WO2021147612A1

WO2021147612A1 - Robot foot-end module and robot

Info

Publication number: WO2021147612A1
Application number: PCT/CN2020/139271
Authority: WO
Inventors: 谢琦
Original assignee: 广州视源电子科技股份有限公司
Priority date: 2020-01-23
Filing date: 2020-12-25
Publication date: 2021-07-29
Also published as: CN211761669U

Abstract

Disclosed is a robot foot-end module. The robot foot-end module comprises a foot-end fixing member (51) and a foot-end friction member (52). The foot-end friction member (52) is detachably clamped and fixed on the foot-end fixing member (51), and comprises a plurality of first limiting members (522), wherein the first limiting members (522) are protrusions located on the inner side of the foot-end friction member (52), and comprise limiting portions (5222) and root portions (5224), and the width of the root portions (5224) is smaller than the maximum width of the limiting portions (5222); and the foot-end fixing member (51) comprises a foot contact surface (54) which is in contact with the foot-end friction member (52), and the foot contact surface (54) corresponds to the root portions (5224) of the first limiting members (522). The foot-end friction member (52) can be detachably clamped and fixed by means of the cooperation of the first limiting members (522) and first limiting grooves (542), so that the foot-end friction member is firmly fixed; and during disassembly, the foot-end friction member (52) can be disassembled as long as a certain amount of external force is applied, without requiring any tools, such that the disassembly and assembly are convenient, and thereby facilitating the replacement of the foot-end friction member (52).

Description

Robot foot end module and robot

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on January 23, 2020, the application number is CN202020147601.6, and the invention title is "a robot foot end module and robot", the entire content of which is incorporated by reference In this application.

Technical field

This application relates to the field of robotics technology, in particular to a robot foot end module and a robot.

Background technique

Foot robot is a kind of intelligent robot with redundant drive, multi-branch chain, time-varying topological motion mechanism, involving biology, bionics, mechanism, sensing technology and information processing technology, etc. Technical products, which have many characteristics such as discrete drop points and strong adaptability to the surface conditions, make them have the potential to be widely used in various complex surface environments. In the related art, the leg structure of the robot includes a leg support, a leg power mechanism, a thigh, a calf, and a foot end structure. In order to improve the friction between the foot end of the robot and the bottom surface, the foot end structure is often equipped with foot end friction parts. Generally, it is a rubber part, and it is constantly worn out with the operation of the robot, and the part needs to be replaced when worn to a certain degree.

The foot end friction parts in the related art are usually fixed on the robot foot end by screws, and the disassembly and replacement after wear requires the use of tools, and the operation is relatively inconvenient.

Summary of the invention

Based on this, the embodiment of the present application provides a robot foot end module, which has the advantages of firm fixation and convenient disassembly and assembly without tools.

A robot foot end module, which includes a foot end fixing part and a foot end friction part;

The foot end friction member is detachably snap-fitted and fixed on the foot end fixing member, and includes a plurality of first limiting members, and the first limiting members are protrusions located on the inner side of the foot end friction member, It includes a limiting portion and a root, and the width of the root is smaller than the maximum width of the limiting portion;

The foot end fixing member includes a foot contact surface that is in contact with the foot end friction member, and the foot contact surface is provided with a matching first limiting groove at a position corresponding to the first limiting member, The first limiting member is engaged with the first limiting slot, and the opening of the first limiting slot corresponds to the root of the first limiting member.

The robot foot end module provided by the embodiment of the present application uses a foot end friction member to be detachably snap-fitted and fixed to the foot end fixing member, and at the same time, the first limiting groove and the first limiting member cooperate with each other to realize The foot-end friction piece and the foot-end fixing piece are fixed firmly; only a certain external force can be used to remove the foot-end friction piece from the foot-end fixing piece during disassembly. No tools are required. The disassembly and assembly are convenient and the foot-end friction piece is easy to align. Replace it.

