WO2019041074A1 - 一种抓地力强的行走机器人脚部装置 - Google Patents

一种抓地力强的行走机器人脚部装置 Download PDF

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Publication number
WO2019041074A1
WO2019041074A1 PCT/CN2017/099215 CN2017099215W WO2019041074A1 WO 2019041074 A1 WO2019041074 A1 WO 2019041074A1 CN 2017099215 W CN2017099215 W CN 2017099215W WO 2019041074 A1 WO2019041074 A1 WO 2019041074A1
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Prior art keywords
column
pressing plate
plate
foot
telescopic
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PCT/CN2017/099215
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English (en)
French (fr)
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刘哲
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刘哲
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Priority to PCT/CN2017/099215 priority Critical patent/WO2019041074A1/zh
Publication of WO2019041074A1 publication Critical patent/WO2019041074A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Definitions

  • the invention relates to the technical field of a robot foot device, in particular to a walking device foot device with strong grip.
  • a robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work. With the advancement of the times, the robot's foot devices are also diverse.
  • the existing foot device of the walking robot with strong grip cannot flexibly control the operation of the foot, and cannot normally walk on the uneven road, and cannot effectively buffer the impact force brought by the ground.
  • the object of the present invention is to provide a walking robot foot device with strong grip to solve the above-mentioned background art and propose that the operation of the foot cannot be flexibly controlled, and the normal walking cannot be performed on the uneven road, and the ground cannot be effectively buffered. The problem of impact.
  • a foot device for a walking robot with strong grip comprising a foot device body, a bottom plate is mounted on the bottom of the body of the foot device, and opposite sides of the left platen are A front plate and a right plate are disposed on the right side, a telescopic plate is disposed in the front of the front plate, and the telescopic plate is embedded in the front plate.
  • the inner bottom end of the front plate is provided with an elastic column base and an elastic column.
  • a fixed column slot is disposed in the middle of the left pressing plate, and a plurality of uniformly distributed fixing columns are fixed in the interior of the fixing column notch, and a telescopic column is disposed in the middle of the ends of the left pressing plate, the front pressing plate and the right pressing plate a base and a telescopic column, and a buffer column is fixed on a top end of the telescopic column, a conductive line is installed on the left and right sides of the buffer column, and a control motor is connected to the other end of the conductive line.
  • a rotating shaft is disposed in the middle of the top end of the buffer column.
  • the top of the buffer column is movably connected to the bottom end of the control motor through a rotating shaft, and the rotating shaft is embedded between the buffer column and the control motor.
  • the top end of the expansion plate is movably connected to the front surface of the front pressure plate, and the expansion plate is embedded in the interior of the front pressure plate.
  • the top end of the elastic column base is movably connected with the bottom end of the elastic column.
  • the inner side of the left pressure plate is fixedly connected to the bottom end of the fixing column, and the length of the fixing column is 5 cm.
  • the telescopic column base and the telescopic column are movably connected, and the left pressure plate, the front pressure plate and the right pressure plate are surrounded by a square.
  • the invention has the beneficial effects that the foot device of the walking robot with strong grip has a rotating shaft, and the top of the buffer column is movably connected with the bottom end of the control motor through the rotating shaft, and the rotating shaft
  • the embedded shaft is disposed between the buffer column and the control motor, and the buffer shaft and the control motor can be flexibly rotated up and down by the rotating shaft, thereby driving the robot to flexibly control the foot portion, improving the work efficiency, and setting the expansion plate and the expansion plate.
  • the top end is movably connected to the front of the front platen, and the telescopic plate is embedded in the interior of the front platen.
  • the robot When the extension plate extends out of the front platen, the robot can increase the contact area with the road surface on the uneven road, thereby improving the robot foot.
  • the grip of the part is provided with an elastic column.
  • the middle of the top end of the elastic column base is movably connected with the bottom end of the elastic column.
  • the elastic column can cushion the impact force generated by the foot, so that the control motor of the robot can work as stably as possible and improve
  • a fixed column is provided, and the inner side of the left pressure plate is fixedly connected to the bottom end of the fixed column, and the length of the fixed column is long.
  • Figure 1 is a schematic view of the overall structure of the present invention
  • Figure 2 is a cross-sectional view showing the structure of the front pressure plate of the present invention.
  • FIG. 3 is a schematic structural view of the bottom of the left pressure plate of the present invention.
