is only exemplified by a planetary speed reducer.

In summary, the present invention provides a form monitoring module disposed on a foot for detecting an included angle between a plane of a bottom surface of the foot and a horizontal direction, wherein the form monitoring module monitors a form of the foot in real time, and issues an instruction to allow one or more of a knee joint driving module and an ankle joint driving module to perform an action to adjust the foot to a horizontal state or an approximately horizontal state through signal feedback calculation if the foot is not monitored to be in the horizontal state before the foot is in contact with the ground. The contact area between the sole and the ground is ensured to be as large as possible, so that the standing stability of the robot is improved, and the complexity of a balance algorithm is reduced.

Although the present application has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application, and all changes, substitutions and alterations that fall within the spirit and scope of the application are to be understood as being covered by the following claims.

Claims

1. A foot robot with a sole shape monitoring function comprises a leg part (2), and is characterized in that: the leg part (2) comprises a thigh part (21), a knee joint (22), a crus part (23), an ankle joint (24) and a foot part (25) which are sequentially connected, at least one set of knee joint driving module (5) and at least one set of ankle joint driving module (6) are arranged on the leg part (2), the knee joint driving module (5) controls the relative rotation of the thigh part (21) and the crus part (23), the ankle joint driving module (6) controls the relative rotation of the crus part (23) and the foot part (25), a form monitoring module (M) is arranged on the foot part (25) and is used for monitoring the included angle between the plane where the bottom surface of the foot part (25) is located and the horizontal direction, a controller is arranged in the legged robot and is used for calculating the signal feedback of the form monitoring module (M), an instruction is issued to the knee joint driving module (5) or/and the ankle joint driving module (6), the knee joint driving module (5) or/and the ankle joint driving module (6) perform an action to adjust the foot part (25) The whole is in a horizontal state.

2. The foot robot having a sole morphology monitoring function according to claim 1, characterized in that: the form monitoring module (M) is one or more of a gyroscope and an acceleration sensor.

3. The foot robot having a sole shape monitoring function according to claim 1 or 2, characterized in that: the foot part (25) is provided with a through hole (252), the inner bottom surface of the through hole (252) is parallel to the bottom surface of the foot part (25), and the form monitoring module (M) is arranged on the inner bottom surface of the through hole (252).

4. The foot robot having a sole shape monitoring function according to claim 1 or 2, characterized in that: two ends of the ankle joint driving module (6) are respectively hinged with the small leg part (23) and the foot part (25), and when the ankle joint driving module (6) stretches and retracts, the small leg part (23) and the foot part (25) rotate relatively;

two ends of the knee joint driving module (5) are respectively hinged with the thigh part (21) and the small leg part (23), and when the knee joint driving module (5) performs telescopic motion, the thigh part (21) and the small leg part (23) rotate relatively.

5. The foot robot having a sole shape monitoring function according to claim 4, characterized in that: the knee joint (22) and/or the ankle joint (24) are single degree of freedom or multiple degree of freedom joints.

6. The foot robot having a sole shape monitoring function according to claim 1 or 2, characterized in that: the ankle joint (24) is a multi-degree-of-freedom joint, two sets of ankle joint driving modules (6) capable of performing telescopic motion are arranged between the shank (23) and the foot (25) side by side, the upper end of each ankle joint driving module (6) and the shank (23) are provided with a third hinge (43) to be connected in a rotating mode, the lower end of each ankle joint driving module (6) and the foot (25) are provided with a fourth hinge (44) to be connected in a rotating mode, each fourth hinge (44) is a shaft body and is arranged at the heel of the foot (25), two ends of each shaft body are respectively connected with the two sets of ankle joint driving modules (6), the two sets of ankle joint driving modules (6) control the foot (25) to turn up and down when being synchronously stretched, and the foot (25) is controlled to swing left and right when being stretched asynchronously.

7. The foot robot having a sole morphology monitoring function according to claim 6, characterized in that: one end of the ankle joint (24) is connected with the lower leg part (23), the other end of the ankle joint is a ball head (241), a corresponding ball socket (251) is arranged at the upper end of the foot part (25), and the ball head (241) is buckled in the ball socket (251) and rotates in the ball socket (251).

8. The foot robot having a sole morphology monitoring function according to claim 7, characterized in that: a buffer cushion is arranged between the ball head (241) and the ball socket (251).

9. The foot robot having a sole shape monitoring function according to claim 1 or 2, characterized in that: the foot part (25) is hollow.

10. The foot robot having a sole shape monitoring function according to claim 1 or 2, characterized in that: a plurality of supporting surfaces (253) are vertically arranged in the foot part (25).