CN1294045C - Foot structure of four foot walking robot with foot float support - Google Patents
Foot structure of four foot walking robot with foot float support Download PDFInfo
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- CN1294045C CN1294045C CNB2004100662094A CN200410066209A CN1294045C CN 1294045 C CN1294045 C CN 1294045C CN B2004100662094 A CNB2004100662094 A CN B2004100662094A CN 200410066209 A CN200410066209 A CN 200410066209A CN 1294045 C CN1294045 C CN 1294045C
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Abstract
一种用于机器人领域的足部浮动支撑的四足步行机器人的脚结构，包括：小腿，球面副盖板，关节，脚背座，上垫片，压板、带保持架的滚珠，下垫片，脚掌座，接近传感器，脚垫，触觉传感器，缓冲垫片，外套，压簧。关节、脚背座和上垫片固定连接成构件脚背，下垫片和脚掌座固定连接成构件脚掌，脚背通过球面副连接在小腿上，球面副盖板连接在脚背上，脚掌通过平面移动副连接在脚背上，带保持架的滚珠连接在移动副的两接触面之间，压簧两端分别压在脚背四周外圆柱面上和脚掌内圆柱面上，压板连接在脚掌上，接近传感器、脚垫、外套连接在脚掌上，触觉传感器、缓冲垫片连接在脚垫上。本发明轻而坚固，可浮动且具有弹性补偿能力，并具有感知环境的能力。
A foot structure for a quadruped walking robot with floating feet supported in the field of robotics, including: shanks, spherical sub-covers, joints, instep seats, upper gaskets, pressure plates, balls with cages, lower gaskets, Foot seat, proximity sensor, foot pad, tactile sensor, bumper, jacket, compression spring. The joint, the instep seat and the upper gasket are fixedly connected to form the instep of the component, the lower gasket and the sole of the foot seat are fixedly connected to form the sole of the component, the instep is connected to the calf through a spherical pair, the spherical sub-cover is connected to the instep, and the sole is connected through a plane moving pair On the instep, the ball with the cage is connected between the two contact surfaces of the moving pair, the two ends of the compression spring are respectively pressed on the outer cylindrical surface around the instep and the inner cylindrical surface of the sole of the foot, the pressure plate is connected on the sole of the foot, the proximity sensor, the foot Pads and coats are connected on the soles of the feet, and touch sensors and cushioning pads are connected on the foot pads. The invention is light and strong, can float, has elastic compensation ability, and has the ability to sense the environment.
Description
Technical field
What the present invention relates to is a kind of leg structure of robot, specifically is the leg structure of the unsteady four feet walking robot that supports of a kind of foot, is used for the robot field.
Background technology
Walking robot is at leaping over obstacles, have obvious superiority aspect accidental relief and soft terrain and kinematic dexterity, and four feet walking robot is an important branch of robot.Four feet walking robot is stronger than two feet walking robot having load-carrying capacitys, good stability, simultaneously simple in structure than six foots, eight feet walking robot havings again.
Find by literature search, the Chinese patent publication number is: 1407922, patent name is: leg type mobile robot, the method of control robot, the foot structure of robot, removable shank unit with robot, the applying date is: November 16 calendar year 2001, the described foot structure of this patent is by runners, foot pad, ankle linkage unit three parts are formed, foot pad is made of the padded coaming at least two kinds of desired locations that are arranged on the runners base plate, the height difference of padded coaming, and be positioned at the inboard and the outside of runners base plate, do not provide the feature of runners and ankle linkage unit in this patent, but in leg type mobile robot, the pin of four feet walking robot and two-foot walking robot is in planform, the use aspect of ankle linkage unit and sensor is different, so the leg structure in this patent can not directly be applied on the four feet walking robot, and the defective that this leg structure exists in the actual use of four feet walking robot is: 1. when four feet walking robot is in static walking, transmission chain error and driving error can produce movement interference and the stuck phenomenon between the supporting leg, can make walking machine operation failure, cause motor rotation blockage or burn, this foot structure can not compensate transmission chain error and drive error.2. when four feet walking robot is trotted the dynamic walking of gait with the diagonal angle, when robot movement is very fast, article four, leg has simultaneously for swinging mutually constantly, article four, leg is with aloft, this alternation procedure requires robot mechanism to have elasticity and weakening function, and this foot structure does not satisfy the requirement of this motion to elastic mechanism.3. walking robot constantly contacts with the walking surface when walking, and the antagonistic force surperficial from walking becomes very big impulse force, becomes a kind of interference, causes the robot instability, and this foot structure can not absorb this impulse force by actv..
