CN108100074B - A robot foot structure - Google Patents
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- CN108100074B CN108100074BCN201711417286.3ACN201711417286ACN108100074BCN 108100074 BCN108100074 BCN 108100074BCN 201711417286 ACN201711417286 ACN 201711417286ACN 108100074 BCN108100074 BCN 108100074B
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- 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
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及机器人技术领域，尤其涉及一种机器人的足部结构。The invention relates to the technical field of robots, in particular to a foot structure of a robot.
背景技术Background technique
足式机器人是当今机器人领域最前沿的方向之一，与传统的轮式机器人或履带机器人相比，足式机器人凭借其独特的移动特点，能适应各种情形的地面环境，尤其在崎岖不平的路面、有障碍物的通道等方面具有广泛的应用前景。机器人的足部结构使足式机器人的重要组成部分，对足式机器人的运动有着非同一般的作用。因此，设计好足式机器人的足部结构至关重要。Footed robots are one of the most cutting-edge directions in the field of robotics today. Compared with traditional wheeled robots or crawler robots, footed robots can adapt to various ground environments due to their unique moving characteristics, especially in rough terrain. It has a wide range of application prospects in road surfaces, passages with obstacles, etc. The foot structure of the robot is an important part of the footed robot and has an extraordinary effect on the motion of the footed robot. Therefore, it is very important to design the foot structure of the footed robot.
足式机器人行走过程中会遇到的最大困难包括稳定性、灵活性以及缓冲能力。稳定性能够保证足式机器人运动的平稳以及姿态的平衡，灵活性能够使足式机器人适应多种地形，缓冲能力能够减小机器人着地时对机身零部件的损伤，并且利于提高机器人的稳定性和灵活性。这些性能都需要机器人的足式结构提供解决措施。The biggest difficulties encountered in the walking process of a footed robot include stability, flexibility and cushioning capacity. Stability can ensure the stable movement of the footed robot and the balance of the posture, flexibility can make the footed robot adapt to various terrains, and the buffering capacity can reduce the damage to the body parts when the robot touches the ground, and is conducive to improving the stability of the robot and flexibility. These performances require the robot's footed structure to provide solutions.
目前足式机器人的足部常采用球形、圆柱形或者板形的结构，这种结构的优点是刚度大、便于触地检测装置的安装。但是，这种结构不符合仿生学，灵活性与稳定性相对较差，而且落地时缺乏类似于跟腱、脚掌等生物结构的缓冲效果，对硬件的防冲击要求较高，能量损耗也较大。At present, the foot of the footed robot often adopts a spherical, cylindrical or plate-shaped structure, which has the advantages of high rigidity and convenient installation of the ground-contact detection device. However, this structure does not conform to bionics, and its flexibility and stability are relatively poor, and it lacks the buffering effect of biological structures such as Achilles tendon and sole of the foot when landing, which requires high impact resistance of hardware and large energy loss. .
因此，亟待一种新型的机器人足部结构来解决上述问题。Therefore, a new type of robot foot structure is urgently needed to solve the above problems.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种机器人的足部结构，以解决现有机器人的足部结构稳定性、灵活性与缓冲能力不足的问题。The purpose of the present invention is to provide a foot structure of a robot to solve the problems of insufficient stability, flexibility and buffering capacity of the existing robot foot structure.
为达上述目的，本发明采用以下技术方案：For achieving the above object, the present invention adopts the following technical solutions:
一种机器人的足部结构，包括：A robot foot structure comprising:
小腿；calf;
足弓板，其一端通过踝关节与小腿铰接，另外两端分别与脚后跟和前脚掌转动连接；An arch board, one end of which is hinged with the calf through the ankle joint, and the other two ends are respectively connected with the heel and the forefoot in rotation;
踝关节、脚后跟和前脚掌均内设有至少一个盘形弹簧，盘形弹簧与足弓板连接。The ankle joint, the heel and the forefoot are all provided with at least one disc spring, and the disc spring is connected with the arch plate.
作为优选，踝关节内设有第一转轴，第一转轴的外周设有第一盘形弹簧，第一转轴分别与第一盘形弹簧和足弓板键连接。Preferably, the ankle joint is provided with a first rotating shaft, the outer circumference of the first rotating shaft is provided with a first disc spring, and the first rotating shaft is respectively connected with the first disc spring and the arch plate key.
