CN221091035U - Sole subassembly of robot and leg structure thereof - Google Patents

Abstract

The utility model discloses a robot sole component and a leg structure thereof, wherein the sole component comprises a sole shell, a sole plate and a plurality of gravity sensors, the sole shell is connected with the sole plate, so as to form a shell part of the sole component, the tops of the gravity sensors are connected with the lower end face of the sole shell, the bottoms of the gravity sensors are connected with the upper end face of the sole plate, the leg structure of the robot comprises the robot sole component, real-time numerical values are obtained through the matching of the gravity sensors, the gravity center state of the sole shell is monitored, and therefore whether the gravity center of the whole robot deviates excessively or not is monitored, the posture or gait of the robot is timely adjusted, so that the gravity center of the robot is always in the range of the sole, the robot is kept in a balanced state, the robot is prevented from falling down or being damaged, and the accurate control of the robot is mastered.

Description

Sole subassembly of robot and leg structure thereof

Technical Field

The utility model relates to the technical field of robots, in particular to a robot sole assembly and a leg structure thereof.

Background

The biped robot is one of the directions of the forefront in the current robot field, compared with the traditional wheeled robot or the crawler robot, the traditional wheeled robot and the crawler robot have large limitation on use scenes, the traditional wheeled robot is difficult to adapt to complex terrains, the crawler robot is difficult to walk on terrains with large drop, the design inspiration of the biped robot is derived from the two legs of a human, the robot can be suitable for various types of complex terrains, and the robot has higher flexibility and adaptability.

The foot of the biped robot is one of important components, the buffering capacity of the foot and the handle control of the gravity center are important in the walking process of the biped robot, the foot structure of the existing robot is simple and flexible, foot buffering cannot be realized, ground supporting force cannot be fed back, and accurate control is inconvenient.

Therefore, how to improve the buffering effect of the robot foot and to improve the accurate control of the robot foot is a focus of attention of the people in the field and related people.

Disclosure of utility model

In view of the above, the utility model provides a sole assembly of a robot and a leg structure thereof, which are used for solving the problems that the buffering effect of the foot structure of the robot is poor, oscillation is easy to generate, the ground supporting force cannot be fed back, and the accurate control of the robot is inconvenient.

To achieve one or a part or all of the above or other objects, the present utility model provides a robot sole assembly, including a sole shell, a sole plate, and a plurality of gravity sensors, wherein the sole shell is connected to the sole plate, the tops of the gravity sensors are connected to the lower end surface of the sole shell, the bottoms of the gravity sensors are connected to the upper end surface of the sole plate, and the gravity sensors are used for monitoring the gravity center state of the sole shell.

Based on the technical scheme, the sole subassembly includes sole shell, sole board and a plurality of gravity sensor, sole shell and sole board are connected, thereby constitute the shell part of sole subassembly, the top of a plurality of gravity sensors is connected with the lower terminal surface of sole shell, the bottom of a plurality of gravity sensors is connected with the up end of sole board, obtain real-time numerical value through the cooperation of a plurality of gravity sensors, monitor the focus state of sole shell, thereby the holistic centrobaric condition of real-time monitoring robot judges whether the holistic centrobaric of robot has the excessive trend of skew, thereby timely adjustment robot's posture or gait, make the focus of robot be in the within range of sole all the time, thereby make the robot keep balanced state, prevent that the robot from falling down or damaging, master the accurate control to the robot.

Preferably, the number of the gravity sensors is four, and the four gravity sensors are distributed around the sole plate.

Based on the technical scheme, the number of the gravity sensors is four, the four gravity sensors are distributed on the periphery of the foot bottom plate, and real-time numerical values are obtained through the cooperation of the four gravity sensors, so that the overall gravity center state of the robot is better monitored, the overall state of the robot is adjusted in time, and the robot is prevented from falling down or being damaged.

Preferably, the sole shell and the sole plate are combined to form a mounting groove, and the four gravity sensors are arranged in the mounting groove.

Based on the technical scheme, the sole shell and the sole plate are combined to form the mounting groove, the four sensors are all mounted in the mounting groove, the four gravity sensors are prevented from being exposed to the outside by mounting the four gravity sensors in the mounting groove, damage is caused in the walking process of the robot, and the protection of the gravity sensors is facilitated.

