WO2019047012A1

WO2019047012A1 - Robot foot capable of adapting to complex environments

Info

Publication number: WO2019047012A1
Application number: PCT/CN2017/100506
Authority: WO
Inventors: 刘哲
Original assignee: 刘哲
Priority date: 2017-09-05
Filing date: 2017-09-05
Publication date: 2019-03-14

Abstract

Disclosed is a robot foot capable of adapting to complex environments, the robot foot comprising a U-shaped sliding block (1), a sliding abutting block (2), a sliding abutting groove (3), a pressure-bearing rectangular plate (4), a supporting circular seat (5), a movable threaded column (6), a stress-bearing circular column (7), movable bolts (8), a telescope tire (9), a driver (10), an arc-shaped supporting plate (11), a fixed stud (12), a damping spring (13), a fixed rubber base (14), a telescopic supporting rod (15), a rotating gear (16), a rotating wheel (17), an induction telescopic driver (18), a gear groove (1801), a hydraulic lifter (1802), a telescopic stud (1803), a power rod (1804), and a threaded opening (1805). When the fixed rubber base is subjected to a force, the force is transmitted to the induction telescope driver arranged on the robot foot through the telescopic supporting rod, and the induction telescope driver is capable of transmitting a signal to the hydraulic lifter to drive the telescopic stud and the power rod to move up and down, thereby effectively overcoming the difficulty of climbing uneven stairs.

Description

A robotic foot that can adapt to complex environments

Technical field

The invention relates to the technical field of robot components, in particular to a robot foot which can adapt to a complex environment.

Background technique

According to incomplete statistics, nearly half of the industrial robots in service worldwide are used in various forms of production and processing. The production robot we are talking about is actually an industrial robot that replaces the manual production task in the production and production field. Some of these production robots are specifically designed for a certain production method, and most of the production robots are actually composed of general-purpose industrial robots loaded with a certain production tool. In a multi-tasking environment, a robot can even perform various tasks such as grasping, handling, installation, production, and unloading, including production. Therefore, in a sense, the development history of industrial robots is the production robot. The history of development.

The existing robot foot that can adapt to complex environments is not evenly stressed and is prone to damage. When going up the stairs, the robot cannot move quickly, it is easy to fall, and the flexibility and functionality are poor.

Summary of the invention

The object of the present invention is to provide a robot foot that can adapt to a complicated environment, so as to solve the above-mentioned background art, the force is not uniform enough, and when the stairs are up, the robot cannot move quickly, is easy to fall, and has flexibility and functionality. Poor question.

In order to achieve the above object, the present invention provides the following technical solution, a robot foot adapted to a complex environment, including a U-shaped slider, a sliding abutting block, a sliding abutting groove, a pressure receiving rectangular plate, a supporting round seat, and a movable thread. Column, force cylinder, movable bolt, telescopic tire, drive, curved support plate, fixed stud, shock absorbing spring, fixed rubber seat, telescopic support rod, rotating gear, rotating wheel, induction telescopic drive, gear groove, hydraulic lifting , telescopic studs, power rods, threaded ports, sliding guides, The fixing stud is welded to two sides of the upper end of the U-shaped slider, and the U-shaped sliding block is located above the pressure-receiving rectangular plate, and the sliding abutting groove is embedded in the inner part of the upper inner wall of the pressure-receiving rectangular plate. The sliding abutting block is welded to the lower end of the U-shaped slider, the damping spring is located at an intermediate position between the bearing rectangular plate and the supporting round seat, the supporting round seat is fixed under the damping spring, the movable threaded column The threaded rod is connected to the lower bottom surface of the supporting round seat, the stressed cylinder is fixedly connected to the lower end of the movable threaded column, the movable bolt is welded to the lower side of the force receiving cylinder, and the outer side of the front end of the movable bolt is movably supported by the curved support a plate, the driver is fixed directly under the force-carrying cylinder, and the telescopic tire is movably connected to one inner wall of the driver, the rotating gear is located at a right central position of the rotating wheel, and the sensing telescopic drive card slot is connected to the rotating gear An outer ring, the rotating wheel is located at an outermost circumference of the telescopic tire, the telescopic support rod passes through the rotating wheel, and the fixed rubber seat is welded to the end of the telescopic support rod, and the inside of the induction telescopic drive a gear slot is attached, the hydraulic lifter is fixed to one inner wall of the induction telescopic drive, the telescopic stud is connected to the upper side of the hydraulic telescopic lift, the power rod is embedded in the inner wall of the telescopic stud, and the threaded joint is welded At the upper end of the power rod, the sliding rail is welded to the outer surface of the telescopic stud.