In one embodiment, the foot contact surface is a circular arc surface; the foot end friction member covers the foot contact surface and is in the shape of a circular arc shell matching the foot contact surface. Compared with rectangles or other shapes, the arc-shaped design of the foot contact surface and the foot end friction piece can facilitate the disassembly and assembly of the foot end friction piece, and at the same time enable the foot end friction piece to contact the ground. Stronger, more able to adapt to complex surface environments such as uneven or sloped surfaces, and effectively improve the surface adaptability of the foot-end robot.

In an embodiment, the first limiting member is a bar-shaped protrusion, the first limiting groove is a bar-shaped through groove, and the first limiting member and the first limiting groove have matching The cross-sectional shape and all extend along the axial direction. The axially extending first limiting member and the first limiting groove are engaged and fixed to each other to realize the circumferential fixation between the foot end fixing member and the foot end friction member, so as to prevent the foot end friction member from contacting the foot A circumferential sliding around the central axis occurs on the surface; at the same time, the arrangement of this structure enables the foot-end friction piece and the foot-end fixing piece to be pushed in and installed along the axial direction, which is convenient for installation.

In an embodiment, the foot end friction member further includes a plurality of second limiting members, and the second limiting members are convexly fixed on the first limiting member; the inner surface of the first limiting groove Or a second limiting groove is provided at the connection point of the contact surface with the foot corresponding to the position of the second limiting member, and the second limiting member is engaged with the second limiting groove to realize the friction member on the foot end The axial fixation between the foot end fixing member and the foot end fixing member prevents the foot end friction member from axially sliding along the central axis direction on the foot contact surface.

In an embodiment, the first limiting member includes a semi-cylindrical bar-shaped protrusion; the second limiting member includes a circular protrusion, and the second limiting groove includes the same as the second limiting member. Round grooves with matching shapes.

In an embodiment, the foot-end fixture includes a fixedly connected connecting portion and a fixture body, the connecting portion is used to be fixedly connected to the end of the robot leg structure; the fixture body includes an upper body and a lower body The upper part of the main body is fixedly connected with the connecting part, and the foot contact surface is located at the bottom end of the lower part of the main body.

In an embodiment, the fixing member body includes a plurality of through holes, and the through holes all extend in the axial direction, which helps to reduce the weight of the foot end structure.

In an embodiment, the foot end fixing member is a plastic part, and the foot end friction member is a rubber part. The plastic part has high strength and light weight, which makes the movement of the robot more portable; the rubber part has elasticity, can be well clamped on the foot end fixing part, and has a large friction coefficient with the bottom surface and is resistant to wear.

In one embodiment, the outer surface of the foot end friction member is provided with a plurality of transverse grooves and longitudinal grooves, which improves the surface roughness of the outer surface of the foot end friction member and increases the friction between the foot end and the ground.

In addition, an embodiment of the present application also provides a robot, which includes the above-mentioned robot foot end module.

In the robot provided by the embodiment of the present application, since its robot foot end module is detachably snapped and fixed to the foot contact surface through the foot end friction member, the first limit groove and the first limit member cooperate with each other. , When disassembling, only a certain external force can be used to remove the foot-end friction piece from the foot-end fixing piece, no tools are needed, the disassembly and assembly are convenient, and the foot-end friction piece is easy to replace.

For a better understanding and implementation, the application will be described in detail below with reference to the drawings.

Description of the drawings

FIG. 1 is a schematic diagram of a perspective view of the robot foot end module according to Embodiment 1 of the application;

2 is a schematic diagram of the second perspective view of the robot foot end module according to Embodiment 1 of the application;

FIG. 3 is a schematic diagram of the structure of the foot end fixing member according to Embodiment 1 of the application;

4 is a schematic diagram of the structure of the foot end friction member according to Embodiment 1 of the application;

5 is a schematic view of the structure of the foot-end fixing member according to Embodiment 2 of the present application;

6 is a second schematic view of the structure of the foot-end fixing member according to Embodiment 2 of the application;

FIG. 7 is a schematic view of the structure of the foot end friction member according to Embodiment 2 of the application;

8 is a second schematic view of the structure of the foot-end friction member according to Embodiment 2 of the application;

FIG. 9 is a schematic diagram of the leg structure of the robot according to Embodiment 3 of the application.

