KR101911286B1 - Suspension unit for foot of robot - Google Patents

Suspension unit for foot of robot Download PDF

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Publication number
KR101911286B1
KR101911286B1 KR1020160174733A KR20160174733A KR101911286B1 KR 101911286 B1 KR101911286 B1 KR 101911286B1 KR 1020160174733 A KR1020160174733 A KR 1020160174733A KR 20160174733 A KR20160174733 A KR 20160174733A KR 101911286 B1 KR101911286 B1 KR 101911286B1
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KR
South Korea
Prior art keywords
robot foot
robot
connecting rod
damper
foot
Prior art date
Application number
KR1020160174733A
Other languages
Korean (ko)
Other versions
KR20180071745A (en
Inventor
임현국
손병규
Original Assignee
(주)한국미래기술
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by (주)한국미래기술 filed Critical (주)한국미래기술
Priority to KR1020160174733A priority Critical patent/KR101911286B1/en
Priority to PCT/KR2017/015114 priority patent/WO2018117633A1/en
Publication of KR20180071745A publication Critical patent/KR20180071745A/en
Application granted granted Critical
Publication of KR101911286B1 publication Critical patent/KR101911286B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers

Abstract

A support pad provided on a floor surface of the robot foot contacting the ground; A connection rod whose lower end is connected to the support pad; A rotary part connected to the robot foot in a pivotal manner and pivotally connected to an upper end of the connection rod at one end thereof; And an impact applied from the ground during the walking of the robot raises the connecting rod through the supporting pad and the rotating part is rotated and the damper is contracted by shaking the damper, The suspension of the robot foot is introduced.

Description

Technical Field [0001] The present invention relates to a suspension device for a robot foot,

The present invention relates to a suspension device installed on a robot foot of a large-sized, large-sized, large-sized robot that sufficiently absorbs a load acting on the robot foot, protects the devices, reduces shock noise, To a robot foot suspension device capable of reducing the size of a robot foot.

In the case of a large robot on board, the weight is very large. Therefore, when the robot is walking, it comes into contact with the ground. At this time, the amount of electric power to be transmitted from the ground through the feet is also very large.

Conventionally, in the case of a robot foot, a toe is placed on the sole of the foot and the sole of the sole, and a damper is connected between the toe and the sole of the sole, so that the walking is natural and the impact is absorbed. The toes were difficult to support due to the difficulty of centering, and thus the control was difficult.

Therefore, manufacturing the sole of the robot as a single flat plate is very advantageous for maintaining balance in control. However, disadvantage is that it can not absorb the shock transmitted from the ground, and is transmitted to the robot and the noise is very large.

In addition, a sensor for measuring the load is mounted on the foot of the robot, and when the impact due to walking is transmitted to the sensor, it acts as a noise.

It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

KR 10-1630927 B1

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve such problems, and it is an object of the present invention to provide a suspension device installed on a robot foot of a large-sized onboard large-sized robot having a large weight and capable of sufficiently absorbing a load acting on the robot foot, And to provide a robot foot suspension device capable of reducing noise of measured values measured by a sensor.

According to an aspect of the present invention, there is provided a suspension device for a robot foot, comprising: a support pad provided on a floor surface of a robot foot contacting a ground; A connection rod which penetrates the robot foot in the up and down direction and slides in the up and down direction and whose lower end portion is connected to the support pad; A rotating part provided on the upper part of the robot foot, connected to the robot foot in a pivotal manner for rotational movement, and having one end pivotally connected to an upper end of the connecting rod; And a damper whose one end is pivotally connected to the robot foot and the other end is pivotally connected to the other end of the rotary part. The impact applied from the ground during the walking of the robot lifts the connecting rod through the support pad, By shrinking the damper, the impact applied from the ground can be mitigated.

The support pads are made of urethane material and can be positioned lower than the floor of the robot foot.

A plurality of corner points may be formed on the bottom surface of the robot foot, and the suspension device may be provided for each of a plurality of corner points.

A support panel is coupled to the top of the support pad, a cushion pad is coupled to the top of the support panel, and the support pad may be harder than the cushion pad.

A support panel is coupled to the upper portion of the support pad, and a buffer pad may be disposed between the upper portion of the support panel and the robot foot.