Preferably, the outer sides of the support round are inwardly recessed, and are in the shape of "work".

Preferably, the intermediate positions of the stressed cylinders are all outwardly convex and have an "elliptical" shape.

Preferably, the rotating gear is connected to the gear slot, and the telescopic support rod is evenly distributed outside the induction telescopic drive.

Preferably, the sliding abutting block coincides with the sliding abutting groove.

Preferably, the pressure-bearing rectangular plate and the support round seat are fixedly connected by a damper spring, and the damper spring is provided with two.

Compared with the prior art, the beneficial effects of the present invention are: the robot foot adapted to the complex environment is provided with a supporting round seat, and the outer side of the supporting round seat is recessed inwardly, and is in the shape of "work". The design of the font type firstly increases the contact area at the upper end of the supporting round seat when the force is applied. When the force is decomposed, the lower end of the supporting round seat can evenly decompose the force, thereby improving the pressure bearing capacity and setting. There is a force-bearing cylinder, the middle position of the stressed cylinder is outwardly convex, and has an "elliptical" shape. The design of the ellipse draws on the principle of the force of the arch bridge, and all adopt the curved force, and the force points are innumerable. Effectively increase the force, improve the stability and service life, set the rotating gear and the gear groove, the rotating gear is connected with the gear slot, and the telescopic support rod is evenly distributed on the outer side of the induction telescopic drive, and the drive rotates to drive the rotation The gear is connected to the gear slot by the rotating gear, which can effectively reduce the amplitude of the sway during the rotation and improve the stability. The sliding abutting block and the sliding abutting groove are provided, and the sliding abutting block and the sliding abutting groove are provided. Consistently, through the function of the two, the U-shaped slider can be automatically operated on the rectangular plate under pressure, and the flexibility is improved. The telescopic support rod and the induction telescopic drive are provided, when the fixed rubber seat is stressed. When the force is transmitted to the induction telescopic drive through the telescopic support rod, the induction telescopic drive can transmit a signal to the hydraulic lifter, and the hydraulic lifter drives the telescopic screw The column and the power rod move up and down, and the design can effectively overcome this difficulty when the uneven staircase is on the upper side.

DRAWINGS

Figure 1 is a schematic view of the overall structure of the present invention;

2 is a schematic structural view of a telescopic tire of the present invention;

3 is a schematic structural view of an induction telescopic drive of the present invention;

Figure 4 is a schematic view showing the structure of the hydraulic lifter of the present invention.

In the figure: 1, U-shaped slider, 2, sliding abutting block, 3, sliding abutting groove, 4, bearing rectangular plate, 5, supporting round seat, 6, movable threaded column, 7, force cylinder, 8 , movable bolt, 9, telescopic tire, 10, driver, 11, curved support plate, 12, fixed stud, 13, shock absorber spring, 14, fixed rubber seat, 15, telescopic support rod, 16, rotating gear, 17 , rotating wheel, 18, induction telescopic drive, 1801, gear slot, 1802, hydraulic lifter, 1803, telescopic stud, 1804, power rod, 1805, threaded port, 1806, sliding guide.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but 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.

