CN216805643U

CN216805643U - Robot foot subassembly and have its robot

Info

Publication number: CN216805643U
Application number: CN202220399884.2U
Authority: CN
Inventors: 包晓刚
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-02-27
Filing date: 2022-02-27
Publication date: 2022-06-24
Anticipated expiration: 2032-02-27

Abstract

The utility model relates to the technical field of bionic robots, and particularly provides a robot foot assembly and a robot with the same. The robot foot component comprises a foot body and a toe joint component, wherein the foot body is suitable for being connected with four limb joints of a robot, the foot body is provided with a mounting groove, and the toe joint component is movably arranged in the mounting groove; the toe joint component at least has a first position and a second position relative to the mounting groove, when the toe joint component is located at the first position, the toe joint is hidden in the mounting groove, and when the toe joint component is located at the second position, at least part of the toe joint component extends out of the mounting groove. The robot comprises the robot foot assembly. The robot foot component can be used for robot dogs and similar bionic robots, and the robot foot component not only can be used as a ground contact structure, but also has a clamping function because the telescopic toe joint component is arranged.

Description

Robot foot subassembly and have its robot

Technical Field

The utility model relates to the technical field of bionic robots, in particular to a robot foot assembly and a robot with the same.

Background

With the development of industrial automation and artificial intelligence technology, robots of different types and purposes are increasing. Among them, a robot dog capable of walking freely becomes a research hotspot. However, the feet of the existing robot dog only have a touchdown walking function, and cannot assist in completing more complicated actions, such as holding a key to open a door, picking up small objects, and the like, so that the requirements of more scenes cannot be met.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one aspect of the above technical problems to some extent, the present invention provides a robot foot assembly, comprising a foot body and a toe joint assembly, wherein the foot body is adapted to connect four limb joints of a robot, the foot body is provided with a mounting groove, and the toe joint assembly is movably arranged in the mounting groove; the toe joint component has at least a first position and a second position relative to the mounting groove, the toe joint component is hidden in the mounting groove when the toe joint component is located at the first position, and at least part of the toe joint component extends out of the mounting groove when the toe joint component is located at the second position.

Optionally, the robot foot component further comprises a connecting component, the connecting component is arranged in the mounting groove, the connecting component comprises a bearing part and a driving gear, the driving gear is connected with the base body, the bearing part is connected with the driving gear in a meshed mode, and the toe joint component is arranged on the bearing part.

Optionally, the toe joint assembly comprises at least two clamping toes in rotational connection with the carrier.

Optionally, the robot foot subassembly still includes driving motor, driving motor sets up on the bearing part, toe joint subassembly still includes head rod and second connecting rod, press from both sides the toe and include interconnect's clamping part and connecting portion, the one end of head rod with driving motor drive is connected, the other end of head rod with connecting portion rotate to be connected, the one end of second connecting rod with the bearing part rotates to be connected, the other end of second connecting rod with connecting portion rotate to be connected.

Optionally, the clip toe further comprises a contact pad disposed on the clip portion.

Optionally, the robotic foot assembly further comprises a force sensor disposed on the toe.

Optionally, the clamping part and the connecting part form an included angle alpha, and the included angle alpha is larger than or equal to 90 degrees and smaller than or equal to 135 degrees.

Optionally, the bearing part is of a U-shaped structure, two arms of the U-shaped structure extend along the moving direction of the toe joint assembly, one arm is meshed with the driving gear, the other arm is provided with a limiting hole, a limiting pin is arranged in the mounting groove, and the limiting pin is located in the limiting hole.

Optionally, the robot foot assembly further comprises an image acquisition device, wherein the image acquisition device is arranged at a notch position of the mounting groove of the foot body.

The utility model also provides a robot, which comprises an articulated arm and the robot foot component, wherein the robot foot component is connected with the articulated arm in a rotating way.

The robot foot assembly of the utility model can be used for robot dogs and similar bionic robots. Compared with the robot foot of the robot dog in the prior art, the robot foot assembly of the utility model is provided with the telescopic toe joint assembly, so that the robot foot assembly not only can be used as a ground contact structure, but also has a clamping function. When the machine dog normally walks, the toe joint subassembly is located the mounting groove, and the guarantee toe joint subassembly does not touch with ground, accomplishes specific function when needs machine dog, for example snatchs little article, pulls specific switch, and the toe joint subassembly stretches out outside the mounting groove, carries out corresponding operation. The toe joint component is controlled by the driving gear and the driving motor to control the stretching position and the clamping opening and closing degree, so that the toe joint can be accurately controlled, and the direction is indicated for realizing more functions of the robot foot set.