Preferably, four placing grooves are formed in the bottom wall of the mounting groove, bottoms of the four gravity sensors are respectively arranged in the corresponding placing grooves, and tops of the four gravity sensors are exposed out of the corresponding placing grooves.

Based on the technical scheme, four standing grooves are formed in the bottom wall of the mounting groove, the positions of the four standing grooves are corresponding to the positions of the four gravity sensors, so that the four gravity sensors are respectively mounted in the corresponding four standing grooves, the bottoms of the four gravity sensors are mounted in the corresponding standing grooves, the tops of the four gravity sensors are exposed out of the standing grooves, so that the gravity sensors are connected with the sole shell, real-time numerical values are obtained, and the overall state of the robot is adjusted in time.

Preferably, a placing cavity with one end open is formed in the lower end face of the sole plate, a buffer piece is arranged on the lower end face of the sole plate, and the buffer piece is installed in the placing cavity and seals the opening.

Based on the above-mentioned technical scheme, offer one end open-ended on the lower terminal surface of sole and place the chamber, the bolster is installed and is placing the intracavity, and the lower terminal surface of bolster flushes with the opening of placing the chamber to make the robot at the in-process of walking, the bolster contacts with ground, thereby cushion the sole subassembly of robot, protection sole subassembly reduces impact and injury to it.

Preferably, the buffer member is a rubber pad or a silica gel pad.

Based on the technical scheme, the buffer piece is a rubber pad or a silica gel pad, the rubber pad and the silica gel pad have unique viscoelasticity, good buffer performance is achieved, and the rubber pad and the silica gel pad can isolate vibration and absorb impact, so that the sole assembly of the robot can be well protected in the walking process of the robot.

Preferably, the rubber pad and the silica gel pad are provided with processing lines on the bottom surfaces thereof.

Based on the technical scheme, the bottom surface of rubber pad and silica gel pad all is provided with the processing line, owing to set up the processing line to can increase the friction between rubber pad or the silica gel pad and the bottom surface, promote the anti-skidding effect of sole subassembly of robot, when the robot walking to comparatively smooth subaerial, the probability that the reduction robot that can be fine falls down.

Preferably, an installation cavity is formed in the upper end face of the sole shell, the upper end of the installation cavity is an open end, the lower end of the installation cavity is an assembly plane, and the open end is used for inserting an ankle into the installation cavity and is installed on the assembly plane.

Based on the technical scheme, the upper end face of the sole shell is provided with the mounting cavity, the upper end of the mounting cavity is the open end, the ankle accessible open end is inserted into the mounting cavity, and the lower end of the mounting cavity is the assembly plane, so that the ankle is conveniently and stably mounted on the assembly plane, and the ankle is more stably mounted.

Preferably, the assembly plane is provided with a plurality of mounting holes, the sole assembly further comprises a plurality of fixing pieces, the fixing pieces are connected with the mounting holes, and the fixing pieces are used for fixing the ankle on the assembly plane.

Based on the above-mentioned technical scheme, offered a plurality of mounting holes on the assembly plane, the sole subassembly still includes a plurality of mounting, and the quantity of mounting is the same with the quantity of mounting hole, and the mounting is connected with the mounting hole, fixes the ankle on the assembly plane through being connected between mounting and the mounting hole, makes the firm installation of ankle at the installation intracavity simultaneously.

In another aspect, the present utility model provides a leg structure of a robot, including a robot sole assembly as described above.

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

After the robot sole component and the leg structure thereof are adopted, the sole component comprises a sole shell, a sole plate and a plurality of gravity sensors, the sole shell is connected with the sole plate, so that a shell part of the sole component is formed, the tops of the gravity sensors are connected with the lower end face of the sole shell, the bottoms of the gravity sensors are connected with the upper end face of the sole plate, real-time numerical values are obtained through the cooperation of the gravity sensors, the gravity center state of the sole shell is monitored, the situation of the whole gravity center of the robot is monitored in real time, whether the whole gravity center of the robot deviates excessively is judged, the posture or gait of the robot is adjusted timely, the gravity center of the robot is always in the range of the sole, the robot is kept in a balanced state, the robot is prevented from falling down or being damaged, accurate control of the robot is mastered, and the problems that in the prior art, the buffering effect of the foot structure of the robot is poor, oscillation is easy to occur, the ground supporting force cannot be fed back, and accurate control of the robot is inconvenient are solved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Wherein:

FIG. 1 is a schematic view of the overall structure of a robot sole assembly in one embodiment;

FIG. 2 is a schematic diagram of an exploded view of a robot sole assembly in one embodiment;

FIG. 3 is a side view of a robot sole assembly and ankle connection in one embodiment;

Fig. 4 is a schematic structural view of a leg structure of a robot in one embodiment.

