WO2019041077A1 - Intelligent robot - Google Patents
Intelligent robot Download PDFInfo
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- WO2019041077A1 WO2019041077A1 PCT/CN2017/099218 CN2017099218W WO2019041077A1 WO 2019041077 A1 WO2019041077 A1 WO 2019041077A1 CN 2017099218 W CN2017099218 W CN 2017099218W WO 2019041077 A1 WO2019041077 A1 WO 2019041077A1
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- foot
- foot plate
- strut
- ankle
- sole
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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 an automatic balancing force device, in particular to 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.
- an intelligent robot comprising an automatic balance foot force device, automatically balancing the foot force device and the sole of the foot, and both ends of the sole are equipped with a foot Board slot.
- a foot plate is connected to both sides of the foot plate slot, and one end of the foot plate is provided with a foot plate connecting shaft, and a middle portion of the foot plate connecting shaft is connected with a strut, the branch One end of the rod is mounted with a strut connecting block, 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 secondary spring is connected with a slanted struts, a bottom of which is mounted with a rubber bearing, an inner bottom end of the ankle is mounted with a sliding block, and two ends of the sliding block are connected with a guiding groove, and the sliding block is The upper position is provided with a main spring, the upper position of the ankle is provided with a
- 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 The top of the block 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 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 of the pair of springs are tightly welded to the top of the diagonal strut, and the bottom of the diagonal strut is fixedly connected to the surface of the rubber support.
- the pressure is Passed through the rubber bearing To the secondary spring, so that 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 bottom of the connecting post 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 and assembled, which is more convenient. With repair and cleaning.
- FIG. 1 is a schematic view showing the overall structure of an automatic balance foot force receiving device of the present invention
- Figure 2 is a partial structural view of the movable pulley of the present invention.
- an intelligent robot including an automatic balance foot force device, and an automatic balance foot force device including an ankle 1 and a sole 2, the sole 2
- a foot card slot 8 is mounted on both ends.
- 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 card slot 8, and both ends of the foot plate slot 8 are movably connected with the foot plate 3.
- the number of the foot plates 3 is 2.
- the circular connecting block 17 is embedded in the bottom of the ankle 1 and the bottom of the circular connecting block 17 and the sole 2 The top is tightly welded, and the foot plate 3 is provided through the front and the rear, 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 the circular connecting block 17, round
- the connecting block 17 is "arched" and the arch has a force dispersion which causes the sole 2 and the two foot plates 3 to be 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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Abstract
An intelligent robot, comprising an automatic balancing foot stress device. The automatic balancing foot stress device comprises an ankle (1) and a sole (2); foot plate slots (8) are mounted on two ends of the sole (2); a foot plate (3) is connected at two sides of each foot plate slot (8); a foot plate connecting shaft (4) is connected to one end of each foot plate (3); a support rod (5) is connected at the middle of each foot plate connecting shaft (4); a support rod connecting block (6) is mounted on one end of the support (5); auxiliary springs (13) are provided on two sides of the sole (2); a slide block (9) is mounted at the bottom end of the inner portion of the ankle (1); main springs (10) are provided above the slide block (9); a plurality of connecting columns (11) are provided above the ankle (1); the inner portion of each connection column (11) is provided with a pin hole (12); and the bottom of the ankle (1) is provided with a circular connecting block (17). When one side of the robot tilts, one end of the foot plate is pressed; the pressure pushes the slide block to move upwards by means of the support rod and the support rod connecting block so that the main springs are pushed to compress upwards; moreover, the springs have shock absorbing and damping functions, so that the turnover speed of the foot plate is decreased, and the smoothness of the robot in the walking process is improved.
Description
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。The invention relates to the technical field of an automatic balancing force device, in particular to an intelligent robot.
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。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.
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。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.
所以，如何设计一种智能机器人，成为我们当前要解决的问题。Therefore, how to design an intelligent robot has become a problem we are currently solving.
发明内容Summary of the invention
本发明的目的在于提供一种智能机器人，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。It is an object of the present invention to provide an intelligent robot that solves the problem that the foot structure of the foot of the foot of the conventional foot robot proposed in the above background art lacks a shock absorbing and cushioning device, and greatly reduces the stability of the walking of the robot.