Summary of the invention
The objective of the invention is at deficiency of the prior art, the leg structure of the unsteady four feet walking robot that supports of a kind of foot is provided, make it can be directly used in four feet walking robot, can compensating motion inharmonious, avoid movement interference and stuck phenomenon, this structure has elasticity in the horizontal direction, can cushion the impulsive force from the horizontal direction on walking surface widely, and when satisfying the Robotic Dynamic walking to the requirement of elastic construction, can simplify the mechanism and the control of robot.
The present invention is achieved by the following technical solutions, the present invention includes: shank, spherical pair cover plate, joint, instep seat, Upper gasket, pressing plate, the ball of band retainer, lower gasket, sole seat, proximity transducer, foot pad, touch sensor, buffering spacer, overcoat, stage clip.Its annexation is: joint, instep seat and Upper gasket are fixedly connected into the member instep by pin and screw thread, lower gasket and sole seat are fixedly connected into the member sole by screw thread, instep is connected on the shank by spherical pair, and the spherical pair cover plate is connected on the instep, constitutes the part of spherical pair; Connect by plane moving sets between instep and the sole with elastic compensating mechanism, sole is connected on the instep by plane moving sets radially, the ball of band retainer is connected between two contact surfaces of moving sets, the two ends of stage clip are pressed on the external cylindrical surface around the instep respectively and on the inner cylinder face of sole, pressing plate is connected on the sole, constitute the longitudinal restraint that moves radially pair, be provided with 6 proximity transducers at the sole circumference, foot pad is provided with 4 touch sensors; Foot pad, overcoat are connected on the sole, and buffering spacer is connected on the foot pad.
Instep is connected on the shank by spherical pair, the surface of the ball that connects firmly with shank and the concave spherical surface on the instep combine, spherical pair is by the spherical pair cover plate location that is connected on the instep, the spherical pair that formation can only be rotated, shank is rotation at any angle with respect to the motion of instep, form passive freedom degree, the contact surface of spherical pair is a high-abrasive material.
Connect for the plane moving sets that radially has elastic compensating mechanism between instep and the sole: the last plane of the lower plane of instep and sole is in contact with one another by the ball of band retainer, thereby form plane moving sets radially, make instep on plane on the sole, to slide arbitrarily, this plane moving sets radially vertically be to push down instep and locate by being threaded in pressing plate on the sole, it makes instep can only make parallel motion on plane on the sole, the radial elastic compensation mechanism of this plane moving sets is that 6 by circle distribution are pressed in that the stage clip on the external cylindrical surface forms around the instep, the other end of stage clip is pressed on the inner cylinder face of sole by set screw, when instep on sole on the plane during radial floating, the stage clip distortion also produces restoring force.
Circumference at sole is provided with six proximity transducers that are threaded, the environment around can perception, and outermost layer is the overcoat that shields; Foot pad, buffering spacer are housed on the base plate of sole, four touch sensors are set on foot pad, can detect pin and the ground-surface situation that contacts.
The joint of described composition instep and Upper gasket are the friction surface of Contact Pair, take high-abrasive material, and the instep seat adopts the lighter material of material.The lower gasket of described composition sole is the friction surface of Contact Pair, takes high-abrasive material, and the sole seat adopts the lighter material of material.Described sole adopts the open circles ring-type, can install and adjust sensor easily.Described proximity transducer is near switch, is arranged on the circumference of sole.Described foot pad and overcoat adopt the lighter material of material.Described buffering spacer adopts elastomeric material.