作为优选，第一转轴与小腿之间通过滚动轴承连接，滚动轴承外部设有轴承盖，轴承盖设于小腿上。Preferably, the first rotating shaft and the lower leg are connected by a rolling bearing, a bearing cover is provided outside the rolling bearing, and the bearing cover is arranged on the lower leg.
作为优选，脚后跟和前脚掌均内设有第二转轴，第二转轴的外周设有第二盘形弹簧，第二转轴分别与第二盘形弹簧和足弓板键连接。Preferably, both the heel and the forefoot are provided with a second rotating shaft, the outer periphery of the second rotating shaft is provided with a second disc spring, and the second rotating shaft is respectively connected with the second disc spring and the arch plate key.
作为优选，脚后跟和前脚掌均还设有支撑架，支撑架的外部设有防滑垫；支撑架与第二转轴的两端通过工字板固接，工字板与支撑架螺纹连接。Preferably, both the heel and the forefoot are provided with a support frame, and the outside of the support frame is provided with anti-skid pads;
作为优选，支撑架与足弓板通过推力轴承连接，足弓板与第二转轴通过滑动轴承连接。Preferably, the support frame and the arch plate are connected by a thrust bearing, and the arch plate and the second rotating shaft are connected by a sliding bearing.
作为优选，第一盘形弹簧和第二盘形弹簧均包括内圈，外圈以及位于内圈和外圈之间的弹性薄片。Preferably, both the first disc spring and the second disc spring include an inner ring, an outer ring and an elastic sheet located between the inner ring and the outer ring.
作为优选，内圈开设有与第一转轴或与第二转轴连接的键槽，外圈开设有与足弓板连接的螺纹孔。Preferably, the inner ring is provided with a key groove connected with the first rotating shaft or the second rotating shaft, and the outer ring is provided with a threaded hole connected with the arch plate.
作为优选，第一盘形弹簧的弹性薄片的刚度比第二盘形弹簧的弹性薄片的刚度大。Preferably, the rigidity of the elastic sheet of the first disc spring is greater than the rigidity of the elastic sheet of the second disc spring.
作为优选，足弓板与踝关节、脚后跟和前脚掌的连接处均设有微动开关。Preferably, a micro switch is provided at the connection between the arch plate and the ankle joint, the heel and the forefoot.
本发明的有益效果：Beneficial effects of the present invention:
本发明通过提供一种机器人的足部结构，利用在机器人的足部设置脚后跟和前脚掌，并通过盘形弹簧将二者与足弓板弹性连接，使得机器人的足部更加具有灵活性、稳定性和缓冲能力；利用盘形弹簧的内圈分别与第一转轴或第二转轴键连接，以及利用外圈与足弓板连接，可使得足弓板与脚后跟或与前脚掌发生旋转并产生弹性力矩，再通过设计第一盘形弹簧的弹性薄片与第二盘形弹簧的弹性薄片的厚度，进一步地，第一盘形弹簧的弹性薄片的刚度比第二盘形弹簧的弹性薄片的刚度大，使二者达到不同的弹性刚度，满足机器人足部不同关节对不同弹性刚度的需求，以实现多种运动形态；支撑架的外部设有防滑垫，可以提高机器人足部与地面之间的摩擦力，提高机器人的稳定性；通过微动开关的开闭状态，可以判断机器人足部着地的状态。The present invention provides a foot structure of a robot. The heel and the forefoot are arranged on the foot of the robot, and the two are elastically connected with the arch plate through a disc spring, so that the foot of the robot is more flexible and stable. The inner ring of the disc spring is connected with the first shaft or the second shaft respectively, and the outer ring is connected with the arch plate, which can make the arch plate and the heel or the forefoot rotate and generate elasticity torque, and then by designing the thickness of the elastic sheet of the first disk spring and the elastic sheet of the second disk spring, further, the stiffness of the elastic sheet of the first disk spring is greater than the stiffness of the elastic sheet of the second disk spring , so that the two can achieve different elastic stiffnesses to meet the requirements of different elastic stiffnesses of different joints of the robot feet, so as to realize various motion forms; the outside of the support frame is provided with anti-skid pads, which can improve the friction between the robot feet and the ground. It can improve the stability of the robot; through the opening and closing state of the micro switch, the state of the robot's feet on the ground can be judged.