Detailed ways

In the description of this application, it should be understood that the terms "center", "vertical", "horizontal", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and The description is simplified, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

Example 1

Please refer to FIGS. 1-4. FIG. 1 is a schematic diagram of the first perspective of the robot foot end module according to Embodiment 1 of the application, FIG. 2 is a schematic diagram of the second perspective of the robot foot end module according to Embodiment 1 of the application, and FIG. 3 is the application The schematic diagram of the structure of the foot end fixing member described in Example 1, and FIG. 4 is the schematic diagram of the structure of the foot end friction member described in Example 1 of this application. As shown in the figure, the embodiment of the present application provides a robot foot end module, which includes a foot end fixing member 51 and a foot end friction member 52; the foot end friction member 52 is detachably snapped and fixed to the foot end fixing member 51 superior. As shown in the figure, the foot end friction member 52 includes a plurality of first limit members 522, the first limit member 522 is a protrusion located inside the foot end friction member 52, which includes a limit portion 5222 and a root 5224, the root 5224 The width is smaller than the maximum width of the limiting portion 5222. The foot end fixing member 51 includes a foot contact surface 54 in contact with the foot end friction member 52. The foot contact surface 54 is provided with a first limiting groove 542 matching the first limiting member 522 at a position corresponding to the first limiting member 522. The limiting member 522 is engaged in the first limiting slot 542, and the opening of the first limiting slot 542 corresponds to the root 5224. Specifically, the corresponding refers to the shape and size of the opening of the first limiting slot 542 The shape and size of the root portion 5224 match, so that the root portion 5224 can be engaged with the opening of the first limiting slot 542.

The robot foot end module provided by the embodiment of the present application utilizes the first limiting member of the foot end friction member and the first limiting groove of the foot end fixing member to cooperate with each other to realize the integration of the foot end friction member and the foot end fixing member The detachable snap-fit fixation prevents the foot-end friction piece from sliding on the foot contact surface, and the fixation is firm; the foot-end friction piece can be removed from the foot-end fixing piece only by using a certain external force during disassembly. No tools are required, easy to disassemble and assemble, and easy to replace the foot-end friction parts.

Example 2

Please refer to FIGS. 5-8. FIG. 5 is a schematic view of the structure of the foot end fixing member according to Embodiment 2 of the application, and FIG. 6 is a schematic view of the structure of the foot end fixing member according to Embodiment 2 of the application, and FIG. 7 is the application A schematic view of the structure of the foot-end friction member according to Embodiment 2 from the first perspective, and FIG. 8 is a schematic view of the second structure of the foot-end friction member according to Embodiment 2 of the application. In the robot foot end module of Embodiment 2, on the basis of the robot foot end module described in Embodiment 1 of the present application, the foot end friction member 52 is wrapped on the foot contact surface 54 and is opposite to the foot contact surface 54 The matching arc shell shape, the central axis of which coincides with the central axis of the foot contact surface 54. Compared with rectangular or other shapes, the arc-shaped design of the foot contact surface and the foot end friction member makes the fastening and fixing stronger, and can facilitate the disassembly and assembly of the foot end friction member, and at the same time make the The foot-end friction piece has stronger contact ability with the ground, and can better adapt to the complex surface environment such as unevenness or slope, effectively improving the surface adaptability of the foot-end robot.

As an alternative embodiment, the foot-end fixing member 51 includes a connecting portion 512 and a fixing body 514 that are connected to each other. The connecting portion 512 is used to be fixedly connected to the end of the robot leg structure. The fixing body 514 includes a body that is fixed to each other. The upper part 5142 and the lower part 5144 of the body. As an optional embodiment, the fixing member body 514 includes a plurality of through holes 516, and the through holes 516 extend in the axial direction, which helps to reduce the weight of the foot end structure.