  • Figure 4 is a partial structural view of the left pressure plate of the present invention.
  • left pressure plate 101, fixed column, 102, fixed column notch, 103, telescopic column base, 104, telescopic column, 2, expansion plate, 3, front plate, 301, elastic column base, 302, elastic Column, 4, right pressure plate, 5, buffer column, 6, conductive line, 7, rotating shaft, 8, control motor, 9, foot device body.
  • a foot device for a walking robot with strong grip including 1, a left pressing plate, a 101, a fixing column, 102, a fixed column slot, 103, a telescopic column base.
  • telescopic column 2, expansion plate, 3, front plate, 301, elastic column base, 302, elastic column, 4, right plate, 5, buffer column, 6, conductive line, 7, rotating shaft, 8, control a motor, a foot device body, a left pressure plate 1 is mounted on the bottom of the foot device body 9, and a front platen 3 and a right platen 4 are mounted on the opposite side and the right side of the left platen 1, the front platen 3
  • a telescopic plate 2 is disposed in the middle of the front surface, and the telescopic plate 2 is embedded in the front platen 3, and the telescopic plate 2 is disposed.
  • the top end and the front pressure of the telescopic plate 2 are provided.
  • the front side of the plate 3 is movably connected, and the extension plate 2 is embedded in the interior of the front platen 3.
  • the robot can increase the contact area with the road surface on an uneven road, thereby improving the robot.
  • the bottom end of the front platen 3 is provided with an elastic column base 301 and an elastic column 302.
  • the elastic column 302 is disposed, and the top end of the elastic column base 301 is movably connected with the bottom end of the elastic column 302.
  • the elastic column 302 can cushion the impact force of the foot, so that the control motor 8 of the robot can work as stable as possible, and the safety is improved.
  • the inner portion of the left pressure plate 1 is provided with a fixed column notch 102 and a fixed column groove.
  • the inside of the mouth 102 is fixed with a plurality of uniformly distributed fixing columns 101, and the fixing column 101 is disposed.
  • the inner side of the left pressing plate 1 is fixedly connected with the bottom end of the fixing column 101, and the length of the fixing column 101 is 5 cm because the fixing column 101 is uniform.
  • Distributed on the inner side of the left pressure plate 1, so that the robot can increase the friction force and improve the grip of the robot when walking on the uneven road surface the left pressure plate 1, the front pressure plate 3 and the right pressure
  • a telescopic column base 103 and a telescopic column 104 are disposed in the middle of the end portion of the 4, and a telescopic column 104 is disposed.
  • the telescopic column base 103 and the telescopic column 104 are movably connected, and the left pressing plate 1, the front pressing plate 3 and the right pressing plate 4 are surrounded by a square. Because the control motor 8 controls the buffer column 5 through the conductive line 6, and then controls the movement of the foot through the telescopic column 104, when the robot foot is stuck in the gap, the left pressure plate 1, the front pressure plate 3 and the right pressure plate 4 are controlled by the telescopic column 104.
  • the foot of the robot can be flexibly extended and contracted, and the top of the telescopic column 104 is fixed with a buffer column 5, and the left and right sides of the buffer column 5 are respectively provided with a conductive wire 6, and the other end of the conductive wire 6 is connected
  • the motor 8 is controlled, and a rotating shaft 7 is disposed in the middle of the top end of the buffer column 5, and a rotating shaft 7 is disposed.
  • the top of the buffer column 5 is movably connected to the bottom end of the control motor 8 through the rotating shaft 7, and the rotating shaft 7 is embedded in the rotating shaft 7.
  • the buffer column 5 and the control motor 8 can be flexibly rotated up and down by the rotating shaft 7, thereby enabling the robot to flexibly control the foot and improving the working efficiency.
  • the top of the foot device body 9 is installed at the thigh of the robot, so that the robot can adapt to various different grounds, and the fixing column 101 is disposed, and the inner side of the left pressing plate 1 is fixedly connected with the bottom end of the fixing column 101, Moreover, the length of the fixing post 101 is 5 cm, because the fixing post 101 is evenly distributed on the inner side of the left pressing plate 1, so that the robot can also increase the friction when walking on uneven road surface. The friction force is used to improve the grip of the robot. Then, the telescopic plate 2 is disposed. The top end of the telescopic plate 2 is movably connected to the front surface of the front platen 3, and the telescopic plate 2 is embedded in the interior of the front platen 3.
