WO2019041076A1 - 一种智能机器人用自动平衡足部受力装置 - Google Patents

一种智能机器人用自动平衡足部受力装置 Download PDF

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Publication number
WO2019041076A1
WO2019041076A1 PCT/CN2017/099217 CN2017099217W WO2019041076A1 WO 2019041076 A1 WO2019041076 A1 WO 2019041076A1 CN 2017099217 W CN2017099217 W CN 2017099217W WO 2019041076 A1 WO2019041076 A1 WO 2019041076A1
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Prior art keywords
foot
strut
tightly welded
sole
ankle
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PCT/CN2017/099217
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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/CN2017/099217 priority Critical patent/WO2019041076A1/zh
Publication of WO2019041076A1 publication Critical patent/WO2019041076A1/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
    • B62D57/028—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 having wheels and mechanical legs
    • 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 an automatic balance force device, in particular to an automatic balance foot force device for an intelligent robot.
  • the existing robots mainly include various forms such as wheeled, crawler, and foot. Wheeled robots can move at high speeds on flat roads (highways), but in rugged terrain, energy consumption is greatly increased, or even completely lost. Tracked machines are more suitable for soft terrain without getting caught, and their dynamics are as bad as wheeled robots in rugged terrain.
  • the footer is different from the above two types of robots. During the movement, only a few discrete points are needed for it to pass, and the ground can be successfully passed through the rugged, soft or muddy ground. Because foot-based robots have greater adaptability in complex ground walking, multi-legged walking robots have received extensive attention and have been used in military defense, aerospace, industrial agriculture and other fields. Although the multi-legged walking robot is developing rapidly, there are still some shortcomings. For example, the footboard structure of the foot of the flat-footed robot lacks shock absorption and cushioning devices, which greatly reduces the stability of the robot walking.
  • the object of the present invention is to provide an automatic balance foot force device for an intelligent robot, which solves the problem that the foot structure of the foot of the existing foot robot proposed in the above background art lacks a shock absorption and buffer device, and greatly reduces the smooth walking of the robot. Sexual problem.
  • an automatic balance foot force device for an intelligent robot including an ankle and a sole, and both ends of the sole are equipped with a foot card slot.
  • a foot plate is connected to both sides of the foot plate slot, and a foot plate connecting shaft is disposed at one end of the foot plate, and a strut is connected to an intermediate position of the foot plate connecting shaft, and the strut is
  • a support rod connecting block is mounted on one end, and one side of the strut connecting block is provided with a branching rod, and both sides of the sole are provided with a secondary spring, and the bottom of the auxiliary spring is connected with a diagonal bracing a rod, the bottom of the diagonal strut is mounted with a rubber bearing, the inner bottom end of the ankle is mounted with a sliding block, and both ends of the sliding block are connected with a guiding groove, and the upper position of the sliding block
  • a main spring is disposed, the upper position of the ankle is provided with a plurality of connecting columns, and
  • the foot plate connecting shafts are respectively embedded in one end of the foot plate, and the intermediate positions of the foot plates are tightly welded with the struts, and the struts are fixedly connected with one end of the struts connecting block, and One end of the branching rod is tightly welded to the other end of the strut connecting block, and the other end of the branching rod is fixedly connected with one side of the sliding block, and the top of the sliding block is tightly welded to the bottom end of the main spring.
  • the top end of the main spring is tightly welded to the inner upper end of the ankle.
  • both sides of the sole are tightly welded to one end of the foot card slot, and both ends of the foot plate slot are movably connected with the foot plate, and the number of the foot plates is two, the circle
  • the connecting block is embedded in the bottom of the ankle, and the bottom of the circular connecting block is tightly welded to the top of the sole.
  • auxiliary springs are respectively embedded on both sides of the sole of the foot, and the bottom of the secondary spring is tightly welded to the top of the diagonal strut, and the bottom of the diagonal strut is fixed to the surface of the rubber support connection.
  • the bottom of the connecting post is tightly welded to the upper surface of the ankle, and the pin holes are embedded in the interior of the connecting post.
  • the beneficial effect of the present invention is that the foot plate connecting shafts are all embedded in one end of the foot plate, and the intermediate positions of the foot plates are closely welded with the struts, and the struts are both Fixedly connected to one end of the strut connecting block, and one end of the branching rod is tightly welded to the other end of the strut connecting block, and the other end of the branching bar is fixedly connected with one side of the sliding block, the sliding Block
  • the top is tightly welded to the bottom end of the main spring, and the top end of the main spring is tightly welded to the inner upper end of the ankle.
  • the end of the foot plate When the side of the robot is tilted, the end of the foot plate is pressed, and the pressure is passed through the strut and the strut connecting block.