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，包括自动平衡足部受力装置，自动平衡足部受力装置足踝和足底，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。In order to achieve the above object, the present invention provides the following technical solution: an intelligent robot comprising an automatic balance foot force device, automatically balancing the foot force device and the sole of the foot, and both ends of the sole are equipped with a foot Board slot. And a foot plate is connected to both sides of the foot plate slot, and one end of the foot plate is provided with a foot plate connecting shaft, and a middle portion of the foot plate connecting shaft is connected with a strut, the branch
One end of the rod is mounted with a strut connecting block, 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 secondary spring is connected with a slanted struts, a bottom of which is mounted with a rubber bearing, an inner bottom end of the ankle is mounted with a sliding block, and two ends of the sliding block are connected with a guiding groove, and the sliding block is The upper position is provided with a main spring, the upper position of the ankle is provided with a plurality of connecting columns, and the inside of the connecting post is provided with a pin hole, and the bottom of the ankle is provided with a circular connecting block.
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。Further, 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.
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。Further, 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.
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。Further, the 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.
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。Further, 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.
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。Compared with the prior art, 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 The top of the block 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. When the side of the robot is tilted, the end of the foot plate is pressed, and the pressure is connected through the strut and the strut. Piece,
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. And 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 of the pair of springs are tightly welded to the top of the diagonal strut, and the bottom of the diagonal strut is fixedly connected to the surface of the rubber support. When the robot is tilted to the left and right, the pressure is Passed through the rubber bearing To the secondary spring, so that 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 bottom of the connecting post 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 and assembled, which is more convenient. With repair and cleaning.
图1是本发明的自动平衡足部受力装置整体结构示意图；1 is a schematic view showing the overall structure of an automatic balance foot force receiving device of the present invention;
图2是本发明的动滑轮局部结构示意图。Figure 2 is a partial structural view of the movable pulley of the present invention.
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。In the figure: 1-foot; 2-foot; 3-foot plate; 4-foot plate connecting shaft; 5-strut; 6-strut connecting block; 7-branched rod; 8-foot plate slot; - sliding block; 10 - main spring; 11 - connecting post; 12 - pin hole; 13 - secondary spring; 14 - guide groove; 15 - diagonal strut; 16 - rubber support; 17 - round connection block.
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。The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.
Not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
请参阅图1-2，本发明提供一种技术方案：一种智能机器人，包括自动平衡足部受力装置，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。Referring to FIG. 1-2, the present invention provides a technical solution: an intelligent robot including an automatic balance foot force device, and an automatic balance foot force device including an ankle 1 and a sole 2, the sole 2 A foot card slot 8 is mounted on both ends. 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 And 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.
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。Further, 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. When the side of the robot is tilted, the end of the foot plate 3 is pressed, and the pressure is passed through the strut. 5 and the strut connecting block 6, so that the branching rod 7 pushes the sliding block 9 upward to push the main spring 10 upwardly, and the spring has shock absorption and damping effect, thereby slowing down the turning speed of the foot board 3, thereby improving the walking process of the robot The stability in the middle.
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。Further, both sides of the sole 2 are tightly welded to one end of the foot card slot 8, and both ends of the foot plate slot 8 are movably connected with the foot plate 3. The number of the foot plates 3 is 2. The circular connecting block 17 is embedded in the bottom of the ankle 1 and the bottom of the circular connecting block 17 and the sole 2
The top is tightly welded, and the foot plate 3 is provided through the front and the rear, 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 the circular connecting block 17, round The connecting block 17 is "arched" and the arch has a force dispersion which causes the sole 2 and the two foot plates 3 to be more balanced.
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。Further, the 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. When the robot is tilted to the left and right, the pressure is transmitted to the secondary spring 13 through the rubber support 16, so that the secondary spring 13 is compressed, and the pressure is dispersed during the compression of the secondary spring 13. It plays a supporting role and can further improve the stability of the robot by damping the left and right sides of the robot.
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。Further, 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.