Referring to Figures 1-4, the present invention provides a technical solution: a robot foot adapted to a complex environment, including a U-shaped slider 1, a sliding abutting block 2, a sliding abutting groove 3, and a pressure-receiving rectangular plate 4 , support round seat 5, movable threaded column 6, force cylinder 7, movable bolt 8, telescopic tire 9, drive 10, curved support plate 11, fixed stud 12, shock absorbing spring 13, fixed rubber seat 14, telescopic support Rod 15, rotating gear 16, rotating wheel 17, induction telescopic drive 18, gear slot 1801, hydraulic lifter 1802, telescopic stud 1803, power rod 1804, threaded port 1805, sliding rail 1806, fixed stud 12 welded to U-shaped On both sides of the upper end of the slider 1, the U-shaped slider 1 is located above the pressure-receiving rectangular plate 4, and the sliding abutting groove 3 is fitted inside the upper inner wall of the pressure-receiving rectangular plate 4, and the sliding abutting block 2 is slidably pressed against The groove 3 is matched, and the function of the two can be matched, and the U-shaped slider 1 can be automatically operated on the rectangular plate 4 under pressure, thereby improving the flexibility, and the sliding abutting block 2 is welded to the U-shaped slider 1 At the lower end, the damper spring 13 is located at the middle of the bearing rectangular plate 4 and the supporting round seat 5, and supports The round seat 5 is fixed below the damper spring 13, and the outer side of the support round seat 5 is recessed inwardly, and is in the shape of "work". The design of the "work" type firstly supports the upper end of the round seat 5 when subjected to force. When the force is disassembled, the lower end of the supporting round seat 5 can evenly decompose the force, thereby improving the bearing capacity thereof, and the movable threaded post 6 is screwed to the lower bottom surface of the supporting round seat 5, and is stressed. The cylinder 7 is fixedly connected to the lower end of the movable threaded column 6, and the intermediate position of the stressed cylinder 7 is outwardly convex, and has an "elliptical" shape. The design of the ellipse draws on the principle of the force of the arch bridge, and all adopts an arc force. There are a myriad of stress points, which can effectively increase the force and improve the stability and service life. The movable bolt 8 is welded to the lower side of the stressed cylinder 7, and the outer side of the front end of the movable bolt 8 is connected with a curved support plate. 11. The driver 10 is fixed directly below the stressed cylinder 7, and the telescopic tire 9 is movably connected to one side inner wall of the driver 10. The rotating gear 16 is located at the center of the rotating wheel 17, the rotating gear 16 is slot-connected with the gear slot 1801, and the telescopic support rod 15 is evenly distributed outside the induction telescopic drive 18, and the drive 10 rotates to drive the rotating gear 16, because the rotating gear 16 The slot is connected with the gear slot 1801, which can effectively reduce the amplitude of the sway during the rotation and improve the stability thereof. The slot of the induction telescopic drive 18 is connected to the outer ring of the rotating gear 16, and the rotating wheel 17 is located at the outermost position of the telescopic tire 9. The telescopic support rod 15 passes through the rotating wheel 17, and the fixed rubber seat 14 is welded to the end of the telescopic support rod 15. When the fixed rubber seat 14 is stressed, the force is transmitted to the induction telescopic drive 18 through the telescopic support rod 15, and the induction The telescopic drive 18 can transmit a signal to the hydraulic lifter 1802. The hydraulic lifter 1802 drives the telescopic stud 1803 and the power rod 1804 to move up and down. This design can effectively overcome the difficulty when the uneven stair is on the upper surface. The inside of the driver 18 is welded with a gear slot 1801, and the hydraulic lifter 1802 is fixed to one inner wall of the induction telescopic drive 18, and the telescopic stud 1803 is connected. Above the hydraulic telescopic lifting 1802, the power rod 1804 is embedded in the inner wall of the telescopic stud 1803, the threaded port 1805 is welded to the upper end of the power rod 1804, and the sliding rail 1806 is welded to the outer surface of the telescopic stud 1803.

Working principle: Firstly, the device is connected to the robot component by fixing the stud 12, and the movable threaded column 6 is screwed into the force receiving cylinder 7 and the supporting round seat 5 to play a fastening role. When the device is stressed, the first step is The shock absorbing spring 13 is provided to buffer the force, and then the force is transmitted to the support round seat 5. The outer side of the support round seat 5 is recessed inwardly, and is in the shape of "work" and "work" type. First, when the force is applied, the upper end of the support round seat 5 can increase the contact area. When the force is decomposed, the lower end of the support round seat 5 can evenly decompose the force, thereby improving the pressure bearing capacity, and then the force passing through the activity. The threaded column 6 is transmitted to the force-bearing cylinder 7, and the intermediate position of the stressed cylinder 7 is outwardly convex, and has an "elliptical" shape. The design of the ellipse draws on the principle of the force of the arch bridge, and all adopts an arc force. There are a myriad of force points, which can effectively increase the force and improve the stability and service life. The curved support plate 11 can provide support. When the robot encounters uneven stairs, first of all, When the fixed rubber seat 14 is stressed, the force is passed. Telescoping the telescopic support bar 15 to the sensor driver 18, a telescopic sensor 18 is capable of transmitting the drive signal to the