  • the branch rod pushes the sliding block upward to push the main spring upward to compress, and the spring has shock absorption and damping effect, thereby slowing down the flapping speed of the foot board, improving the smoothness of the robot during walking, and both sides of the sole
  • the two ends of the foot plate slot are tightly welded to the foot plate, and the two ends of the foot plate slot are movably connected to the foot plate.
  • the number of the foot plates is two, and the circular connecting block is embedded in the bottom of the foot.
  • the bottom of the circular connecting block is tightly welded with the top of the sole of the foot, and the foot plate is arranged through the front and the back, so that the robot has protection and shock absorption measures when leaning forward and backward, and the ankle and the sole Connected by a circular connecting block, the circular connecting block is "arched", and the arch has a force dispersion, so that the sole and the two foot plates are more balanced, and the secondary springs are embedded in the sole Both sides, and said The bottom of the secondary spring is tightly welded to the top of the diagonal strut, and the bottom of the diagonal strut is fixedly connected with the surface of the rubber support. When the robot is tilted to the left and right, the pressure is transmitted to the vice by the rubber support.
  • the secondary spring On the spring, the secondary spring is compressed, and the pressure is dispersed during the compression process of the secondary spring, thereby playing a supporting role, and the stability of the robot can be further improved by damping the left and right sides of the robot, the connecting column
  • the bottom of each of the bottoms is tightly welded to the upper surface of the ankle.
  • the pin holes are embedded in the interior of the connecting post. By inserting the pin into the pin hole in the connecting post, the balancing device can be quickly disassembled, which is more convenient and convenient. And cleaning.
  • Figure 1 is a schematic view of the overall structure of the present invention
  • Figure 2 is a partial structural view of the movable pulley of the present invention.
  • an automatic balance foot force device for an intelligent robot including an ankle 1 and a sole 2, and both ends of the sole 2 are equipped with a foot plate.
  • Card slot 8 And the two sides of the foot board slot 8 are connected with a foot board 3, one end of the foot board 3 is provided with a foot board connecting shaft 4, and the middle position of the foot board connecting shaft 4 is connected with a strut 5, one end of the strut 5 is mounted with a strut connecting block 6, and one side of the strut connecting block 6 is provided with a branching rod 7, and both sides of the sole 2 are provided with a secondary spring 13
  • the bottom of the auxiliary spring 13 is connected with a diagonal strut 15 , the bottom of the diagonal strut 15 is mounted with a rubber support 16 , and the inner bottom end of the ankle 1 is mounted with a sliding block 9
  • Each of the two ends of the sliding block 9 is connected with a guiding groove 14 .
  • the upper part of the sliding block 9 is provided with a main spring 10 , and a plurality of connecting columns 11 are arranged at an upper position of the ankle 1 , and the connecting column 11 is arranged.
  • the inside is provided with a pin hole 12, and the bottom of the foot 2 is provided with a circular connecting block 17.
  • the foot plate connecting shafts 4 are all embedded in one end of the foot plate 3, and the intermediate positions of the foot plates 3 are tightly welded with the strut 5, and the strut 5 is connected to the strut connecting block 6
  • One end of the branching rod 7 is tightly welded to the other end of the strut connecting block 6, and the other end of the branching rod 7 is fixedly connected to one side of the sliding block 9, the sliding block
  • the top of the main spring 10 is tightly welded to the bottom end of the main spring 10, and the top end of the main spring 10 is tightly welded to the inner upper end of the ankle 1.
  • both sides of the sole 2 are tightly welded to one end of the foot plate slot 8 and the Both ends of the foot board slot 8 are movably connected to the foot board 3, the number of the foot boards 3 is two, the circular connecting block 17 is embedded in the bottom of the footrest 1, and the circular connecting block 17
  • the bottom is tightly welded to the top of the sole 2, and the foot plate 3 is provided through the front and the back, so that the robot has protection and shock absorption measures when leaning forward and backward, and the ankle 1 and the sole 2 are connected by a round connection.
  • the blocks 17 are joined, and the circular connecting block 17 is "arched", and the arch has a force dispersion, so that the sole 2 and the two foot plates 3 are more balanced.
  • auxiliary springs 13 are respectively embedded on both sides of the sole 2, and the bottom of the secondary spring 13 is tightly welded to the top of the diagonal strut 15, and the bottom of the diagonal strut 15 is rubberized.
  • the surface of the support 16 is fixedly connected.
  • the bottom of the connecting post 11 is tightly welded to the upper surface of the ankle 1 , and the pin holes 12 are respectively embedded in the interior of the connecting post 11 , and the plug is inserted into the pin hole 12 in the connecting post 11 .