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。
Working principle: First, when the robot is tilted on one side, the end of the foot plate 3 is pressed, and the pressure is passed through the strut 5 and the strut connecting block 6, so that the branching rod 7 pushes the sliding block 9 upward to push the main spring 10 upward. The spring has shock absorption and damping, so that the turning speed of the foot board 3 is slowed down, and the stability of the robot during walking is improved, and by setting two foot boards 3, the robot is tilted forward and backward. Both have protection and shock absorption measures, while the ankle 1 and the sole 2 are connected by a circular connecting block 17, the circular connecting block 17 is "arched", and the arch has a force dispersion, so that the sole 2 and The two foot boards 3 are more balanced, and then, when the robot is tilted to the left and right, the pressure is transmitted to the sub-spring 13 through the rubber support 16, so that the sub-spring 13 is compressed, and the sub-spring 13 is compressed during the compression process. The pressure is dispersed to play a supporting role, which can further improve the stability of the robot. Finally, by inserting the pin into the pin hole 12 in the connecting post 11, the balancing device can be quickly disassembled, which is more convenient for maintenance and cleaning.
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。
While the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art The scope of the invention is defined by the appended claims and their equivalents.
Claims (8)
- 一种智能机器人，其特征在于：包括自动平衡足部受力装置，所述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)。An intelligent robot comprising: an automatic balance foot force device, the automatic balance foot force device comprising an ankle (1) and a sole (2), both ends of the sole (2) A foot plate slot (8) is mounted, and a foot plate (3) is connected to both sides of the foot plate slot (8), and a foot plate connecting shaft is disposed at one end of the foot plate (3) ( 4), and the intermediate position of the foot plate connecting shaft (4) is connected with a strut (5), and one end of the strut (5) is mounted with a strut connecting block (6), and the strut is One side of the connecting block (6) is provided with a branching rod (7), both sides of the sole (2) are provided with a secondary spring (13), and the bottom of the secondary spring (13) is connected with a diagonal a strut (15), a bottom of each of the diagonal strut (15) is mounted with a rubber bearing (16), the inner bottom end of the ankle (1) is mounted with a sliding block (9), and the sliding block A guide groove (14) is connected to both ends of the (9), a main spring (10) is disposed above the sliding block (9), and a plurality of connecting columns are disposed at an upper position of the ankle (1) ( 11), and the inside of the connecting column (11) is provided with a pin hole (12), and the bottom of the foot (2) is provided with a circular connection Block (17).
- 根据权利要求1所述的一种智能机器人，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。The intelligent robot according to claim 1, characterized in that: the foot plate connecting shaft (4) is embedded in one end of the foot plate (3), and the middle position of the foot plate (3) is Tightly welded to the strut (5), the strut (5) is fixedly connected to one end of the strut connecting block (6), and one end of the branching rod (7) is connected to the strut connecting block (6) The other end is tightly welded, and the other end of the branching rod (7) is fixedly coupled to one side of the sliding block (9).
- 根据权利要求2所述的一种智能机器人，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。An intelligent robot according to claim 2, characterized in that the top of the sliding block (9) is tightly welded to the bottom end of the main spring (10), and the top end of the main spring (10) and the ankle ( 1) The inner upper end is tightly welded.
- 根据权利要求3所述的一种智能机器人，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。The intelligent robot according to claim 3, characterized in that both sides of the sole (2) are tightly welded to one end of the foot plate slot (8), and the foot plate slot (8) Both ends are connected to the foot board (3).
- 根据权利要求4所述的一种智能机器人，其特征在于：所述足板(3)的数量为2个。 An intelligent robot according to claim 4, characterized in that the number of the foot plates (3) is two.
- 根据权利要求4所述的一种智能机器人，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。The intelligent robot according to claim 4, characterized in that: the circular connecting block (17) is embedded in the bottom of the ankle (1), and the bottom and the foot of the circular connecting block (17) The top of the bottom (2) is tightly welded.
- 根据权利要求1所述的一种智能机器人，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。The intelligent robot according to claim 1, characterized in that: the secondary springs (13) are respectively embedded on both sides of the sole (2), and the bottoms of the secondary springs (13) are obliquely supported The top of the rod (15) is tightly welded, and the bottom of the diagonal strut (15) is fixedly coupled to the surface of the rubber support (16).
- 根据权利要求1所述的一种智能机器人，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。 The intelligent robot according to claim 1, wherein 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 and connected. The inside of the column (11).
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