The present invention in use, the amount of movement of stage clip is determined by the accumulated error value of each joint space.When foot lifts, stage clip makes the sole center balance position that playbacks, when foot contacts to earth, as transmission chain error with drive when motion between each foot that error causes is inharmonious might to be destroyed the walking machine walking or make motor rotation blockage, stage clip around the instep will produce distortion, thereby play the inharmonious effect of compensating motion.When foot was subjected to the impulsive force of horizontal direction, stage clip produced distortion equally and plays buffer action.Spherical pair between shank and the instep connects, and has constituted passive freedom degree to adapt to complicated ground.Sensor on the sole can differentiate ground state and with the ground-surface situation that contacts.Buffering spacer can increase friction force and alleviate impulsive force.
The present invention is owing to designed the plane moving sets connection with elastic compensating ability in foot structure, make it to have following advantage: 1. four feet walking robot is when static walking, when movement interference between transmission chain error and the driving error generation supporting leg and stuck phenomenon, stage clip around the instep will produce distortion, instep is moved with respect to sole, the inharmonious compensation of motion, walking machine can normally be walked, and motor can stall or is burnt.2. when four feet walking robot is trotted the dynamic walking of gait with the diagonal angle, the passive freedom degree of leg structure of the present invention has increased pin and ground-surface contact time, play buffer action, stage clip when impacting generation around the instep produces distortion, the same buffer action that rises, this leg structure makes walking machine have elasticity, makes that the shank design of robot is more reasonable, has simplified controlling schemes.3. walking robot is when walking, and the impulse force surperficial from walking obtains buffering by the distortion of the stage clip around the instep.
Because the present invention has above advantage, makes its structure design that is specially adapted to four feet walking robot, be equally applicable to polypody walking robots such as five foots, six foots, eight foots.
Description of drawings
Fig. 1 structure birds-eye view of the present invention
Fig. 2 is an A-A cutaway view shown in Figure 1
Fig. 3 is a B-B cutaway view shown in Figure 2
The birds-eye view of the ball of Fig. 4 band retainer of the present invention
The specific embodiment
Shown in Fig. 1-4, the present invention includes: shank 1, spherical pair cover plate 2, joint 3, instep seat 4, Upper gasket 5, pressing plate 6, the ball 7 of band retainer, lower gasket 8, sole seat 9, proximity transducer 10, foot pad 11, touch sensor 12, buffering spacer 13, overcoat 14, stage clip 15.
Joint 3, instep seat 4 and Upper gasket 5 are fixedly connected into the member instep by pin and screw thread, lower gasket 8 and sole seat 9 are fixedly connected into the member sole by screw thread, instep is connected on the shank 1 by spherical pair, spherical pair cover plate 2 is connected on the instep, constitute the part of spherical pair, sole is connected on the instep by moving sets radially, the ball 7 of band retainer is connected between two contact surfaces of moving sets, the two ends of stage clip 15 are pressed on the external cylindrical surface around the instep respectively and on the inner cylinder face of sole, pressing plate 6 is connected on the sole, constitute and move radially secondary longitudinal restraint, be provided with 6 proximity transducers 10 at the sole circumference, foot pad 11 is provided with 4 touch sensors 12, foot pad 11, overcoat 14 is connected on the sole, and buffering spacer 13 is connected on the foot pad 11.
Shank 1 is connected by spherical pair with instep, protruding sphere that connects firmly with shank and the concave spherical surface on the instep combine, and push down the spherical pair that formation can only be rotated by screw with spherical pair cover plate 2, shank is rotation at any angle with respect to the motion of instep, form passive freedom degree, the ground adaptive capacity is strong, and the contact surface of spherical pair is a cliding friction, so ball, joint 3 and spherical pair cover plate 2 are high-abrasive material, are taken as GCr15, SFL-4 and SFL-4 in this example respectively.
Connect by plane moving sets between instep and the sole with elastic construction, the Upper gasket 5 of instep and the lower gasket 8 of sole are in contact with one another by the ball 7 of band retainer, constitute moving sets radially, this moving sets vertically be to push down the instep location by being installed in pressing plate 6 on the sole, it makes instep energy and can only make parallel motion on plane on the sole, for the contact surface that guarantees moving sets wear-resisting, Upper gasket 5 in this example, ball 7, lower gasket 8 is drawn materials and is sheet steel, GCr15, sheet steel, instep seat 4, the sole seat 9 lighter material of matter of drawing materials is LY12 in this example.The radial elastic compensation mechanism of the plane moving sets of instep and sole is that 6 by circle distribution are pressed in that the stage clip 15 on the external cylindrical surface forms around the instep, the stage clip other end is pressed on the inner cylinder face of sole by set screw, set screw can be adjusted the predetermincd tension of stage clip, stage clip herein plays elastic element, when instep on sole on the plane during radial floating, the stage clip distortion also produces restoring force.