  • the balancing device can be quickly disassembled for easier maintenance and cleaning.

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

Abstract

一种智能机器人用自动平衡足部受力装置，包括足踝（1）和足底（2），足底两侧连接有足板（3），足板的一端嵌入足板连接轴（4），足板的中间位置与支杆（5）紧密焊接，支杆与支杆连接块（6）的一端固定连接，支杆连接块的另一端与分支杆（7）的一端紧密焊接，分支杆的另一端与滑动块（9）的一侧固定连接，滑动块的顶部与主弹簧（10）的底端紧密焊接，主弹簧的顶端与足踝的内部上端紧密焊接。当机器人倾斜时，足板一端受压，压力通过支杆和支杆连接块，使分支杆推动滑动块向上移动从而推动主弹簧向上压缩，而弹簧具有减震和阻尼作用，从而使足板的翻转速度减缓，提高了平稳性。

Description

一种智能机器人用自动平衡足部受力装置 技术领域
本发明涉及自动平衡受力装置技术领域，具体为一种智能机器人用自动平衡足部受力装置。
背景技术
现有机器人的运动方式主要包括有轮式、履带式、足式等多种形式。轮式机器人可在平坦路面(公路)上高速移动，但在崎岖不平的地形中，将大大增加能耗，甚至完全丧失行动能力。履带式机器更适合于松软地形行动而不陷入，其在崎岖不平的地形中能动性与轮式机器人一样差。
足式器人则与上述两种机器人不同，其在运动过程中，仅需要一些离散的点供其落足，就可以成功通过崎岖、松软或泥泞的地面。正因为足式机器人在复杂地面行走方面具有更强的适应能力，多足步行机器人受到人们的广泛重视，现已被应用于军事国防、航空航天、工业农业等领域。虽然多足步行机器人发展迅猛，但仍存在不足，如平足式机器人足部的脚板结构缺乏减震、缓冲装置，大大降低机器人行走的平稳性。
所以，如何设计一种智能机器人用自动平衡足部受力装置，成为我们当前要解决的问题。
发明内容
本发明的目的在于提供一种智能机器人用自动平衡足部受力装置，以解决上述背景技术中提出的现有足式机器人足部的脚板结构缺乏减震、缓冲装置，大大降低机器人行走的平稳性的问题。
为实现上述目的，本发明提供如下技术方案：一种智能机器人用自动平衡足部受力装置，包括足踝和足底，所述足底的两端均安装有足板卡槽。且 所述足板卡槽的两侧均连接有足板，所述足板的一端均设置有足板连接轴，且所述足板连接轴的中间位置均连接有支杆，所述支杆的一端均安装有支杆连接块，且所述支杆连接块的一侧均设置有分支杆，所述足底的两侧均设置有副弹簧，且所述副弹簧的底部均连接有斜撑杆，所述斜撑杆的底部均安装有橡胶支座，所述足踝的内部底端安装有滑动块，且所述滑动块的两端均连接有导槽，所述滑动块的上方位置设置有主弹簧，所述足踝的上方位置设置有若干个连接柱，且所述连接柱的内部设置有插销孔，所述足踝的底部设置有圆型连接块。
进一步的，所述足板连接轴均嵌入设置于足板的一端内，且所述足板的中间位置均与支杆紧密焊接，所述支杆均与支杆连接块的一端固定连接，且所述分支杆的一端均与支杆连接块的另一端紧密焊接，且所述分支杆的另一端均与滑动块的一侧固定连接，所述滑动块的顶部与主弹簧的底端紧密焊接，所述主弹簧的顶端与足踝的内部上端紧密焊接。
进一步的，所述足底的两侧均与足板卡槽的一端紧密焊接，且所述足板卡槽的两端与足板活动连接，所述足板的数量为2个，所述圆型连接块嵌入设置于足踝的底部，且所述圆型连接块的底部与足底的顶部紧密焊接。
进一步的，所述副弹簧均嵌入设置于足底的两侧，且所述副弹簧的底部均与斜撑杆的顶部紧密焊接，且所述斜撑杆的底部均与橡胶支座的表面固定连接。
进一步的，所述连接柱的底部均与足踝的上方表面紧密焊接，所述插销孔均嵌入设置于连接柱的内部。
