CN107284550B - Heavy-load light elastic mechanical foot - Google Patents
Heavy-load light elastic mechanical foot Download PDFInfo
- Publication number
- CN107284550B CN107284550B CN201710432789.1A CN201710432789A CN107284550B CN 107284550 B CN107284550 B CN 107284550B CN 201710432789 A CN201710432789 A CN 201710432789A CN 107284550 B CN107284550 B CN 107284550B
- Authority
- CN
- China
- Prior art keywords
- elastic
- heavy
- mechanical foot
- isoprene rubber
- sole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a heavy-load light-weight elastic mechanical foot which comprises a connecting component, a joint component and a sole component. The connecting member primarily effects the connection between the mechanical foot and the leg. The joint part is provided with four symmetrical springs, the equivalent motion of the joint part is a Hooke hinge, and the motion with two degrees of freedom can be realized, so that the mechanical foot can better adapt to complex terrains, an isoprene rubber material is used as a buffer part in the buffer part, the shock-proof buffer function can be realized under the action of large impact, a polyurethane rubber material is used in the sole part to have a certain anti-skidding function, and raised particles are arranged on the foot contact part to increase the sole adhesive force.
Description
Technical Field
The invention belongs to the field of mechanical design, and relates to a heavy-load light-weight elastic mechanical foot.
Background
The contact mode of the traditional foot type robot with the ground is realized by different mechanical feet. The common mechanical feet are generally spherical feet or simple plane and curved feet, and are added with damping devices such as auxiliary springs and the like. The structure and the function of the mechanical foot are relatively simple, most of the mechanical foot are only suitable for walking on rigid flat ground, the walking effect on complex road surfaces is poor, and the mechanical foot cannot be well adapted to terrains. At present, mechanical feet specially designed under the condition of heavy load at home and abroad are fewer, and most of the mechanical feet are traditional mechanical feet. At present, a mechanical foot which can realize heavy load and walking on a complex ground and has elastic property generally has larger weight, causes a plurality of problems to the walking motion of a robot and greatly reduces the dynamic performance of a foot type robot. Therefore, the design of the light mechanical foot with elastic freedom degree has very important significance under the heavy load condition.
Disclosure of Invention
The invention aims to solve the problems, mainly meets the requirements of heavy load and light weight, and simultaneously can meet the secondary requirements of adapting to complex terrains, damping, skid resistance and the like.
The invention relates to a heavy-load light-weight elastic mechanical foot, which comprises a connecting component, a joint component and a sole component;
the mechanical foot is connected with the leg of the robot by the outer part of the connecting part, and the inner part of the connecting part is connected with the joint part, so that the connecting function of the heavy-load light-weight elastic mechanical foot and the leg of the legged robot is mainly realized, and the effect of quickly replacing the system is realized;
the joint component is fixed below the connecting component and comprises four same elastic sponges, four same springs, a buffering piece made of isoprene rubber and a connecting piece made of carbon fiber. Four identical elastic sponges and springs are arranged at the same position and compressed together, one end of each elastic sponge is fixed with the connecting part, and the other end of each elastic sponge is fixed with the isoprene rubber buffer. The motion of four springs is equivalent to a hooke joint (two intersecting rotational degrees of freedom). One end of the isoprene rubber buffer part is connected with the spring, and the other end of the isoprene rubber buffer part is connected with the sole part.
The sole component is mainly used for realizing the contact between the mechanical foot and the ground and comprises a polyurethane rubber anti-skid bottom cushion.
The main material of the connecting part is aluminum alloy which is a metal material and is relatively easy to process and low in density, and the rigid connection of the heavy-load light-weight elastic mechanical foot and the lower leg part is ensured.
The elastic sponge is used for fixing the position of the spring, the density of the elastic sponge is low, and the strength of the part is ensured by the spring, so that the weight of the mechanical foot is reduced by the part of the elastic sponge. The four springs are installed in a central symmetry mode, the equivalent motion of the elastic joint formed by the four springs is similar to a hook joint (two crossed rotary motions), the elastic joint can adapt to inclined planes or different terrains in a complex environment, and the whole elastic sponge and the springs also have a certain elastic buffering effect.