A cylinder is disposed above the buffer pad, a transfer rod is inserted into the cylinder and slides up and down. A lower end of the transfer rod is fixed to the support pad, and an upper end of the transfer rod is connected to the connection rod.

The cylinder is fixed to the robot foot, and the lower end of the connecting rod and the upper end of the transmitting rod can be connected through a cap.

The lower end of the connecting rod is pivotally connected to the central portion of the cap, and the cap may be connected to the upper ends of the plurality of transfer rods along the circumference.

The rotary part is triangular in shape and the upper end of the connecting rod, the robot foot and the other end of the damper can be pivotally connected to each corner of the triangular shape.

The rotary part is in the shape of a triangle, and the long side is arranged to face the robot ankle, and the corner part facing the long side can be connected to the robot foot by a pivot structure.

The remaining corner portions of the rotating portion can be pivotally connected to the upper end of the connecting rod and the other end of the damper, respectively.

The connecting rod performs a sliding movement in the vertical direction, and the damper is arranged in the lateral direction and can be contracted or stretched in the lateral direction.

According to the robot foot suspension apparatus of the present invention, a suspension device installed on a robot foot of a large-sized onboard large-sized robot having a large weight, absorbs a load acting on the robot foot sufficiently to protect the mechanisms and reduce impact noise, It is possible to reduce the noise of the measured value to be measured.

1 is a perspective view of a robot foot suspension device according to an embodiment of the present invention;
FIGS. 2 to 5 show the components of a robot foot suspension device according to an embodiment of the present invention; FIG.
6 is a sectional view of a suspension system of a robot foot according to an embodiment of the present invention;

FIG. 1 is a perspective view of a robot foot suspension device according to an embodiment of the present invention, FIGS. 2 to 5 are views showing the components of a robot foot suspension device according to an embodiment of the present invention, Sectional view of a suspension device of a robot foot 100 according to one embodiment.

The suspension device of the robot foot 100 according to the present invention includes: a support pad 200 provided on the bottom surface of the robot foot 100 contacting the ground; A connection rod 720 that penetrates the robot foot 100 in the up and down direction and slides in the up and down direction and has a lower end connected to the support pad 200; A rotary part 800 provided on the upper part of the robot foot 100 and connected to the robot foot 100 by the pivot structure H3 to rotate and has one end pivotally connected to the upper end of the connection rod 720; And a damper 900 whose one end is pivotally connected (H5) to the robot foot 100 and whose other end is pivotally connected (H4) to the other end of the rotation part 800, The impact can lift the connecting rod 720 through the support pad 200 and rotate the rotating part 800 to shrink the damper 900 so as to mitigate the impact from the ground.

In the robot foot suspension apparatus of the present invention, first, the support pad 200 is provided on the bottom surface of the robot foot 100 contacting with the ground. The support pad 200 is made of a urethane material and can be positioned lower than the bottom surface of the robot foot 100. Accordingly, when the robot is walking, the support pad 200 first touches the ground surface rather than the soles so as to absorb the impact.

On the other hand, a plurality of corner points may be formed on the bottom surface of the robot foot 100, and the suspension device may be provided for each of a plurality of corner points. That is, as shown in FIG. 1, the foot of the robot may be formed in a rectangular frame form, and a suspension device may be provided at each corner of the square to provide a total of four suspension devices 1000. Accordingly, The suspension device 1000 is brought into contact with the ground first in each direction so as to absorb shocks. Therefore, stable walking control of the robot is possible regardless of the walking in any direction.

The connection rod 720 vertically slides vertically through the robot foot 100 and the lower end of the connection rod 720 is connected to the support pad 200. Therefore, the support pad 200 and the connection rod 720 are lifted in the vertical direction together when they touch the ground.

The rotary part 800 is provided on the upper part of the robot foot 100. The rotary part 800 is pivotally connected to the robot foot 100 and rotates about the center part, And is pivotally connected to the upper end of the additional connecting rod 720. Accordingly, when the support pad 200 is lifted together with the connection rod 720, the vertical motion is converted into rotational motion by the rotation unit 800. [

One end of the damper 900 is pivotally connected to the ankle connection point 120 of the robot foot 100 and the other end is pivotally connected to the other end of the rotation portion 800. Therefore, the impact applied from the ground during the walking of the robot raises the connecting rod 720 through the support pad 200, and the rotary part 800 is rotated to contract the damper 900, thereby alleviating the shock applied from the ground . Also, before the damper 900 is retracted, vibration and noise are reduced to a certain extent in the support pad 200. In converting the vertical motion into the rotational motion, the respective connecting elements are connected to the pivot structures H1, H2, H3, H4, and H5 so that natural motion can be realized.