  • the robot Before the extension plate 2 is extended When the pressure plate 3 is pressed, the robot can increase the contact area with the road surface on the uneven road, thereby improving the grip of the robot foot. Then, the telescopic column 104 is disposed, and the telescopic column base 103 and the telescopic column 104 are movably connected, and The left pressure plate 1, the front pressure plate 3, and the right pressure plate 4 are surrounded by a square, because the control motor 8 controls the buffer column 5 through the conductive wire 6, and then controls the movement of the foot through the telescopic column 104, when the robot foot is stuck in the gap, passes The telescopic column 104 controls the left pressure plate 1, the front pressure plate 3, and the right pressure plate 4 to allow the foot of the robot to flexibly expand and contract.
  • the rotary shaft 7 is disposed, and the top of the buffer column 5 and the bottom end of the control motor 8 are rotated.
  • the shaft 7 is movably connected, and the rotating shaft 7 is embedded between the buffer column 5 and the control motor 8, and the buffer shaft 5 and the control motor 8 can be flexibly rotated up and down by the rotating shaft 7, thereby driving Human foot can be flexible control, improve efficiency, thereby completing the processes and apparatus of the foot of the body 9.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种抓地力强的行走机器人脚部装置，包括脚部装置主体（9），其底部安装有左压板（1），左压板的对立侧与右侧均安装有前压板（3）和右压板（4），前压板的正面中间嵌入设置有伸缩板（2），前压板的内部底端设置有弹性柱底座（301）和弹性柱（302），旋转轴（7）嵌入设置于缓冲柱（5）和控制电机（8）之间，缓冲柱的顶部与控制电机的底端通过旋转轴活动连接，通过旋转轴让缓冲柱与控制电机能够灵活的上下转动，进而带动机器人能够灵活的控制脚部，提高了工作效率。

Description

一种抓地力强的行走机器人脚部装置 技术领域
本发明涉及机器人脚部装置技术领域，具体为一种抓地力强的行走机器人脚部装置。
背景技术
机器人是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。它的任务是协助或取代人类工作的工作，例如生产业、建筑业，或是危险的工作，随着时代的进步，机器人的脚部装置也多种多样。
现有的一种抓地力强的行走机器人脚部装置，无法灵活的控制脚部的运作，不能在凹凸不平的路上正常行走，不能有效的缓冲地面带来的冲击力。
发明内容
本发明的目的在于提供一种抓地力强的行走机器人脚部装置，以解决上述背景技术中提出无法灵活的控制脚部的运作，不能在凹凸不平的路上正常行走，不能有效的缓冲地面带来的冲击力的问题。
为实现上述目的，本发明提供如下技术方案：一种抓地力强的行走机器人脚部装置，包括脚部装置主体，所述脚部装置主体的底部安装有左压板，且左压板的对立侧与右侧均安装有前压板和右压板，所述前压板的正面中间设置有伸缩板，且伸缩板嵌入设置于前压板中，所述前压板的内部底端设置有弹性柱底座和弹性柱，所述左压板的内部中间设置有固定柱槽口，且固定柱槽口的内部固定有若干个均匀分布的固定柱，所述左压板、前压板和右压板的端部中间均设置有伸缩柱底座和伸缩柱，且伸缩柱的顶端固定有缓冲柱，所述缓冲柱的左右两侧均安装有传导线，且传导线的另一端连接有控制电机， 所述缓冲柱的顶端中间设置有旋转轴。
优选的，所述缓冲柱的顶部与控制电机的底端通过旋转轴活动连接，且旋转轴嵌入设置于所述缓冲柱和控制电机之间。
优选的，所述伸缩板的顶端与前压板的前面中间活动连接，且伸缩板嵌入设置于前压板的内部。
优选的，所述弹性柱底座的顶端中间与弹性柱的底端中间活动连接。
优选的，所述左压板的内侧与固定柱的底端固定连接，且固定柱的长度为5cm。
优选的，所述伸缩柱底座和伸缩柱活动连接，且左压板、前压板和右压板包围成一个正方形。
与现有技术相比，本发明的有益效果是：该种抓地力强的行走机器人脚部装置，设置了旋转轴，缓冲柱的顶部与控制电机的底端通过旋转轴活动连接，且旋转轴嵌入设置于所述缓冲柱和控制电机之间，通过旋转轴让缓冲柱与控制电机能够灵活的上下转动，进而带动机器人能够灵活的控制脚部，提高了工作效率，设置了伸缩板，伸缩板的顶端与前压板的前面中间活动连接，且伸缩板嵌入设置于前压板的内部，伸缩板伸出前压板时，能够让机器人在不平的道路上增大与路面的接触面积，从而提高了机器人脚部的抓地力，设置了弹性柱，弹性柱底座的顶端中间与弹性柱的底端中间活动连接，弹性柱能够缓冲脚部带来的冲击力，让机器人的控制电机能够尽量稳定的工作，提高了安全性，设置了固定柱，左压板的内侧与固定柱的底端固定连接，且固定柱的长度为5cm，因为固定柱均匀分布于左压板的内侧，使得机器人在行走在凹凸不平的路面时，也能够增大摩擦力，提高机器人的抓地力，设置了伸缩柱，伸缩柱底座和伸缩柱活动连接，且左压板、前压板和右压板包围成一个正方形，因为控制电机通过传导线控制缓冲柱，进而通过伸缩柱控制脚部 的运动，当机器人脚部卡在缝隙里，通过伸缩柱控制左压板、前压板和右压板，让机器人的脚部能够灵活的伸展与收缩。
附图说明
图1为本发明整体结构示意图；
图2为本发明前压板结构剖视图；
图3为本发明左压板底部结构示意图；
图4为本发明左压板局部结构示意图。
图中：1、左压板，101、固定柱，102、固定柱槽口，103、伸缩柱底座，104、伸缩柱，2、伸缩板，3、前压板，301、弹性柱底座，302、弹性柱，4、右压板，5、缓冲柱，6、传导线，7、旋转轴，8、控制电机，9、脚部装置主体。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1-4，本发明提供一种技术方案：一种抓地力强的行走机器人脚部装置，包括1、左压板，101、固定柱，102、固定柱槽口，103、伸缩柱底座，104、伸缩柱，2、伸缩板，3、前压板，301、弹性柱底座，302、弹性柱，4、右压板，5、缓冲柱，6、传导线，7、旋转轴，8、控制电机，9、脚部装置主体，所述脚部装置主体9的底部安装有左压板1，且左压板1的对立侧与右侧均安装有前压板3和右压板4，所述前压板3的正面中间设置有伸缩板2，且伸缩板2嵌入设置于前压板3中，设置了伸缩板2，伸缩板2的顶端与前压 板3的前面中间活动连接，且伸缩板2嵌入设置于前压板3的内部，伸缩板2伸出前压板3时，能够让机器人在不平的道路上增大与路面的接触面积，从而提高了机器人脚部的抓地力，所述前压板3的内部底端设置有弹性柱底座301和弹性柱302，设置了弹性柱302，弹性柱底座301的顶端中间与弹性柱302的底端中间活动连接，弹性柱302能够缓冲脚部带来的冲击力，让机器人的控制电机8能够尽量稳定的工作，提高了安全性，所述左压板1的内部中间设置有固定柱槽口102，且固定柱槽口102的内部固定有若干个均匀分布的固定柱101，设置了固定柱101，左压板1的内侧与固定柱101的底端固定连接，且固定柱101的长度为5cm，因为固定柱101均匀分布于左压板1的内侧，使得机器人在行走在凹凸不平的路面时，也能够增大摩擦力，提高机器人的抓地力，所述左压板1、前压板3和右压板4的端部中间均设置有伸缩柱底座103和伸缩柱104，设置了伸缩柱104，伸缩柱底座103和伸缩柱104活动连接，且左压板1、前压板3和右压板4包围成一个正方形，因为控制电机8通过传导线6控制缓冲柱5，进而通过伸缩柱104控制脚部的运动，当机器人脚部卡在缝隙里，通过伸缩柱104控制左压板1、前压板3和右压板4，让机器人的脚部能够灵活的伸展与收缩，且伸缩柱104的顶端固定有缓冲柱5，所述缓冲柱5的左右两侧均安装有传导线6，且传导线6的另一端连接有控制电机8，所述缓冲柱5的顶端中间设置有旋转轴7，设置了旋转轴7，缓冲柱5的顶部与控制电机8的底端通过旋转轴7活动连接，且旋转轴7嵌入设置于所述缓冲柱5和控制电机8之间，通过旋转轴7让缓冲柱5与控制电机8能够灵活的上下转动，进而带动机器人能够灵活的控制脚部，提高了工作效率。