Reference numerals illustrate: 1. a sole shell; 11. a mounting cavity; 12. an open end; 13. an assembly plane; 14. a mounting hole; 2. a foot sole plate; 21. a placement groove; 22. a placement cavity; 3. a gravity sensor; 4. a mounting groove; 5. a buffer member; 6. a fixing member; 7. an ankle; 8. and a lower leg.

Detailed Description

In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. Embodiments of the application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only. In the present utility model, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "disposed," "configured," "connected," "coupled," and the like are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1, an embodiment of the present utility model provides a robot sole assembly, including a sole shell 1, a sole plate 2 and a plurality of gravity sensors 3, wherein the sole shell 1 and the sole plate 2 are connected to form a shell portion of the sole assembly, the tops of the plurality of gravity sensors 3 are connected to the lower end surface of the sole shell 1, the bottoms of the plurality of gravity sensors 3 are connected to the upper end surface of the sole plate 2, a real-time value is obtained through cooperation of the plurality of gravity sensors 3, the center of gravity state of the sole shell is monitored, and since the sole shell 1 is connected to the feet of the robot, the overall center of gravity of the robot is monitored in real time, whether the overall center of gravity of the robot deviates too much tends or not is judged, so that the posture or gait of the robot is adjusted in time, so that the center of gravity of the robot is always within the range of the sole, the robot is kept in a balanced state, the robot is prevented from falling down or damaging, accurate control of the robot is mastered, a buffer 5 is provided on the lower end surface of the sole plate 2, the sole assembly is buffered by the buffer 5, and impact on the sole assembly is reduced.

Referring to fig. 2, in the embodiment of the present application, the number of the gravity sensors 3 is four, the four gravity sensors 3 are all located in the installation groove 4, the four gravity sensors 3 are distributed around the sole plate 2, two of the gravity sensors 3 are located at the front half part of the installation groove 4, the other two of the gravity sensors 3 are located at the rear half part of the installation groove 4, the four gravity sensors 3 are installed in the installation groove 4, so that the four gravity sensors 3 are prevented from being exposed outside the installation groove 4, damage is caused in the running process of the robot, so that protection of the gravity sensors 3 is realized, real-time numerical values are obtained through cooperation of the four gravity sensors 3, so that the overall gravity center state of the robot is better monitored, and in other embodiments, the number and the position of the gravity sensors 3 can be adjusted according to actual requirements.

Referring to fig. 2, four placement grooves 21 are formed in the bottom wall of the installation groove 4, the four placement grooves 21 are distributed around the inside of the installation groove 4, bottoms of the four gravity sensors 3 are respectively arranged in the corresponding placement grooves 21, and tops of the four gravity sensors 3 are exposed out of the corresponding placement grooves 21 so as to facilitate connection between the gravity sensors 3 and the sole shell 1, thereby facilitating obtaining of real-time values.

Referring to fig. 3, a placement cavity 22 with one end open is formed on the lower end surface of the sole plate 2, the buffer member 5 is installed in the placement cavity 22, and the lower end surface of the buffer member 5 is flush with the opening of the placement cavity 22, when the robot walks, the buffer member 5 contacts with the ground, thereby avoiding the sole plate 2 from directly contacting with the ground, protecting the sole plate 2, buffering the sole of the robot, protecting the sole and reducing the impact and injury of the ground to the sole.

Referring to fig. 3, the buffer member 5 may be a rubber pad, a silica gel pad or other structure capable of realizing buffering, the rubber pad and the silica gel pad have their unique viscoelasticity, have good buffering performance, the rubber pad and the silica gel pad can be isolated from vibration and absorb impact, and the bottom surfaces of the rubber pad and the silica gel pad are provided with processing lines, the friction between the rubber pad or the silica gel pad and the bottom surface is increased by the processing lines, the anti-slip effect of the sole assembly of the robot is improved, and when the robot walks to a smoother ground, the probability of falling down of the robot is well reduced.