3, the support panel 300 is coupled to the upper portion of the support pad 200 of FIG. 2, the buffer pad 400 is coupled to the upper portion of the support panel 300, The hardness may be larger than that of the cushion pad 400. That is, the pads are coupled with the sandwich structure. The support pad 200 having a large hardness comes into direct contact with the ground at the lower part of the middle support panel 300, and the cushioning pad 400 having a small hardness is coupled to the upper part. So that the impact is absorbed by the cushioning pad 400. Since the sole of the robot is made of a metal material, noise that hits the ground during walking is generated. The noise is generated by the support pad 200 of the urethane coming into contact with the ground first, The use of a large material minimizes the deterioration of durability due to friction. The shock absorbing pad 400 primarily absorbs the impact, and the damper 900 absorbs the shock. The cushion pad 400 is provided between the support panel 300 and the robot foot 100 so that the support panel 300 and the robot foot 100 are in direct contact with each other to block generated noise.

6, the cylinder 500 is disposed above the buffer pad 400, the transfer rod 600 is inserted into the cylinder 500 and slides up and down. The lower end of the transfer rod 600 is supported by the support pad 600, And the upper end may be connected to the connecting rod 720. The cylinder may be fixed to the robot foot 100 and the lower end of the connecting rod 720 and the upper end of the transfer rod 600 may be connected through the cap 700. The transfer rod 600 is coupled to the support pad 200 through the buffer pad 400 and the support panel 300.

Accordingly, when the robot foot 100 touches the ground, the support pad 200 is first pressed upward. The transfer rod 600 is lifted from the support pad 200 inside the cylinder 500 and the connection rod 720 connected to the cap 700 rises and is converted into rotational force to press the damper 900.

5, a cylinder 500 and a plurality of transmission rods 600 are spaced apart from each other, and a lower end of the connection rod 720 is pivotally connected to a central portion of the cap 700, And the cap 700 may be connected to the upper ends of the plurality of transfer rods 600 along the periphery. So that the cap 700 is raised in a balanced manner in various directions so that the cap 700 is rotated through the pivot H1 even if the cap 700 is lifted unevenly so that there is no problem with the rise of the connecting rod 720.

In addition, the rotation unit 800 may have a right triangle shape and a hypotenuse may be disposed so as to face the direction of the robot foot 100, and a central portion, which is a right angle corner, may be connected to the robot foot 100 in a pivotal manner. In addition, the remaining corner portions of the rotation part 800 can be pivotally connected to the upper end of the connection rod 720 and the other end of the damper 900, respectively. Of course, the rotary part 800 can be formed in a general triangular shape instead of a right angle, and the robot foot, the connection rod 720, and the damper 900 are coupled to the respective corners, thereby vertically translating the motion in the horizontal direction.

Accordingly, the connection rod 720 performs sliding movement in the vertical direction, and the damper 900 can be horizontally disposed and can be contracted or stretched in the horizontal direction. The connection rod 720, the rotation unit 800 and the damper 900 are pivotally connected with respect to an axis perpendicular to the front-rear direction of the robot, and the damper 900 is disposed in the front- .

The walking of the robot is mainly performed in the forward and backward directions. Accordingly, when the forefoot of the robot foot 100 first comes into contact with the ground or the heel touches the ground first, the suspension device effectively transmits the impact force to the damper 900 when walking forward and backward through the setting of the pivot rotational axis, Thereby absorbing the shock.

The rod 500 is fixed to the robot foot 100 and thus the transfer rod 600 is moved up and down with respect to the cylinder 500 and the connecting rod 720, the rotary part 800, the damper 900, To deliver the impact.