At the circumference of sole 6 proximity transducers 10 by being threaded are housed also, the environment around can perception adopts in this example near switch P ST17-5DCU; Outermost layer is that material is LY12 by being threaded or bonding overcoat 14; Base plate at sole is that the material that is threaded is the foot pad 11 of LY12; Buffering spacer 13 is installed on the foot pad, can absorb impulsive force, uses elastomeric material in this example; 4 touch sensor 12 usefulness are threaded on the foot pad.
Present embodiment in use, the amount of movement of stage clip 15 is determined by the accumulated error value of each joint space, when foot lifts, stage clip 15 makes the sole center balance position that playbacks, when foot contacts to earth, as transmission chain error with drive when motion between each foot that error causes is inharmonious might to be destroyed the walking machine walking or make motor rotation blockage, the stage clip around the instep will produce and be out of shape and play the inharmonious effect of compensating motion; When foot was subjected to the impulsive force of horizontal direction, buffer action was played in stage clip 15 same generation distortion; Spherical pair between shank 1 and the instep connects, and has constituted passive freedom degree, and the ground comformability strengthens; The proximity transducer of installing on the pin 10, touch sensor 12 can differentiate ground state and with the ground-surface situation that contacts; Buffering spacer 14 can increase friction force and alleviate impulsive force.
In sum, the leg structure of walking robot of the present invention, light and firm, can float and have the elastic compensating ability, and have the ability of perception environment, be a kind of more excellent enforcement schemes.
Claims (9)
1, the leg structure of the unsteady four feet walking robot that supports of a kind of foot, comprise: shank (1), spherical pair cover plate (2), joint (3), instep seat (4), Upper gasket (5), pressing plate (6), the ball (7) of band retainer, lower gasket (8), sole seat (9), proximity transducer (10), foot pad (11), touch sensor (12), buffering spacer (13), overcoat (14), stage clip (15), it is characterized in that, joint (3), instep seat (4) and Upper gasket (5) are fixedly connected into the member instep, lower gasket (8) and sole seat (9) are fixedly connected into the member sole, instep is connected on the shank (1) by spherical pair, spherical pair cover plate (2) is connected on the instep, constitute the part of spherical pair, sole is connected on the instep by the plane moving sets radially with elastic compensating mechanism, the lower gasket (8) of Upper gasket of instep (5) and sole is in contact with one another by the ball (7) of band retainer, constitute described plane moving sets radially, the two ends of stage clip (15) are pressed on the external cylindrical surface around the instep respectively and on the inner cylinder face of sole, pressing plate (6) is connected on the sole, constitute the longitudinal restraint of plane moving sets, be provided with 6 proximity transducers (10) at the sole circumference, foot pad (11) is provided with 4 touch sensors (12), foot pad (11), overcoat (14) is connected on the sole, and buffering spacer (13) is connected on the foot pad (11).
2, the leg structure of the unsteady four feet walking robot that supports of foot according to claim 1, it is characterized in that, the spherical pair that constitutes between described shank (1) and the instep, its contact surface adopts high-abrasive material, relative motion between shank and the instep forms passive freedom degree for rotating at any angle.
3, the leg structure of the unsteady four feet walking robot that supports of foot according to claim 1, it is characterized in that, during plane moving sets between described instep and the sole connects, the last plane of the lower plane of instep and sole is in contact with one another by the ball (7) of band retainer, the plane moving sets is a friction of rolling, perhaps is the less cliding friction of friction coefficient.
4, the leg structure of the unsteady four feet walking robot that supports of foot according to claim 1, it is characterized in that, the elastic compensating mechanism of described plane moving sets is radially, be pressed in by 6 of circle distribution that the stage clip (15) on the external cylindrical surface forms around the instep, the other end of stage clip (15) is pressed on the inner cylinder face of sole by set screw, when instep on sole on the plane during radial floating, stage clip (15) distortion also produces restoring force.