The isoprene rubber material is high in elasticity and impact-resistant, replaces the original common metal material, reduces the weight of a mechanical foot to a certain extent, plays a role in impact resistance when the foot-type robot dynamically moves, enables the impact force of the foot bottom not to be directly applied to the leg of the foot-type robot, relieves the key impact damage of the foot-type robot, and performs honeycomb-shaped cutting treatment on the upper surface of a basic cylindrical structure, so that the weight is reduced, meanwhile, the mounting position of the elastic sponge is provided, and the mechanism is simplified. The parts of the isoprene rubber buffer parts with weak stress are properly cut into blocks, so that the proper weight is reduced. The carbon fiber material has light weight and high strength, replaces the original common metal material, ensures the integral strength of joint parts, reduces the weight of mechanical feet and provides an interface capable of replacing the bottom cushion.
The anti-skid bottom pad is made of polyurethane rubber, has high strength and good wear resistance compared with other materials, and is more suitable for being used as a material for the foot type robot to contact with the ground. In addition, in order to prevent skidding and increase the adhesive force of the sole, the bottom of the antiskid bottom pad is provided with a raised particle ratio and the thickness of the antiskid bottom pad is properly increased.
The heavy-load light-weight elastic mechanical foot is made of materials which are light relative to traditional metals in all parts, and high-strength materials are used in key stress connecting pieces, so that the whole mechanical foot is lightened under the condition that the overall strength of the mechanical foot is ensured.
The invention has the advantages that:
(1) the device can be arranged on the foot of a heavy-load foot-type robot, so that the robot can stably walk on the large-gradient and uneven ground, the weight is light, a certain damping and buffering effect is provided in dynamic walking, and the dynamic walking performance of the robot on the large-gradient and uneven ground is improved;
(2) the device can play a certain anti-skidding role in the walking of the legged robot;
(3) the device can be conveniently replaced and used in different foot robots.
Drawings
FIG. 1 is a front view of a heavy duty lightweight resilient mechanical foot of the present invention;
FIG. 2 is a front, semi-cross-sectional view of a heavy-duty, lightweight resilient mechanical foot of the present invention;
FIG. 3 is a top view of a heavy-duty lightweight elastomeric mechanical foot of the present invention;
FIG. 4 is a schematic view of the connecting member structure of the present invention;
FIG. 5 is a schematic view of the joint component structure of the present invention;
FIG. 6 is a schematic view of the sole structure of the present invention;
FIG. 7 is a schematic view of a landing deformation of the present invention;
in the figure:
1-connecting part 2-joint part 3-plantar part
201-elastic sponge 202-spring 203-isoprene rubber buffer
204-carbon fiber connector
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention relates to a heavy-load light-weight elastic mechanical foot device, which comprises a connecting part 1, a joint part 2 and a sole part 3, as shown in figures 1, 2 and 3;
as shown in fig. 4, the connecting part 1 is a whole workpiece, the processing material is aluminum alloy, a cylindrical slot is formed in the workpiece, the slot is mainly connected with a simple cylindrical robot leg, and two bolt positioning holes are formed in two sides of the slot and used for fixing and connecting. The lower half of the workpiece is a large disc, and reinforcing ribs are added between the disc and the cylindrical slots of the upper half to increase strength. Four bolt holes are symmetrically arranged on the large disc and are used for fixing the position of the elastic sponge 201.
As shown in fig. 5, the joint member 2 includes an elastic sponge 201, a spring 202, an isoprene rubber cushion 203, and a carbon fiber connector 204.
The middle warp of the spring 202 should be selected to be similar to the diameter of the elastic sponge 201, in the actual installation and modification, the middle warp of the spring 202 can be determined firstly, the diameter of the spring sponge 201 can be modified after the installation, so that the spring sponge 201 has appropriate radial force after being inserted into the spring sponge 201, the effect similar to interference fit is achieved, the strength and other requirements are selected according to different situations, and the spring 202 is sleeved outside the elastic sponge 201 and penetrates through the buffer 203 made of isoprene rubber.
The overall shape of the isoprene rubber cushion member 203 is cylindrical, and the diameter thereof is the same as that of the large disk of the connecting member 1. The upper half part of the isoprene rubber buffer 203 is provided with regularly arranged honeycomb holes, the number of the honeycomb holes can be quantitatively modified according to the actual size and strength, the honeycomb holes are distributed in a mode of central shaft symmetry in distribution, wherein four through holes which are symmetrically distributed and have the inner diameter larger than the outer diameter of the spring 202 are required to be used for the penetration of the elastic sponge 201 and the spring 202. Symmetrically distributed cutouts are added to the lower half of the isoprene rubber cushion member 203 to reduce the overall weight.