While the invention has been shown and described with respect to the specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

100: robot foot 1000: robot foot suspension device
2000: Robot ankle

Claims (12)

A support pad provided on a floor surface of the robot foot contacting the ground;
A connection rod which penetrates the robot foot in the up and down direction and slides in the up and down direction and whose lower end portion is connected to the support pad;
A rotating part provided on the upper part of the robot foot, connected to the robot foot in a pivotal manner for rotational movement, and having one end pivotally connected to an upper end of the connecting rod; And
And a damper having one end pivotally connected to the robot foot and the other end pivotally connected to the other end of the rotary part,
The impact applied from the ground during the walking of the robot raises the connecting rod through the supporting pads, the rotating part is rotated, and the damper is contracted to alleviate the impact from the ground,
A support panel is coupled to the upper portion of the support pad, a buffer pad is coupled to the upper portion of the support panel, a cylinder is disposed on the buffer pad, a transfer rod is inserted into the cylinder to slide up and down, And the upper end portion is connected to the connecting rod. The method according to claim 1,
Wherein the support pad is made of a urethane material and positioned lower than the bottom surface of the robot foot. The method according to claim 1,
Wherein a plurality of corner points are formed on a floor surface of the robot foot, and the suspension device is provided for each of a plurality of corner points. The method according to claim 1,
Wherein the support pad has a hardness greater than that of the cushioning pad. The method according to claim 1,
Wherein a support panel is coupled to the upper portion of the support pad, and a buffer pad is disposed between the upper portion of the support panel and the robot foot. delete The method according to claim 1,
Wherein the cylinder is fixed to the robot foot, and the lower end of the connecting rod and the upper end of the transmitting rod are connected through a cap. The method of claim 7,
Wherein a plurality of cylinders and transmission rods are spaced apart from each other, a lower end of the connecting rod is pivotally connected to a central portion of the cap, and a cap is connected to a plurality of transmission rod upper ends along the periphery. The method according to claim 1,
Wherein the rotary part is triangular in shape and the upper end of the connecting rod, the robot foot, and the other end of the damper are pivotally connected to the respective corners of the triangular shape. The method according to claim 1,
Wherein the rotary part is in the shape of a triangle and the long side is disposed to face the robot ankle and the corner part facing the long side is connected to the robot foot in a pivotal manner. The method of claim 10,
And the remaining corner portions of the rotating portion are pivotally connected to the upper end of the connecting rod and the other end of the damper, respectively. The method according to claim 1,
Wherein the connecting rod is slidingly moved in the vertical direction and the damper is arranged in the lateral direction so as to be contracted or elongated in the lateral direction.
KR1020160174733A 2016-12-20 2016-12-20 Suspension unit for foot of robot KR101911286B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020160174733A KR101911286B1 (en) 2016-12-20 2016-12-20 Suspension unit for foot of robot
PCT/KR2017/015114 WO2018117633A1 (en) 2016-12-20 2017-12-20 Suspension apparatus for robot foot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020160174733A KR101911286B1 (en) 2016-12-20 2016-12-20 Suspension unit for foot of robot

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KR20180071745A KR20180071745A (en) 2018-06-28
KR101911286B1 true KR101911286B1 (en) 2018-12-28

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WO (1) WO2018117633A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114435505B (en) * 2021-12-21 2023-05-02 之江实验室 Robot flexible foot

Citations (1)

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Publication number Priority date Publication date Assignee Title
JP2008207321A (en) * 2007-02-02 2008-09-11 Honda Motor Co Ltd Leg type mobile robot

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Publication number Priority date Publication date Assignee Title
US5455497A (en) * 1992-04-20 1995-10-03 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot and a system for controlling the same
KR20110059507A (en) * 2009-11-27 2011-06-02 삼성테크윈 주식회사 Suspension system and arm-wheel type robotic vehicle comprising the same
US10543109B2 (en) * 2011-11-11 2020-01-28 Össur Iceland Ehf Prosthetic device and method with compliant linking member and actuating linking member
KR101477068B1 (en) * 2013-06-21 2014-12-30 성균관대학교산학협력단 Device for absorbing landing shock for legged walking robot
KR101630927B1 (en) 2014-08-06 2016-06-16 주식회사 포스코 Apparatus of wearing lower body and assist muscular robot having thereof

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
JP2008207321A (en) * 2007-02-02 2008-09-11 Honda Motor Co Ltd Leg type mobile robot

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KR20180071745A (en) 2018-06-28

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