5, the leg structure of the four feet walking robot that float to support of foot according to claim 1 is characterized in that, the surface of friction pair that constitutes between described joint (3) and the Upper gasket (5), and the employing high-abrasive material, instep seat (4) is with the lighter material of material.
6, the leg structure of the unsteady four feet walking robot that supports of foot according to claim 1 is characterized in that, its friction surface of described lower gasket (8) adopts high-abrasive material, and sole seat (9) adopts the lighter material of material.
7, the leg structure of the unsteady four feet walking robot that supports of foot according to claim 1 is characterized in that described sole is an open circles ring-type structure.
8, the leg structure of the unsteady four feet walking robot that supports of foot according to claim 1 is characterized in that described proximity transducer (10) is near switch.
9, the leg structure of the unsteady four feet walking robot that supports of foot according to claim 1 is characterized in that, foot pad (11) and overcoat (14) adopt elastomeric material with the lighter material of material, buffering spacer (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100662094A CN1294045C (en) | 2004-09-09 | 2004-09-09 | Foot structure of four foot walking robot with foot float support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100662094A CN1294045C (en) | 2004-09-09 | 2004-09-09 | Foot structure of four foot walking robot with foot float support |
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| Publication Number | Publication Date |
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| CN1586966A CN1586966A (en) | 2005-03-02 |
| CN1294045C true CN1294045C (en) | 2007-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100662094A Expired - Fee Related CN1294045C (en) | 2004-09-09 | 2004-09-09 | Foot structure of four foot walking robot with foot float support |
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Families Citing this family (16)
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| CN100384598C (en) * | 2006-06-22 | 2008-04-30 | 上海交通大学 | Foot Mechanism of Biped Walking Robot Including Toe Degrees of Freedom |
| CN100548242C (en) * | 2007-08-20 | 2009-10-14 | 中国科学院合肥物质科学研究院 | A kind of foot of anthropomorphic robot |
| CN102039945B (en) * | 2010-12-15 | 2013-01-09 | 东南大学 | Two-dimensional (2D) walking robot foot mechanism |
| CN102556201B (en) * | 2012-01-19 | 2013-08-07 | 浙江大学 | Flat-sole foot structure of multi-foot walk robot |
| CN102700648B (en) * | 2012-06-14 | 2013-11-27 | 西北工业大学 | Adaptive deformation foot of kangaroo-simulated hopping robot |
| CN103057619B (en) * | 2013-01-25 | 2015-01-21 | 哈尔滨工业大学 | Foot-end mechanism for supporting leg of heavy-load multi-legged robot |
| CN103204190B (en) * | 2013-03-11 | 2015-06-24 | 大连理工大学 | Robot foot mechanism |
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| CN104228996B (en) * | 2014-09-26 | 2016-03-30 | 哈尔滨理工大学 | A dual-powered quadruped robot for walking on slopes |
| CN105015641B (en) * | 2015-07-09 | 2017-05-03 | 大连理工大学 | Foot mechanism with high load bearing of foot type robot |
| CN105564528A (en) * | 2016-01-14 | 2016-05-11 | 大连理工大学 | High-adaptability foot mechanism of robot |
| CN105564529A (en) * | 2016-01-14 | 2016-05-11 | 大连理工大学 | Bionic sole mechanism for foot type robot |
| CN106272533B (en) * | 2016-10-16 | 2018-07-10 | 福州幻科机电科技有限公司 | A kind of sole joint assembly of artificial intelligence robot |
| CN106828657B (en) * | 2017-03-20 | 2019-02-22 | 哈尔滨工业大学 | A two-stage vibration-absorbing ankle-foot integrated parallel low-impact walking foot mechanism and control method |
| CN107097213A (en) * | 2017-05-19 | 2017-08-29 | 沃奇（北京）智能科技有限公司 | Robot lower limb |
| CN107738701B (en) * | 2017-09-28 | 2020-03-13 | 深圳市行者机器人技术有限公司 | Foot shock-absorbing structure of robot |
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| US5421426A (en) * | 1992-11-05 | 1995-06-06 | Commissariat A L'energie Atomique | Walking robot foot |
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