工作原理：首先，脚部装置主体9的顶部安装在机器人的大腿处，让机器人能够适应各种不同的地面，设置了固定柱101，左压板1的内侧与固定柱101的底端固定连接，且固定柱101的长度为5cm，因为固定柱101均匀分布于左压板1的内侧，使得机器人在行走在凹凸不平的路面时，也能够增大摩 擦力，提高机器人的抓地力，然后，设置了伸缩板2，伸缩板2的顶端与前压板3的前面中间活动连接，且伸缩板2嵌入设置于前压板3的内部，伸缩板2伸出前压板3时，能够让机器人在不平的道路上增大与路面的接触面积，从而提高了机器人脚部的抓地力，接着，设置了伸缩柱104，伸缩柱底座103和伸缩柱104活动连接，且左压板1、前压板3和右压板4包围成一个正方形，因为控制电机8通过传导线6控制缓冲柱5，进而通过伸缩柱104控制脚部的运动，当机器人脚部卡在缝隙里，通过伸缩柱104控制左压板1、前压板3和右压板4，让机器人的脚部能够灵活的伸展与收缩，随后，设置了旋转轴7，缓冲柱5的顶部与控制电机8的底端通过旋转轴7活动连接，且旋转轴7嵌入设置于所述缓冲柱5和控制电机8之间，通过旋转轴7让缓冲柱5与控制电机8能够灵活的上下转动，进而带动机器人能够灵活的控制脚部，提高了工作效率，从而完成了脚部装置主体9的工作过程。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (8)

  1. 一种抓地力强的行走机器人脚部装置，包括脚部装置主体(9)，其特征在于：所述脚部装置主体(9)的底部安装有左压板(1)，且左压板(1)的对立侧与右侧均安装有前压板(3)和右压板(4)，所述前压板(3)的正面中间设置有伸缩板(2)，且伸缩板(2)嵌入设置于前压板(3)中，所述前压板(3)的内部底端设置有弹性柱底座(301)和弹性柱(302)，所述左压板(1)的内部中间设置有固定柱槽口(102)，且固定柱槽口(102)的内部固定有若干个均匀分布的固定柱(101)，所述左压板(1)、前压板(3)和右压板(4)的端部中间均设置有伸缩柱底座(103)和伸缩柱(104)，且伸缩柱(104)的顶端固定有缓冲柱(5)，所述缓冲柱(5)的左右两侧均安装有传导线(6)，且传导线(6)的另一端连接有控制电机(8)，所述缓冲柱(5)的顶端中间设置有旋转轴(7)。
  2. 根据权利要求1所述的一种抓地力强的行走机器人脚部装置，其特征在于：所述缓冲柱(5)的顶部与控制电机(8)的底端通过旋转轴(7)活动连接。
  3. 根据权利要求2所述的一种抓地力强的行走机器人脚部装置，其特征在于：旋转轴(7)嵌入设置于所述缓冲柱(5)和控制电机(8)之间。
  4. 根据权利要求1所述的一种抓地力强的行走机器人脚部装置，其特征在于：所述伸缩板(2)的顶端与前压板(3)的前面中间活动连接，且伸缩板(2)嵌入设置于前压板(3)的内部。
  5. 根据权利要求1所述的一种抓地力强的行走机器人脚部装置，其特征在于：所述弹性柱底座(301)的顶端中间与弹性柱(302)的底端中间活动连接。
  6. 根据权利要求1所述的一种抓地力强的行走机器人脚部装置，其特征在于：所述左压板(1)的内侧与固定柱(101)的底端固定连接。
  7. 根据权利要求6所述的一种抓地力强的行走机器人脚部装置，其特征 在于：固定柱(101)的长度为5cm。
  8. 根据权利要求1所述的一种抓地力强的行走机器人脚部装置，其特征在于：所述伸缩柱底座(103)和伸缩柱(104)活动连接，且左压板(1)、前压板(3)和右压板(4)包围成一个正方形。
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US5421426A (en) * 1992-11-05 1995-06-06 Commissariat A L'energie Atomique Walking robot foot
US5758734A (en) * 1996-01-19 1998-06-02 Korea Institute Of Science And Technology Foot system for jointed leg type walking robot
CN203946189U (zh) * 2014-07-10 2014-11-19 武汉大学 一种用于步行机器人的足部模块
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