Drawings

FIG. 1 is a schematic external view of a robot foot assembly according to an embodiment of the present invention;

FIG. 2 is a schematic longitudinal cross-sectional view of a robot foot assembly according to an embodiment of the utility model;

FIG. 3 is an enlarged view of a portion of FIG. 1 at A;

FIG. 4 is a schematic view of the internal structure of a robot foot assembly according to an embodiment of the utility model;

description of reference numerals:

1-a foot body; 11-mounting grooves; a 2-toe joint component; 21-clamping toes; 211-a connecting portion; 212-a clamping portion; 213-a touch pad; 23-a first connecting rod; 24-a second connecting rod; 3-connecting the components; 31-a carrier; 32-a drive gear; 4-driving a motor; 5-an articulated arm; 51-a wire passing hole; 6-image acquisition device.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. Various embodiments may be readily understood by reference to the following detailed description, it being understood that various embodiments are not limited to the specific structures and/or methods disclosed, unless otherwise specified, and any modifications based on the inventive concepts herein are intended to be included within the scope of the present invention. It is also to be understood that the terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting.

If there is a description relating to "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or to imply that the number of technical features indicated is implicit.

As shown in fig. 1 to 4, the embodiment of the present invention provides a robot foot assembly, which can be used for walking robot dogs or similar bionic robots with walking functions. The robotic foot assembly of an embodiment of the utility model comprises a foot body 1 and a toe joint assembly 2. Wherein the script body 1 is adapted to connect the leg joints of the robot, and the foot body 1 is used for touching the ground when the robot is walking. The foot body 1 is provided with a mounting groove 11, and an opening of the mounting groove 11 is formed on an outer wall of the script body 1. The toe joint component 2 is movably arranged in the mounting groove 11, the toe joint component 2 at least has a first position and a second position relative to the mounting groove 11, when the toe joint component 2 is located at the first position, the toe joint component 2 is hidden in the mounting groove 11, and when the toe joint component 2 is located at the second position, at least part of the toe joint component 2 extends out of the mounting groove 11. That is, the toe joint assembly 2 can move in or out relative to the notch of the mounting groove 11. The foot body 1 may be cylindrical, spherical, or any other shape that may provide a mounting groove 11 configuration.

In this embodiment, the robot foot assembly has a gripping function as well as a ground contact structure because the telescopic toe joint assembly 2 is provided. When the robot dog normally walks, the toe joint component 2 is positioned in the mounting groove 11, so that the toe joint component 2 is prevented from touching the ground; when the robot dog is required to complete a specific function, such as grabbing a small object and pulling a specific switch, the toe joint component 2 extends out of the mounting groove 11 to perform a corresponding operation.

Specifically, the machine foot subassembly includes coupling assembling 3, and coupling assembling 3 sets up in mounting groove 11 to be connected with foot body 1. The connecting assembly 3 comprises a carrier 31 and a drive gear 32. The driving gear 32 is disposed in the mounting groove 11 and connected to a motor (the motor is not shown in the drawings), and the motor can drive the driving gear 32 to rotate. The carrying portion 31 has a U-shaped structure as a whole. The two arms of the U-shaped structure extend in the direction of movement of the toe joint assembly 2. One arm of the U-shaped structure is provided with a rack extending in the direction of movement of the toe joint assembly 2, the rack being in meshed connection with the drive gear 32. When the driving gear 32 rotates, the rack can be driven to move, so that the movement of the bearing part 31 can be realized. The toe joint assembly 2 is disposed on the bearing part 31, so that when the bearing part 31 is moved, a change in the position of the toe joint assembly 2 relative to the mounting groove 11 can be achieved. The other arm of the U-shaped structure is provided with a limiting hole which is a strip-shaped hole extending along the moving direction of the toe joint component 2. A limiting pin is arranged in the mounting groove 11 and is located in the limiting hole, so that the maximum moving stroke of the bearing part 31 is limited.

Optionally, the toe joint assembly 2 comprises at least two clamping toes 21, the clamping toes 21 being in rotational connection with the carrier part 31. The clamping toe 21 can be used for clamping small objects or clamping specific parts of the device/object for specific operations. The clamping toe 21 further comprises a contact pad 213, the contact pad 213 being arranged on the clamping portion 212, the contact pad 213 being adapted to contact the clamped item. Can avoid pressing from both sides toe 21 for the slip by centre gripping article on the one hand, the stability of guarantee centre gripping, on the other hand protection by centre gripping article, avoid the fish tail, provide the buffering of certain degree.

The robot foot assembly further comprises a drive motor 4, the drive motor 4 being arranged on the carrier part 31. The toe joint assembly 2 further comprises a first connecting rod 23 and a second connecting rod 24, the first connecting rod 23 and the second connecting rod 24 being arranged in parallel or close to parallel. The clamping toe 21 comprises a clamping part 212 and a connecting part 211 which are connected with each other, the clamping part 212 and the connecting part 211 are integrally formed and have an included angle alpha, and the alpha is more than or equal to 90 degrees and less than or equal to 135 degrees. The clamping parts 212 of different clamping toes 21 can be parallel to each other in a specific clamping state. One end of the first connecting rod 23 is in driving connection with an output shaft of the driving motor 4, the driving motor 4 can drive the first connecting rod 23 to rotate, and the driving motor 4 is fixedly arranged on the bearing part 31; the other end of the first connecting rod 23 is rotatably connected to the connecting portion 211 of the clamping toe 21. One end of the second link 24 is rotatably connected to the bearing portion 31, and the other end of the second link 24 is rotatably connected to the connecting portion 211 of the clip toe 21. The first connecting rod 23 and the second connecting rod 24 may have a plate-like structure.