5-8, the first limiting member 522 is a bar-shaped protrusion located on the inner side of the foot end friction member 52, which are arranged at intervals along the inner surface of the arc-shaped foot end friction member 52, and are arranged along the foot The end friction member 52 extends in the axial direction, the first limiting groove 542 is a bar-shaped through groove, which has a cross-sectional shape matching the first limiting member 522, and the first limiting groove 542 is in contact along the foot The face 54 extends in the axial direction. The axially extending first limiting member 522 and the first limiting groove 542 are locked and fixed to each other to realize the circumferential fixation between the foot end fixing member 51 and the foot end friction member 52, so as to prevent the foot end friction member 52 from being in contact with each other. The foot contact surface 54 slides in the circumferential direction around the central axis; at the same time, the arrangement of this structure enables the foot end friction member 52 and the foot end fixing member 51 to be pushed in and installed in the axial direction during installation, which is convenient for installation.

As an optional embodiment, the limiting portion 5222 of the first limiting member 522 includes a semi-cylindrical bar-shaped protrusion, the outer surface of which is a circular arc surface. The shape of the limiting portion 5222 of the first limiting member 522 needs to be able to facilitate the installation and disassembly of the first limiting member 522 in the first limiting slot 542. In other embodiments, the first limiting member 522 and the first limiting member 522 The limiting groove 542 may also have other shapes.

As an alternative embodiment, the foot end friction member 52 further includes a plurality of second limiting members 524, and the second limiting members 524 are protrudingly fixed on the first limiting member 522. In this embodiment, the second limiting member 522 The positioning member 524 is protrudingly fixed to the root 5224 of the first limiting member 522, and a second limiting groove 544 is provided at the connection between the inner surface of the first limiting groove 542 and the foot contact surface 54 corresponding to the position of the second limiting member 524. In other embodiments, the second limiting member 524 may also be fixed on the limiting portion 5222 of the first limiting member 522, and the inner surface of the first limiting groove 542 is provided with a second limiting member 524 corresponding to the position of the second limiting member 524. The positioning slot 544, the second limiting slot 544 has a shape matching the second limiting member 524. As an optional embodiment, the second limiting member 524 includes a circular protrusion, the second limiting groove 544 includes a circular groove matching the shape of the second limiting member 524, and the configuration with a circular cross section can be It is convenient to install and disassemble the second limiting member 524 in the second limiting groove 544. In other embodiments, the second limiting groove 544 and the second limiting member 524 may also have other shapes. The mutual cooperation of the second limiting groove 544 and the second limiting member 524 is used to realize the axial fixing of the foot end friction member 52 and the foot end fixing member 51, so as to prevent the foot end friction member 52 from being on the foot contact surface 54 Axial sliding in the direction of the central axis occurs.

As an alternative embodiment, the foot-end fixing part 51 is a plastic part, which has high strength and light weight, which makes the movement of the robot more portable; the foot-end friction part 52 is a rubber part, which is elastic and can perform well. The ground is clamped on the foot end fixing member 51, and at the same time, it has a large friction coefficient with the ground and is resistant to wear.

The outer surface of the foot end friction member 52 can also be provided with a number of transverse grooves and longitudinal grooves to improve the surface roughness of the outer surface of the foot end friction member 52 and further increase the friction between the foot end and the ground.

The number of the first limiting slot 542 is at least three, and in this embodiment, the number is three. As a preferred embodiment, each first limiting slot 542 is provided with a second limiting slot 544, and each first limiting member 522 is correspondingly provided with a second limiting member 524. The number of the groove 544 and the second limiting member 524 is preferably multiple, so as to enhance the stability of the foot end friction member 52 and the foot end fixing member 51 in the circumferential and axial directions.

The robot foot end module provided by the embodiment of the present application is detachably snap-fitted and fixed to the foot end fixing member by a foot end friction member, and is realized by the cooperation of the first limiting groove and the first limiting member. The circumferential limit of the foot end friction piece and the foot end fixing piece, the foot end friction piece can be removed from the foot end fixing piece by using a certain external force when disassembling, no tools are required, the disassembly and assembly are convenient, and the foot end friction piece is easy to align Replace it. It is also possible to realize the axial limitation of the foot end friction member and the foot end fixing member through the cooperation of the second limiting groove and the second limiting member, thereby enhancing the stability of the fixing structure. The outer surface of the foot end friction member can also be provided with a number of transverse grooves and longitudinal grooves to improve the surface roughness of the outer surface of the foot end friction member, increase the friction between the foot end and the ground, and further improve the adaptability of the robot to the ground conditions.

Example 3

Please refer to FIG. 9, which is the leg structure of the robot according to Embodiment 3 of the application. The robot provided in this embodiment includes a leg power mechanism 2, a leg support 1, a thigh 3, and a calf 4 connected in sequence. And the robot foot end module 5 described in Embodiment 1 or Embodiment 2 of the present application, and the robot foot end module 5 is connected to the lower leg 4 through the foot end fixing member 51. Since the robot foot end modules described in

Embodiments

1 and 2 of the present application have the above advantages, the robot has the advantages of simple maintenance and replacement of the foot end structure, and no tools are required to replace the foot end friction parts.

This application is not limited to the above-mentioned embodiments. If various changes or modifications to the application do not depart from the spirit and scope of the application, and if these changes and modifications fall within the scope of the claims and equivalent technologies of the application, the application will also It is intended to include these changes and modifications.

Claims

A robot foot end module, which includes a foot end fixing part and a foot end friction part;

The foot end friction member is detachably snap-fitted and fixed on the foot end fixing member, and includes a plurality of first limiting members, and the first limiting members are protrusions located on the inner side of the foot end friction member, It includes a limiting portion and a root, and the width of the root is smaller than the maximum width of the limiting portion;

The foot end fixing member includes a foot contact surface that is in contact with the foot end friction member, and the foot contact surface is provided with a matching first limiting groove at a position corresponding to the first limiting member, The first limiting member is engaged with the first limiting slot, and the opening of the first limiting slot corresponds to the root of the first limiting member.
The robot foot end module according to claim 1, wherein the foot contact surface is a circular arc surface; the foot end friction member covers the foot contact surface and is in contact with the foot Arc shell shape with matching surface.
The robot foot end module according to claim 2, wherein the first limiting member is a bar-shaped protrusion, and the first limiting groove is a bar-shaped through groove, and the first limiting member is a bar-shaped through groove, and the first A limiting member and the first limiting slot have matching cross-sectional shapes.
The robot foot end module according to claim 3, wherein the foot end friction member further comprises a plurality of second limiting members, and the second limiting members are convexly fixed on the first limiting member; The inner surface of the first limiting groove or its connection with the foot contact surface is provided with a second limiting groove corresponding to the position of the second limiting member, and the second limiting member is engaged with the second limiting member. Bit slot.
The robot foot end module according to claim 4, wherein the first limiting member includes a semi-cylindrical bar protrusion; the second limiting member includes a circular protrusion, and the second limiting groove It includes a circular groove matching the shape of the second limiting member.
The robot foot-end module according to claim 1, wherein the foot-end fixing member comprises a fixed connection part and a fixing part body, and the connection part is used for fixed connection with the end of the robot leg structure; The fixing member body includes an upper body and a lower body, the upper body is fixedly connected with the connecting portion, and the foot contact surface is located at the bottom end of the lower body.
The robot foot end module according to claim 6, wherein the fixing member body includes a plurality of through holes, and the through holes all extend in the axial direction.
The robot foot end module according to claim 1, wherein the foot end fixing part is a plastic part, and the foot end friction part is a rubber part.
The robot foot end module according to claim 1, wherein the outer surface of the foot end friction member is provided with a plurality of transverse grooves and longitudinal grooves.
A robot comprising the robot foot end module according to any one of claims 1-9.