与现有技术相比，本发明的有益效果是：所述足板连接轴均嵌入设置于足板的一端内，且所述足板的中间位置均与支杆紧密焊接，所述支杆均与支杆连接块的一端固定连接，且所述分支杆的一端均与支杆连接块的另一端紧密焊接，且所述分支杆的另一端均与滑动块的一侧固定连接，所述滑动块的 顶部与主弹簧的底端紧密焊接，所述主弹簧的顶端与足踝的内部上端紧密焊接，当机器人一侧受力倾斜时，足板一端受压，压力通过支杆和支杆连接块，使分支杆推动滑动块向上移动从而推动主弹簧向上压缩，而弹簧具有减震和阻尼作用，从而使足板的翻转速度减缓，提高了机器人行走过程中的平稳性，所述足底的两侧均与足板卡槽的一端紧密焊接，且所述足板卡槽的两端与足板活动连接，所述足板的数量为2个，所述圆型连接块嵌入设置于足踝的底部，且所述圆型连接块的底部与足底的顶部紧密焊接，通过前后均设置有足板，使机器人在前倾和后倾的时候均有保护和减震措施，而足踝和足底通过圆型连接块连接，圆型连接块呈“拱形”，而拱形具有力的分散作用，从而使足底和两个足板受力更加平衡，所述副弹簧均嵌入设置于足底的两侧，且所述副弹簧的底部均与斜撑杆的顶部紧密焊接，且所述斜撑杆的底部均与橡胶支座的表面固定连接，当机器人在向左右小幅度倾斜时，压力通过橡胶支座传递到副弹簧上，从而使副弹簧压缩，副弹簧的压缩过程中将压力分散，从而起到一个支撑作用，通过对机器人的左右起到减震固定作用，可进一步提高机器人的稳定性，所述连接柱的底部均与足踝的上方表面紧密焊接，所述插销孔均嵌入设置于连接柱的内部，通过将插销插入连接柱内的插销孔内，可快速的拆装该平衡装置，更加方便与维修和清扫。
附图说明
图1是本发明的整体结构示意图；
图2是本发明的动滑轮局部结构示意图。
图中：1-足踝；2-足底；3-足板；4-足板连接轴；5-支杆；6-支杆连接块；7-分支杆；8-足板卡槽；9-滑动块；10-主弹簧；11-连接柱；12-插销孔；13-副弹簧；14-导槽；15-斜撑杆；16-橡胶支座；17-圆型连接块。
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1-2，本发明提供一种技术方案：一种智能机器人用自动平衡足部受力装置，包括足踝1和足底2，所述足底2的两端均安装有足板卡槽8。且所述足板卡槽8的两侧均连接有足板3，所述足板3的一端均设置有足板连接轴4，且所述足板连接轴4的中间位置均连接有支杆5，所述支杆5的一端均安装有支杆连接块6，且所述支杆连接块6的一侧均设置有分支杆7，所述足底2的两侧均设置有副弹簧13，且所述副弹簧13的底部均连接有斜撑杆15，所述斜撑杆15的底部均安装有橡胶支座16，所述足踝1的内部底端安装有滑动块9，且所述滑动块9的两端均连接有导槽14，所述滑动块9的上方位置设置有主弹簧10，所述足踝1的上方位置设置有若干个连接柱11，且所述连接柱11的内部设置有插销孔12，所述足踝2的底部设置有圆型连接块17。
进一步的，所述足板连接轴4均嵌入设置于足板3的一端内，且所述足板3的中间位置均与支杆5紧密焊接，所述支杆5均与支杆连接块6的一端固定连接，且所述分支杆7的一端均与支杆连接块6的另一端紧密焊接，且所述分支杆7的另一端均与滑动块9的一侧固定连接，所述滑动块9的顶部与主弹簧10的底端紧密焊接，所述主弹簧10的顶端与足踝1的内部上端紧密焊接，当机器人一侧受力倾斜时，足板3一端受压，压力通过支杆5和支杆连接块6，使分支杆7推动滑动块9向上移动从而推动主弹簧10向上压缩，而弹簧具有减震和阻尼作用，从而使足板3的翻转速度减缓，提高了机器人行走过程中的平稳性。
进一步的，所述足底2的两侧均与足板卡槽8的一端紧密焊接，且所述 足板卡槽8的两端与足板3活动连接，所述足板3的数量为2个，所述圆型连接块17嵌入设置于足踝1的底部，且所述圆型连接块17的底部与足底2的顶部紧密焊接，通过前后均设置有足板3，使机器人在前倾和后倾的时候均有保护和减震措施，而足踝1和足底2通过圆型连接块17连接，圆型连接块17呈“拱形”，而拱形具有力的分散作用，从而使足底2和两个足板3受力更加平衡。
进一步的，所述副弹簧13均嵌入设置于足底2的两侧，且所述副弹簧13的底部均与斜撑杆15的顶部紧密焊接，且所述斜撑杆15的底部均与橡胶支座16的表面固定连接，当机器人在向左右小幅度倾斜时，压力通过橡胶支座16传递到副弹簧13上，从而使副弹簧13压缩，副弹簧13的压缩过程中将压力分散，从而起到一个支撑作用，通过对机器人的左右起到减震固定作用，可进一步提高机器人的稳定性。