附图说明Description of drawings
现将仅通过示例的方式，参考所附附图对本发明的实施方式进行描述，其中Embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, wherein
图1是本发明实施方式提供的机器人的足部结构其中一个状态的示意图；1 is a schematic diagram of one of the states of a foot structure of a robot provided by an embodiment of the present invention;
图2是本发明实施方式提供的机器人的足部结构另一个状态的示意图；2 is a schematic diagram of another state of the foot structure of the robot provided by an embodiment of the present invention;
图3是图1中踝关节处的剖视图；Fig. 3 is a sectional view at the ankle joint in Fig. 1;
图4是图1中脚后跟的剖视图；Fig. 4 is the sectional view of the heel in Fig. 1;
图5是机器人的足部结构的盘形弹簧的结构示意图。FIG. 5 is a schematic structural diagram of the disc spring of the foot structure of the robot.
图中：In the picture:
1、小腿；2、足弓板；3、踝关节；4、脚后跟；5、前脚掌；7、微动开关；1. Calf; 2. Arch board; 3. Ankle; 4. Heel; 5. Forefoot; 7. Micro switch;
31、第一转轴；32、滚动轴承；33、轴承盖；311、键；31, the first shaft; 32, rolling bearing; 33, bearing cover; 311, key;
41、第二转轴；42、支撑架；43、防滑垫；44、工字板；45、推力轴承；46、滑动轴承；41, the second shaft; 42, the support frame; 43, the anti-skid pad; 44, the I-shaped plate; 45, the thrust bearing; 46, the sliding bearing;
61、第一盘形弹簧；62、第二盘形弹簧；63、内圈；64、外圈；65、弹性薄片；631、键槽；641、螺纹孔。61, first disc spring; 62, second disc spring; 63, inner ring; 64, outer ring; 65, elastic sheet; 631, keyway; 641, threaded hole.
具体实施方式Detailed ways
下面结合附图并通过具体实施方式来进一步说明本发明的技术方案。The technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific embodiments.
如图1和图2所示，机器人的足部结构包括小腿1和足弓板2，足弓板2的一端通过踝关节3与小腿1铰接，另外两端分别与脚后跟4和前脚掌5转动连接。足弓板2采用镂空设计的加强筋板组合而成，在保证足弓板2强度的前提下，减小了足部结构的重量。足弓板2与踝关节3、脚后跟4和前脚掌5的连接处均设有微动开关7，特别地，足弓板2与脚后跟4和前脚掌5连接的微动开关7设置在足弓板2上，足弓板2与踝关节3连接的微动开关7设置在踝关节3上。当机器人足部着地时，脚后跟4、前脚掌5会相对于足弓板2转动，足弓板2又相对于踝关节3转动，从而使得在不同着地状态时，足部不同部位处的微动开关7被接触到，并以此判断机器人足部的着地状态。由此可见，将微动开关7设置在足部的不同部位是经过本领域技术人员深思熟虑之后，并经大量模拟实验，付出创造性劳动获得的，也是考虑到机器人足部综合的技术效果而设定的。以步行姿态为例进行说明：1)足部在空中还未着地时，三个微动开关7均断开；2)足部刚刚接触地面，但还未完全站稳，此时脚后跟4着地受力，脚后跟4的微动开关7连通，其他两个微动开关7断开；3)足部在地面站稳后，踝关节3的微动开关7和脚后跟4的微动开关7连通；4)足部准备离开地面并且处于站稳状态时，踝关节3的微动开关7和前脚趾5的微动开关7连通；5)足部即将离开地面时，前脚趾5的微动开关7连通，其他两个开关断开。As shown in Figures 1 and 2, the foot structure of the robot includes a calf 1 and an
如图3所示，图3为踝关节3处的剖视图。踝关节3靠设于其内部的第一转轴31，与小腿1通过滚动轴承32转动连接，滚动轴承32的外侧设有卡环，卡环的外周设有轴承盖，从而更好地保护第一转轴31和滚动轴承32，此处，不对轴承的类型进行限定，滚动轴承32为优选实施方式。具体地，如图5所示，盘形弹簧包括内圈63、外圈64以及弹性薄片65，盘形弹簧的内圈63上开设有与第一转轴31连接的键槽631，外圈64上开设有与足弓板2连接的螺纹孔641，弹性薄片65位于内圈63和外圈65之间，可以通过设计弹性薄片65的厚度，使其达到不同的弹性刚度，满足机器人足部不同关节对不同弹性刚度的需求，以实现多种运动形态。。As shown in FIG. 3 , FIG. 3 is a cross-sectional view of the
具体地，第一转轴31的轴身上设有一个键槽，足弓板2位于第一转轴31的中间位置处也开设有键槽，同时与位于足弓板2两侧的盘形弹簧的内圈63上开设的键槽631配合，共同通过键311进行键连接。可以理解的是，第一转轴31的轴身上还可以设有多个键槽，其中贴设于小腿1内部的两侧各设有一个键槽，并和盘形弹簧内圈63上的键槽631配合进行键连接。还可以理解的是，第一转轴31的轴身上，在贴设于小腿1内部的两侧各设有一个与键槽631配合的凸起，使得第一转轴31与第一盘形弹簧61可转动连接。Specifically, a keyway is provided on the shaft body of the first
如图4所示，图4为脚后跟4处的剖视图，可以理解的是，脚后跟4和前脚掌5的结构设计相同，因此附图省略前脚掌5的剖视图。脚后跟4靠设于其内部的第二转轴41，与足弓板2通过滑动轴承46转动连接。此处也可以选择为滚动轴承，但由于滚动轴承所占的结构体积相比于滑动轴承更大，为了节省脚后跟4的空间，此处优选为第二转轴41与足弓板2通过滑动轴承46转动连接。As shown in FIG. 4 , which is a cross-sectional view of the
具体地，脚后跟4的外部设有支撑架42，用来保护并支撑脚后跟4内部的部件，防止进入杂质污染。支撑架42的外侧包裹一层防滑垫43，防滑垫43采用橡胶材质制成，不仅增大了脚后跟4与地面之间的摩擦力，同时橡胶材料还具有一定的吸振能力，能够避免机器人足部出现较大的震动。支撑架42的两侧设有工字板44，工字板44的中间竖板与第二转轴41的两侧卡接，且通过螺钉固定在支撑架42上，使得第二转轴41与支撑架42成为一体，共同与足弓板2转动连接。Specifically, a
具体地，在第二转轴41的中间位置处开设有一个键槽(图中未示出)，并与第二盘形弹簧62键连接。可以理解的是，在第二转轴41的中间位置处设有凸起，与第二盘形弹簧62卡接配合。第二盘形弹簧62位于足弓板2端部的中间，并通过螺纹孔641与足弓板2螺纹连接。Specifically, a keyway (not shown in the figure) is opened at the middle position of the second
具体地，足弓板2与支撑架42通过推力轴承45连接，推力轴承45限制第二转轴41和支撑架42的轴向位移，更好地承受当脚后跟4运动时产生的轴向力。Specifically, the
具体地，本发明利用在机器人足部机构内部设置盘形弹簧的方式，可以很好地减小机器人行走时地面对机器人的冲击，进而减小机器人零部件受到的损伤。与此同时，通过设计弹性薄片65的厚度，使得第一盘形弹簧61的弹性薄片65的刚度比第二盘形弹簧62的弹性薄片65的刚度大，满足机器人足部不同关节对不同弹性刚度的需求，以实现多种运动形态。再次地，通过利用踝关节3、脚后跟4和前脚掌5的微动开关7的不同连通方式，来判断当时机器人足部的运动状态。Specifically, the present invention utilizes a method of arranging a disc spring inside the robot foot mechanism, which can well reduce the impact on the robot when the robot walks, thereby reducing damage to the robot parts. At the same time, by designing the thickness of the
显然，本发明的上述实施例仅仅是为了清楚说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the embodiments of the present invention. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.
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| CN106364587B (en)* | 2014-12-26 | 2018-07-27 | 合肥工业大学 | A kind of control method of humanoid robot foot section |
| CN104890758A (en)* | 2015-06-30 | 2015-09-09 | 湖州市千金宝云机械铸件有限公司 | Walking robot foot unit |
| CN107187512A (en)* | 2017-05-31 | 2017-09-22 | 地壳机器人科技有限公司 | Human-imitating double-foot walking robot |
- 2017
- 2017-12-25CNCN201711417286.3Apatent/CN108100074B/enactiveActive
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