Referring to fig. 1, an installation cavity 11 is formed in an upper end surface of a rear half portion of a sole shell 1, an open end 12 is formed at an upper end of the installation cavity 11, an assembly plane 13 is formed at a lower end of the installation cavity 11, an ankle is inserted into the installation cavity 11 through the open end 12 and is installed on the assembly plane 13, a plurality of installation holes 14 are formed in the assembly plane 13, the sole assembly comprises a plurality of fixing pieces 6, the fixing pieces 6 are connected with the installation holes 14, the ankle is installed and fixed on the assembly plane 13 through the fixing pieces 6, and accordingly ankle fixing is achieved, and the fixing pieces 6 are fastening structures such as screws and bolts.

Referring to fig. 4, an embodiment of the present utility model provides a leg structure of a robot, which includes a sole assembly, an ankle 7, and a shank 8, wherein the lower end of the ankle 7 is inserted through an open end 12 and is mounted on an assembly plane 13, and the upper end of the ankle 7 is connected with the shank 8, thereby forming the leg structure, and since a gravity sensor 3 is provided, a real-time value can be obtained through the gravity sensor 3 in the sole during the operation of the robot, so that the center of gravity of the robot can be judged in real time.

The foregoing disclosure is illustrative of the present utility model and is not to be construed as limiting the scope of the utility model, which is defined by the appended claims.

Claims (10)

1. A robot sole assembly, characterized in that: including sole shell (1), sole (2) and a plurality of gravity sensor (3), sole shell (1) with sole (2) are connected, the top of a plurality of gravity sensor (3) with the lower terminal surface of sole shell (1) is connected, the bottom of a plurality of gravity sensor (3) with the up end of sole (2) is connected, gravity sensor (3) are used for monitoring the barycenter state of sole shell (1).

2. A robotic sole assembly as claimed in claim 1, wherein: the number of the gravity sensors (3) is four, and the four gravity sensors (3) are distributed around the sole plate (2).

3. A robotic sole assembly as claimed in claim 2, wherein: the sole shell (1) and the sole plate (2) are combined to form a mounting groove (4), and the four gravity sensors (3) are arranged in the mounting groove (4).

4. A robotic sole assembly as claimed in claim 3, wherein: four placing grooves (21) are formed in the bottom wall of the mounting groove (4), bottoms of the four gravity sensors (3) are respectively arranged in the corresponding placing grooves (21), and tops of the four gravity sensors (3) are exposed out of the corresponding placing grooves (21).

5. A robotic sole assembly as claimed in claim 1, wherein: the sole plate (2) is characterized in that a placing cavity (22) with one end open is formed in the lower end face of the sole plate (2), a buffer piece (5) is arranged on the lower end face of the sole plate (2), and the buffer piece (5) is installed in the placing cavity (22) and seals the opening.

6. A robotic sole assembly as claimed in claim 5, wherein: the buffer piece (5) is a rubber pad or a silica gel pad.

7. A robotic sole assembly as claimed in claim 6, wherein: the rubber pad and the bottom surface of the silica gel pad are provided with processing lines.

8. A robotic sole assembly as claimed in claim 1, wherein: the sole shell is characterized in that an installation cavity (11) is formed in the upper end face of the sole shell (1), the upper end of the installation cavity (11) is an open end (12), the lower end of the installation cavity (11) is an assembly plane (13), and the open end (12) is used for inserting an ankle into the installation cavity (11) and is installed on the assembly plane (13).

9. A robotic sole assembly as claimed in claim 8, wherein: the foot sole assembly comprises an assembling plane (13), and is characterized in that a plurality of mounting holes (14) are formed in the assembling plane (13), the foot sole assembly further comprises a plurality of fixing pieces (6), the fixing pieces (6) are connected with the mounting holes (14), and the fixing pieces (6) are used for fixing ankles on the assembling plane (13).

10. A robot leg structure, characterized in that: a robotic sole assembly comprising any one of claims 1-9.