hydraulic lifter

1802, 1802 driving the hydraulic lift drive extension The stud 1803 and the power rod 1804 are moved up and down, so that the fixed rubber seat 14 is continuously alternately stretched and stretched. This design can effectively overcome the difficulty when the uneven stair is up, which is the robot foot that can adapt to the complicated environment. The working principle of the department.

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

A robot foot adapted to a complex environment, comprising a U-shaped slider (1), a sliding abutting block (2), a sliding abutting groove (3), a pressure-receiving rectangular plate (4), a supporting round seat (5) , movable threaded column (6), stressed cylinder (7), movable bolt (8), telescopic tire (9), driver (10), curved support plate (11), fixed stud (12), shock absorbing spring (13), fixed rubber seat (14), telescopic support rod (15), rotating gear (16), rotating wheel (17), induction telescopic drive (18), gear groove (1801), hydraulic lifter (1802), a telescopic stud (1803), a power rod (1804), a threaded port (1805), and a sliding guide rail (1806), wherein the fixing stud (12) is welded to the upper end of the U-shaped slider (1) On the side, the U-shaped slider (1) is located above the pressure-receiving rectangular plate (4), and the sliding abutting groove (3) is embedded inside the upper inner wall of the pressure-receiving rectangular plate (4), the sliding The abutting block (2) is welded to the lower end of the U-shaped slider (1), and the damping spring (13) is located at an intermediate position between the bearing rectangular plate (4) and the supporting round seat (5), the supporting round seat (5) fixed under the damper spring (13), the movable threaded post (6) is screwed to the support round seat a lower bottom surface of (5), the force receiving cylinder (7) is fixedly coupled to a lower end of the movable threaded column (6), and the movable bolt (8) is welded to a lower side of the force receiving cylinder (7), the movable bolt (8) The outer side of the front end is movably connected with an arc-shaped support plate (11), the driver (10) is fixed directly below the force-receiving cylinder (7), and the telescopic tire (9) is movably connected to one of the driver (10) a side inner wall, the rotating gear (16) is located at a right central position of the rotating wheel (17), the induction telescopic drive (18) card slot is connected to an outer ring of the rotating gear (16), and the rotating wheel (17) is located The outermost circumference of the telescopic tire (9), the telescopic support rod (15) passes through the rotating wheel (17), and the fixed rubber seat (14) is welded to the end of the telescopic support rod (15), the induction telescopic drive (18) is internally welded with a gear groove (1801) fixed to one inner wall of the induction telescopic drive (18), and the telescopic stud (1803) is connected to the hydraulic telescopic lifting (1802) Above, the power rod (1804) is embedded in the inner wall of the telescopic stud (1803), the threaded port (1805) is welded to the upper end of the power rod (1804), and the sliding rail (1806) is welded to Condensing stud (1803) is an outer surface.
A robotic foot adapted to a complex environment according to claim 1, characterized in that The outer side of the supporting round seat (5) is inwardly recessed, and is in the shape of "work".
The robot foot adapted to the complex environment according to claim 1, wherein the intermediate positions of the stressed cylinders (7) are outwardly convex and have an "elliptical" shape.
The robotic foot adapted to a complex environment according to claim 1, wherein the rotating gear (16) is coupled to the gear groove (1801).
A robotic foot adapted to a complex environment according to claim 1, wherein the telescopic support bar (15) is evenly distributed outside the induction telescopic drive (18).
A robotic foot adapted to a complex environment according to claim 1, characterized in that the sliding abutting block (2) coincides with the sliding abutment groove (3).
The robot foot adapted to the complex environment according to claim 1, characterized in that the pressure receiving rectangular plate (4) and the supporting round seat (5) are fixedly connected by a damping spring (13).
A robotic foot adapted to a complex environment according to claim 1, characterized in that the damping spring (13) is provided with two.