进一步的，所述连接柱11的底部均与足踝1的上方表面紧密焊接，所述插销孔12均嵌入设置于连接柱11的内部，通过将插销插入连接柱11内的插销孔12内，可快速的拆装该平衡装置，更加方便与维修和清扫。
工作原理：首先，当机器人一侧受力倾斜时，足板3一端受压，压力通过支杆5和支杆连接块6，使分支杆7推动滑动块9向上移动从而推动主弹簧10向上压缩，而弹簧具有减震和阻尼作用，从而使足板3的翻转速度减缓，提高了机器人行走过程中的平稳性，而通过设置有两个足板3，使机器人在前倾和后倾的时候均有保护和减震措施，而足踝1和足底2通过圆型连接块17连接，圆型连接块17呈“拱形”，而拱形具有力的分散作用，从而使足底2和两个足板3受力更加平衡，接着，当机器人在向左右小幅度倾斜时，压力通过橡胶支座16传递到副弹簧13上，从而使副弹簧13压缩，副弹簧13的压缩过程中将压力分散，从而起到一个支撑作用，可进一步提高机器人的稳定性，最后，通过将插销插入连接柱11内的插销孔12内，可快速的拆装该 平衡装置，更加方便与维修和清扫。
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. 一种智能机器人用自动平衡足部受力装置，包括足踝(1)和足底(2)，其特征在于：所述足底(2)的两端均安装有足板卡槽(8)，且所述足板卡槽(8)的两侧均连接有足板(3)，所述足板(3)的一端均设置有足板连接轴(4)，且所述足板连接轴(4)的中间位置均连接有支杆(5)，所述支杆(5)的一端均安装有支杆连接块(6)，且所述支杆连接块(6)的一侧均设置有分支杆(7)，所述足底(2)的两侧均设置有副弹簧(13)，且所述副弹簧(13)的底部均连接有斜撑杆(15)，所述斜撑杆(15)的底部均安装有橡胶支座(16)，所述足踝(1)的内部底端安装有滑动块(9)，且所述滑动块(9)的两端均连接有导槽(14)，所述滑动块(9)的上方位置设置有主弹簧(10)，所述足踝(1)的上方位置设置有若干个连接柱(11)，且所述连接柱(11)的内部设置有插销孔(12)，所述足踝(2)的底部设置有圆型连接块(17)。
  2. 根据权利要求1所述的一种智能机器人用自动平衡足部受力装置，其特征在于：所述足板连接轴(4)均嵌入设置于足板(3)的一端内，且所述足板(3)的中间位置均与支杆(5)紧密焊接，所述支杆(5)均与支杆连接块(6)的一端固定连接，且所述分支杆(7)的一端均与支杆连接块(6)的另一端紧密焊接，且所述分支杆(7)的另一端均与滑动块(9)的一侧固定连接。
  3. 根据权利要求2所述的一种智能机器人用自动平衡足部受力装置，其特征在于：所述滑动块(9)的顶部与主弹簧(10)的底端紧密焊接，所述主弹簧(10)的顶端与足踝(1)的内部上端紧密焊接。
  4. 根据权利要求3所述的一种智能机器人用自动平衡足部受力装置，其特征在于：所述足底(2)的两侧均与足板卡槽(8)的一端紧密焊接，且所述足板卡槽(8)的两端与足板(3)活动连接。
  5. 根据权利要求4所述的一种智能机器人用自动平衡足部受力装置，其 特征在于：所述足板(3)的数量为2个。
  6. 根据权利要求4所述的一种智能机器人用自动平衡足部受力装置，其特征在于：所述圆型连接块(17)嵌入设置于足踝(1)的底部，且所述圆型连接块(17)的底部与足底(2)的顶部紧密焊接。
  7. 根据权利要求1所述的一种智能机器人用自动平衡足部受力装置，其特征在于：所述副弹簧(13)均嵌入设置于足底(2)的两侧，且所述副弹簧(13)的底部均与斜撑杆(15)的顶部紧密焊接，且所述斜撑杆(15)的底部均与橡胶支座(16)的表面固定连接。
  8. 根据权利要求1所述的一种智能机器人用自动平衡足部受力装置，其特征在于：所述连接柱(11)的底部均与足踝(1)的上方表面紧密焊接，所述插销孔(12)均嵌入设置于连接柱(11)的内部。
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