Because the first connecting rod 23, the second connecting rod 24, the connecting part 211 and the bearing part 31 form a four-bar linkage structure, when the driving motor 4 drives the first connecting rod 23 to rotate, the second connecting rod 24 and the connecting part 211 can be driven to rotate at the same time, and the clamping between at least two clamping toes 21 is realized. Adopt four connecting rod structures as above to realize the centre gripping, on the one hand the support intensity to pressing from both sides toe 21 is ensured, on the other hand makes the centre gripping more nimble. Because the clamping position and the clamping force of different clamping toes 21 can be adjusted by controlling the rotation state of the driving motor 4 connected with different clamping toes 21.

The toe joint component 2 is controlled by the driving gear 32 and the motor to control the stretching position and the clamping opening and closing degree, so that the accurate position control of the toe joint component is facilitated, and the technical inspiration is provided for realizing more functions of the robot foot component.

A force sensor is provided on the clip toe 21. The force sensor is arranged on the clamping part 212 of the clamping toe 21, so that the clamping force of the clamping toe 21 can be monitored conveniently. The foot body 1 is provided with an image acquisition device 6, and the image acquisition device 6 is arranged at the notch position of the mounting groove 11 of the script body 1. The image of the clamped object can be conveniently collected, and more accurate clamping or grabbing can be realized.

The robot foot assembly of further embodiments further comprises an articulated arm 5, the foot body 1 being pivotally connected to the articulated arm 5. The foot body 1 rotates relative to the joint arm 5, so that the clamping flexibility of the toe joint assembly 2 in more directions can be guaranteed. The articulated arm 5 is internally provided with a wire passing hole 51, the wire passing hole 51 is penetrated into the mounting groove 11, the wire passing hole 51 is used for controlling a cable and/or a power supply cable to pass through, the power supply cable is used for connecting a motor arranged in the mounting groove 11 and a core or a central control system of the robot, and connecting an image acquisition device 6 and other sensing devices arranged on the foot body 1 to the core or the central control system.

The embodiment of the utility model also provides a robot, which comprises the robot foot assembly in any embodiment. In this embodiment, the robot foot of robot can realize more operations to make the robot can accomplish more diversified tasks.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.

Claims

1. The machine foot component is characterized by comprising a foot body (1) and a toe joint component (2), wherein the foot body (1) is suitable for being connected with four limb joints of a robot, the foot body (1) is provided with a mounting groove (11), and the toe joint component (2) is movably arranged in the mounting groove (11); the toe joint component (2) has at least a first position and a second position relative to the mounting groove (11), the toe joint component (2) being concealed within the mounting groove (11) when the toe joint component (2) is in the first position, and at least part of the toe joint component (2) protruding out of the mounting groove (11) when the toe joint component (2) is in the second position.

2. The machine foot assembly according to claim 1, characterized by further comprising a connecting assembly (3) disposed within the mounting groove (11), the connecting assembly comprising a bearing portion (31) and a driving gear (32), the driving gear (32) being connected with the foot body (1), the bearing portion (31) being in meshing connection with the driving gear (32), the toe joint assembly (2) being disposed on the bearing portion (31).

3. The robotic foot assembly according to claim 2, characterized in that the toe joint assembly (2) comprises at least two clamping toes (21), the clamping toes (21) being rotationally connected with the carrier part (31).

4. The machine foot assembly according to claim 3, characterized by further comprising a drive motor (4), wherein the drive motor (4) is arranged on the bearing portion (31), wherein the toe joint assembly (2) further comprises a first connecting rod (23) and a second connecting rod (24), wherein the toe clamp (21) comprises a clamping portion (212) and a connecting portion (211) which are connected with each other, one end of the first connecting rod (23) is in driving connection with the drive motor (4), the other end of the first connecting rod (23) is in rotational connection with the connecting portion (211), one end of the second connecting rod (24) is in rotational connection with the bearing portion (31), and the other end of the second connecting rod (24) is in rotational connection with the connecting portion (211).

5. The robot foot assembly according to claim 4, characterized in that the clamp toe (21) further comprises a contact pad (213), the contact pad (213) being arranged on the clamping portion (212).

6. The robot foot assembly according to claim 4, characterized by further comprising a force sensor arranged on the clamping toe (21).

7. The machine foot assembly according to claim 4, characterized in that the gripping portion (212) and the connecting portion (211) have an angle α therebetween of 90 ° ≦ α ≦ 135 °.

8. The robot foot assembly according to claim 2, characterized in that the carrier part (31) is of a U-shaped construction, the two arms of which extend in the direction of movement of the toe joint assembly (2), one arm being in meshing connection with the drive gear (32) and the other arm being provided with a limit hole, and in that in the mounting groove (11) a limit pin is provided, which limit pin is located in the limit hole.

9. The machine foot assembly according to any one of claims 1 to 8, characterized in that it further comprises an image acquisition device (6), said image acquisition device (6) being arranged at the notch position of the mounting groove (11) of the foot body (1).

10. A robot, characterized in that it comprises an articulated arm (5) and a robot foot assembly according to any of claims 1-9, which is rotatably connected to the articulated arm (5).