The connecting member 204 of carbon fiber is cylindrical as a whole, and the thickness is designed mainly according to the strength, and the diameter is the same as that of the buffer member 203 of isoprene rubber. The carbon fiber connector 204 has a bolt hole for fixing the elastic sponge 201 and a bolt hole for fixing the isoprene rubber cushion 203.
The sole part 3, as shown in fig. 6, includes a urethane rubber non-slip base pad 301.
The sole component 3 is made of polyurethane rubber anti-slip base mat, the whole sole component is cylindrical, the upper surface of the sole component is connected with the connecting piece 204 of the carbon fiber through glue, only pressure is applied and tension is not applied, and protruding particles are processed on the lower surface of the sole component and used for preventing feet and the ground from sliding and increasing sole adhesive force.
The schematic diagram of the invention when stressed on uneven ground is shown in figure 7. The movement of the four springs 202 enables the connecting part 1 and the sole part 3 to be equivalent to the movement of a Hooke's hinge, when the mechanical foot moves on uneven ground, the four springs are enabled to generate asymmetric deformation due to the interaction pressure between the ground and the legs, the comprehensive deformation of the four groups of springs 202 and the elastic sponge 201 is the composite deformation of axial bending and axial compression, the size of the axial compression is related to the actual stress, the degree of the axial bending is related to the posture between the ground and the robot legs, the sole surface and the ground can be close to each other as much as possible, and the sole attachment surface is greatly increased. Secondly, under the condition that the spring 202 is subjected to large impact, the connecting part 1 is connected with the isoprene rubber buffer 203 through the isoprene rubber buffer 203, the impact can be greatly reduced through the impact resistance characteristic of the isoprene rubber material, and the functions of resisting vibration and protecting the joints of the legged robot are achieved.
The invention has the characteristics of heavy load, light weight and enough elasticity, and the heavy-load light-weight elastic mechanical foot device has the following functions:
1. the heavy-load light elastic mechanical foot is suitable for the foot of a large heavy-load foot type robot.
2. The heavy-load light elastic mechanical foot is provided with four symmetrical springs, equivalent motion is a passive Hooke hinge function, and the heavy-load light elastic mechanical foot can adapt to complex terrains.
3. The heavy-load light elastic machine is made of an impact-resistant isoprene rubber material under the condition of large deformation of a large impact spring, and has a certain impact resistance effect.
4. The contact part of the heavy-load light elastic mechanical foot and the ground is provided with convex particles, and the heavy-load light elastic mechanical foot has a certain anti-skidding function.
Claims (6)
1. A heavy-load light-weight elastic mechanical foot device comprises a connecting component, a joint component and a sole component;
the mechanical foot is connected with the leg of the robot by the outer part of the connecting part, and the inner part of the connecting part is connected with the joint part, so that the heavy-load light-weight elastic mechanical foot is connected with the leg of the legged robot, and the quick replacement is realized;
the joint component comprises four same elastic sponges, four same springs, a buffer part made of isoprene rubber and a connecting piece;
the elastic sponge is positioned in the spring, the buffering piece of the isoprene rubber is provided with a honeycomb-shaped hole, the four elastic sponges are symmetrically distributed as the circle center, the spring penetrates through the honeycomb-shaped hole, one end of the elastic sponge is connected with the connecting part, the other end of the elastic sponge is connected with the connecting piece, the motion of the four springs is equivalent to a Hooke hinge, the lower surface of the buffering piece of the isoprene rubber is connected with the connecting piece, and the connecting piece is also connected with;
a cylindrical slot is arranged on the connecting part and is connected with the leg of the robot, a disc is arranged below the connecting part, and a reinforcing rib is arranged between the disc and the cylindrical slot;
the quantity of honeycomb holes of isoprene rubber is confirmed according to actual size and intensity, adopts the mode of central axis symmetry to distribute, wherein has four to be centre of a circle symmetric distribution, and honeycomb hole internal diameter is greater than the external diameter of spring, the latter half of isoprene rubber's bolster is equipped with the cutting block of symmetric distribution.
2. The heavy-duty, lightweight, resilient mechanical foot assembly according to claim 1, wherein said connecting member is made of an aluminum alloy.
3. The heavy duty, lightweight resilient mechanical foot device according to claim 1, wherein said connecting member is made of carbon fiber.
