CN107215405B - A kind of elastic sole structure with adaptive ability - Google Patents
A kind of elastic sole structure with adaptive ability Download PDFInfo
- Publication number
- CN107215405B CN107215405B CN201710332353.5A CN201710332353A CN107215405B CN 107215405 B CN107215405 B CN 107215405B CN 201710332353 A CN201710332353 A CN 201710332353A CN 107215405 B CN107215405 B CN 107215405B
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- Prior art keywords
- elastomeric material
- robot
- contact
- sole
- spring
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of elastic sole structure with adaptive ability, comprising: top layer elastomeric material, bottom elastomeric material and spring array；Spring array is embedded in elastomeric material interior of shell, bonds on one side with bottom elastomeric material, and another side and top layer elastomeric material bond.The invention has the benefit that the present invention breaches traditional robot sole and contacts the mode of face contact, it can give robot enough holding powers under the premise of keeping sole flexible the device of spring stiffness coefficient feature of the surface-to-surface contact that is changed to of point-face contact, radial arrangement；Flexible robot's sole can be well adapted for contact surface complicated and changeable, significantly reduce the probability of robot sole failure, reduce sole and collision on the ground bring is impacted, increase the reliability and stability of robot sole work.
Description
Technical field
The present invention relates to robot architecture's technical field, especially a kind of elastic sole structure with adaptive ability.
Background technique
Traditional robot sole is made of materials such as rigid joint and gears, and using strengthening tendons elastomeric material to joint into
Row control, using point-face contact, enables robot is sensitive to quickly finish various tasks.However, with the development of science and technology, machine
Device people is gradually applied to industry, construction industry, agricultural even space industry, the complicated operating environment point-traditional to robot
Face contact design brings huge challenge.If the contact surface of robot sole is not plane, but increasingly complex cambered surface, very
To being random convex surface, traditional point-face contact will failure.If by the sole of robot and the contact side of contact surface
Formula is changed to surface-to-surface contact, will enhance robot sole to the adaptability of contact surface complicated and changeable.
Currently, the surface-to-surface design structure about robot sole and contact surface, there is no relevant technologies both at home and abroad.Compared with
It is the soft material for machine finger that is similar, thering is University of Toronto (Toronto University) to study, it is therefore intended that
The adaptability for enhancing robot finger, enables robot to do and catches the object with uneven surface securely；And Cambridge is big
Learn the power sensing in the ground motion of (Cambridge University) research, it is therefore intended that using soft in robot sole
Property material mitigate influence of the high impact forces to the sensor in sole, protection sensor is avoided by collision on the ground.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of elastic sole structure with adaptive ability, energy
So that robot sole and contact surface is carried out surface-to-surface contact, adapts to working environment complicated and changeable.
In order to solve the above technical problems, the present invention provides a kind of elastic sole structure with adaptive ability, comprising: top
Layer elastomeric material, bottom elastomeric material and spring array；Spring array be embedded in elastomeric material interior of shell, on one side with bottom
Layer elastomeric material bonding, another side and top layer elastomeric material bond.
Preferably, the rigidity of top layer elastomeric material is slightly larger than the rigidity of bottom elastomeric material.
Preferably, all springs in spring array are arranged in parallel, and spring array selects the identical material of modulus of rigidity.
Preferably, in spring array the number of turns of each independent spring, mean diameter of coil and spring spacing with spring and machine
Device people's foot end junction distance increases and successively decreases.
Preferably, elastic sole respectively with structure interface and non-structural contact face contact.
Preferably, when elastic sole is with non-structural contact face contact, the way of contact specifically:
(1) robot operates, and elastic sole and contact face contact then follow the steps if contact surface is non-structural face
(2)；If contact surface is flat, (4) are thened follow the steps；
(2) bottom elastomeric material is that deformation occurs for the uneven contact surface of adaptation, approximate with the way of contact of contact surface
For surface-to-surface contact；
(3) spring array generates elastic force because being squeezed due to deformation occurs by bottom elastomeric material, gives bottom elastomer
Material pressure and give top layer elastomeric material holding power；Top layer elastomeric material deformation is smaller, bottom elastomeric material shape
Become larger, elastic sole adapts to non-structural contact surface, provides and robot is maintained to advance stable holding power；
(4) deformation occurs for bottom elastomeric material, and spring array is compressed, and maintains the form of robot elastic sole simultaneously
Give robot holding power；
(5) robot lifts elastic sole, and elastic sole restPoses；
(6) if robot works on, (1) is entered step；If periods of robot operation stop, power cut-off.
The invention has the benefit that the present invention breaches traditional robot sole and contacts the mode of face contact, by point-
Face contact is changed to surface-to-surface contact, and the device of spring stiffness coefficient feature of radial arrangement can give under the premise of keeping sole flexible
Give the enough holding powers of robot；Flexible robot's sole can be well adapted for contact surface complicated and changeable, significantly reduce
The probability of robot sole failure, reduces sole and collision on the ground bring is impacted, and increases the reliable of robot sole work
Property and stability.
Detailed description of the invention
Fig. 1 is robot elastic sole structural schematic diagram of the invention.
Fig. 2 is robot elastic sole diagrammatic cross-section of the invention.
Fig. 3 is spring array stiffness factor distribution schematic diagram of the invention.
Fig. 4 is robot elastic sole and contact face contact schematic diagram of the invention.
Fig. 5 is workflow schematic diagram of the invention.
Specific embodiment
The present invention provides a kind of elastic sole structure with adaptive ability, as shown in Figure 1, including based on flexible colloid
With the sole structure of spring array, operating mode is surface-to-surface contact.
As shown in Figure 1, the sole structure based on flexible colloid and spring array, including top layer elastomeric material 1, bottom
The rigidity of layer elastomeric material 2 and spring array 3, quilting material should be slightly larger than primer, structure when keeping sole to work
Type.
As shown in figures 1 and 3, the structure of the spring array is that all springs in spring array 3 are arranged in parallel, bullet
Spring array selects unified material, i.e. modulus of rigidity is identical.The number of turns, mean diameter of coil and the spring spacing of each independent spring,
As spring and robot foot end junction distance increase and successively decrease, i.e. the equivalent stiffness factor of sole edge is larger and sole
Center is smaller, to increase contact surface of the structure operation in the process with non-mechanism plane.Regular pentagon indicates spring and machine in Fig. 3
Device people's foot end junction.
As shown in Fig. 2, the combination of the top layer elastomeric material 1, bottom elastomeric material 2 and spring array 3 is,
Spring array is embedded in elastomeric material interior of shell, and the spring array one side is bonded with bottom elastomeric material, spring battle array
The another side and top layer elastomeric material of column bond, and spring array, which rises, to be maintained robot elastic sole form and put down with non-structural
The effect that face comes into full contact with.
As shown in figure 4, the way of contact is approximately surface-to-surface contact when elastic sole and contact face contact.
As shown in figure 5, work step is as follows when robot elastic sole and irregular contact face contact:
(1) robot operates, and elastic sole and contact face contact then follow the steps if contact surface is non-structural face
(2), if contact surface is flat, (4) are thened follow the steps；
(2) bottom elastomeric material 2 is that deformation occurs for the uneven contact surface of adaptation, approximate with the way of contact of contact surface
For surface-to-surface contact；
(3) 3 spring array of spring array generates elastic force because being squeezed due to deformation occurs by bottom elastomeric material 2, gives
2 pressure of bottom elastomeric material and give top layer elastomeric material 1 holding power；At this point, 1 deformation of top layer elastomeric material compared with
It is small, and 2 deformation of bottom elastomeric material is larger, robot elastic sole is able to adapt to connect non-structural contact surface, and provides maintenance
Robot advances stable holding power；
(4) deformation occurs for bottom elastomeric material 2, and spring array is compressed, and maintains the form of robot elastic sole
And give robot holding power；
(5) robot lifts sole, and elastic sole restPoses；
(6) if robot works on, (1) is entered step, if robot is out of service, power cut-off.
Although the present invention is illustrated and has been described with regard to preferred embodiment, it is understood by those skilled in the art that
Without departing from scope defined by the claims of the present invention, variations and modifications can be carried out to the present invention.
Claims (4)
1. a kind of elastic sole structure with adaptive ability characterized by comprising top layer elastomeric material, bottom bullet
Elastomer material and spring array；Spring array is embedded in elastomeric material interior of shell, bonds on one side with bottom elastomeric material, separately
It is bonded on one side with top layer elastomeric material；Elastic sole respectively with structure interface and non-structural contact face contact；Elastic sole
When with non-structural contact face contact, the way of contact specifically:
(1) robot operates, and elastic sole thens follow the steps (2) if contact surface is non-structural face with contact face contact；Such as
Fruit contact surface is flat, thens follow the steps (4)；
(2) bottom elastomeric material is that deformation occurs for the uneven contact surface of adaptation, and the way of contact with contact surface is approximately face-
Face contact；
(3) spring array generates elastic force because being squeezed due to deformation occurs by bottom elastomeric material, gives bottom elastomeric material
Pressure and give top layer elastomeric material holding power；Top layer elastomeric material deformation is smaller, the deformation of bottom elastomeric material compared with
Greatly, elastic sole adapts to non-structural contact surface, provides and robot is maintained to advance stable holding power；
(4) deformation occurs for bottom elastomeric material, and spring array is compressed, and maintains the form of robot elastic sole and gives
Robot holding power；
(5) robot lifts elastic sole, and elastic sole restPoses；
(6) if robot works on, (1) is entered step；If periods of robot operation stop, power cut-off.
2. as described in claim 1 with the elastic sole structure of adaptive ability, which is characterized in that top layer elastomeric material
Rigidity be slightly larger than bottom elastomeric material rigidity.
3. as described in claim 1 with the elastic sole structure of adaptive ability, which is characterized in that the institute in spring array
Have that spring is arranged in parallel, spring array selects the identical material of modulus of rigidity.
4. as claimed in claim 3 with the elastic sole structure of adaptive ability, which is characterized in that each in spring array
The number of turns, mean diameter of coil and the spring spacing of independent spring are successively decreased as spring and robot foot end junction distance increase.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710332353.5A CN107215405B (en) | 2017-05-12 | 2017-05-12 | A kind of elastic sole structure with adaptive ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710332353.5A CN107215405B (en) | 2017-05-12 | 2017-05-12 | A kind of elastic sole structure with adaptive ability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107215405A CN107215405A (en) | 2017-09-29 |
| CN107215405B true CN107215405B (en) | 2019-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710332353.5A Expired - Fee Related CN107215405B (en) | 2017-05-12 | 2017-05-12 | A kind of elastic sole structure with adaptive ability |
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| Country | Link |
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| CN (1) | CN107215405B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115447691B (en) * | 2022-09-01 | 2023-06-02 | 南京信息工程大学 | Foot end mechanism with variable rigidity |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1282551A (en) * | 1999-08-03 | 2001-02-07 | 萨洛蒙公司 | Soft-hard structure |
| CN202608932U (en) * | 2012-06-14 | 2012-12-19 | 西北工业大学 | Robotic transformation foot capable of simulating kangaroo to jump |
| CN106572711A (en) * | 2014-02-28 | 2017-04-19 | 维多利亚·汉密尔顿 | Protection device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150047224A1 (en) * | 2013-08-16 | 2015-02-19 | Jing Zhao | Shoe having carbon fiber composite spring soles and upper support |
-
2017
- 2017-05-12 CN CN201710332353.5A patent/CN107215405B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1282551A (en) * | 1999-08-03 | 2001-02-07 | 萨洛蒙公司 | Soft-hard structure |
| CN202608932U (en) * | 2012-06-14 | 2012-12-19 | 西北工业大学 | Robotic transformation foot capable of simulating kangaroo to jump |
| CN106572711A (en) * | 2014-02-28 | 2017-04-19 | 维多利亚·汉密尔顿 | Protection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107215405A (en) | 2017-09-29 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190510 |