4. The heavy-duty lightweight elastic mechanical foot device according to claim 1, wherein the elastic sponge has a cylindrical shape and holes for fixing the elastic sponge at two ends, the large disk of the connecting member and one end of the large disk are inserted by bolts to increase the attachment area, the two devices are connected by strong glue, the connecting member of the carbon fiber and one end of the large disk are inserted by bolts to increase the attachment area, and the two devices are connected by strong glue.
5. The heavy-duty lightweight elastic mechanical foot device according to claim 1, wherein the elastic sponge has a radial force after being inserted into the spring, so as to achieve an interference fit effect.
6. The heavy duty, lightweight elastic mechanical foot device according to claim 1, wherein said sole assembly is provided with a polyurethane rubber non-slip sole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710432789.1A CN107284550B (en) | 2017-06-09 | 2017-06-09 | Heavy-load light elastic mechanical foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710432789.1A CN107284550B (en) | 2017-06-09 | 2017-06-09 | Heavy-load light elastic mechanical foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107284550A CN107284550A (en) | 2017-10-24 |
| CN107284550B true CN107284550B (en) | 2020-04-14 |
Family
ID=60097831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710432789.1A Active CN107284550B (en) | 2017-06-09 | 2017-06-09 | Heavy-load light elastic mechanical foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107284550B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098949B (en) * | 2019-12-18 | 2021-05-28 | 南京涵曦月自动化科技有限公司 | Leg and foot elastic device of foot type robot |
| CN114750850A (en) * | 2022-05-25 | 2022-07-15 | 浙江德镧智能技术有限公司 | Quick climbing device of live working robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2697492B1 (en) * | 1992-11-05 | 1994-12-23 | Commissariat Energie Atomique | Walking robot foot. |
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| CN101537858B (en) * | 2009-04-13 | 2011-05-04 | 北京航空航天大学 | Rotating-arm type vibration and suction mechanism |
| CN102991601B (en) * | 2012-12-09 | 2015-02-11 | 郑州轻工业学院 | Two-degree-of-freedom humanoid ankle joint |
| CN105480036A (en) * | 2015-11-30 | 2016-04-13 | 北京机械设备研究所 | Intelligent amphibious robot |
| CN105966489B (en) * | 2016-06-03 | 2018-09-11 | 中国计量大学 | The robot leg that energy bounces and sufficient end is adsorbable |
-
2017
- 2017-06-09 CN CN201710432789.1A patent/CN107284550B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107284550A (en) | 2017-10-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4559669A (en) | Shock resistant caster having pressure plates and centering projections | |
| US6474666B1 (en) | Shock absorbing skate truck assembly | |
| CN107284550B (en) | Heavy-load light elastic mechanical foot | |
| CN106985928A (en) | A kind of walking robot high-adaptability foot end mechanism | |
| US20150323029A1 (en) | Tubular vibration-damping device | |
| EP2578101A2 (en) | Shock absorbing shoes with improved assembly and operational performance | |
| KR20100124297A (en) | Modular suspension system and components thereof | |
| WO2003038300A1 (en) | Mount having integrated damper and load carrying spring | |
| JP2009512492A (en) | Skateboard truck | |
| CN201194600Y (en) | Luggage case truckle shock-proof structure, elastic pad and axial pin | |
| US6386586B1 (en) | Mobile equipment stabilizer foot pad | |
| CN208376429U (en) | A kind of shock-absorbing caster wheel | |
| US2973951A (en) | Spring assemblies | |
| JP5756896B2 (en) | Vehicle including a cab suspension unit and at least two such cab suspension units | |
| CN108098831B (en) | Three-degree-of-freedom flexible joint structure | |
| CN113147946B (en) | Foot end mechanism | |
| CN207359985U (en) | A kind of pu tire with stronger buffer capacity | |
| CN105201998B (en) | Bionic gasket | |
| CN212657500U (en) | Novel dual-purpose support combination device | |
| CN104947552B (en) | Composite construction heavy duty resilient sleeper-bearing and method for designing thereof | |
| CN204161025U (en) | A kind of upper junction plate of automobile absorber | |
| CN112389130A (en) | Caster with buffering and shock-absorbing functions | |
| CN108100074B (en) | Foot structure of robot | |
| CN206754256U (en) | Buffer damping bumper and absorbing shock ring pads and buffer damping bumper and absorbing shock component | |
| CN214036634U (en) | Vibration damping structure and engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |