CN107512324A - A kind of intelligent robot - Google Patents
A kind of intelligent robot Download PDFInfo
- Publication number
- CN107512324A CN107512324A CN201710746700.9A CN201710746700A CN107512324A CN 107512324 A CN107512324 A CN 107512324A CN 201710746700 A CN201710746700 A CN 201710746700A CN 107512324 A CN107512324 A CN 107512324A
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- China
- Prior art keywords
- pedal plate
- pole
- contiguous block
- ankle
- vola
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- 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.)
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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
The invention discloses a kind of intelligent robot,Including autobalance foot stressing device,Autobalance foot stressing device includes ankle and vola,The pedal plate connecting shaft insertion is arranged in one end of pedal plate,And the centre position of the pedal plate is closely welded with pole,The one end of the pole with pole contiguous block is fixedly connected,And the other end of the one end of the branch bar with pole contiguous block closely welds,And the other end of the branch bar is fixedly connected with the side of sliding shoe,The top of the sliding shoe and the bottom of main spring are closely welded,The top of the main spring and the inner upper end of ankle are closely welded,When robot side stress tilts,Pedal plate one end is pressurized,Pressure passes through pole and pole contiguous block,Branch bar is set to promote sliding shoe to move up so as to promote main spring to compress upwards,And spring has damping and damping action,So that the reversal rate of pedal plate slows down,Improve the stationarity during robot ambulation.
Description
Technical field
The present invention relates to autobalance stressing device technical field, specially a kind of intelligent robot.
Background technology
The motion mode of existing robot mainly includes the diversified forms such as wheeled, crawler type, sufficient formula.Wheeled robot can
The high-speed mobile in flat road surface (highway), but in rugged landform, energy consumption will be greatly increased, or even completely lose row
Kinetic force.Crawler frame more suitable for soft landform action without being absorbed in, its in rugged landform dynamic role with wheel
Formula robot is equally poor.
Sufficient formula device people is then different from above two robot, and it is in motion process, it is only necessary to which some discrete points supply it
Fall foot, it is possible to successfully pass rugged, soft or muddy ground.Just because of legged type robot has in terms of complicated ground walking
There is stronger adaptability, Multifeet walking robot attracts widespread attention, and has been applied to military and national defense, aviation boat
My god, the field such as industrial agricultural.Although Multifeet walking robot development is swift and violent, but still Shortcomings, such as flatfoot formula robot foot section
Foot structure lack damping, buffer unit, substantially reduce the stationarity of robot ambulation.
So how to design a kind of intelligent robot, turning into us will currently solve the problems, such as.
The content of the invention
It is an object of the invention to provide a kind of intelligent robot, to solve the existing sufficient formula proposed in above-mentioned background technology
The foot structure of robot foot section lacks damping, buffer unit, the problem of substantially reducing the stationarity of robot ambulation.
To achieve the above object, the present invention provides following technical scheme：A kind of intelligent robot, including autobalance foot
Stressing device, autobalance foot stressing device ankle and vola, the both ends in the vola are mounted on pedal plate neck.It is and described
The both sides of pedal plate neck are respectively connected with pedal plate, and one end of the pedal plate is provided with pedal plate connecting shaft, and the pedal plate connecting shaft
Centre position be respectively connected with pole, one end of the pole is mounted on pole contiguous block, and the one of the pole contiguous block
Side is provided with branch bar, and the both sides in the vola are provided with auxiliary spring, and the bottom of the auxiliary spring is respectively connected with diagonal brace
Bar, the bottom of the hound are mounted on rubber support, and the inner bottom of the ankle is provided with sliding shoe, and the slip
The both ends of block are respectively connected with guide groove, and the top position of the sliding shoe is provided with main spring, and the top position of the ankle is set
There are several connecting poles, and the connecting pole is internally provided with pin hole, the bottom of the ankle is provided with round contiguous block.
Further, the pedal plate connecting shaft insertion is arranged in one end of pedal plate, and the centre position of the pedal plate
Closely welded with pole, the one end of the pole with pole contiguous block is fixedly connected, and one end of the branch bar with
The other end of pole contiguous block is closely welded, and the other end of the branch bar is fixedly connected with the side of sliding shoe, described
The top of sliding shoe and the bottom of main spring are closely welded, and the top of the main spring and the inner upper end of ankle are closely welded.
Further, the one end of the both sides in the vola with pedal plate neck is closely welded, and the two of the pedal plate neck
End is flexibly connected with pedal plate, and the quantity of the pedal plate is 2, and the round contiguous block insertion is arranged at the bottom of ankle, and institute
The tight of the bottom and vola of stating round contiguous block welds.
Further, the embedded both sides for being arranged at vola of the auxiliary spring, and the bottom of the auxiliary spring is and diagonal brace
The tight welding of bar, and the bottom of the hound is fixedly connected with the surface of rubber support.
Further, overhead surface of the bottom of the connecting pole with ankle closely welds, and the pin hole is embedded
It is arranged at the inside of connecting pole.
Compared with prior art, the beneficial effects of the invention are as follows：The pedal plate connecting shaft insertion is arranged at the one of pedal plate
In end, and the centre position of the pedal plate is closely welded with pole, and the pole is fixed with one end of pole contiguous block to be connected
Connect, and the other end of the one end of the branch bar with pole contiguous block closely welds, and the other end of the branch bar with
The side of sliding shoe is fixedly connected, and the top of the sliding shoe and the bottom of main spring are closely welded, the top of the main spring
Closely welded with the inner upper end of ankle, when robot side stress tilts, pedal plate one end is pressurized, and pressure passes through pole and branch
Bar contiguous block, branch bar is set to promote sliding shoe to move up so as to promote main spring to compress upwards, and spring has damping and resistance
Buddhist nun acts on, so that the reversal rate of pedal plate slows down, improves the stationarity during robot ambulation, the both sides in the vola
One end with pedal plate neck is closely welded, and the both ends of the pedal plate neck are flexibly connected with pedal plate, the quantity of the pedal plate
For 2, the round contiguous block insertion is arranged at the bottom of ankle, and the bottom of the round contiguous block and the top in vola are tight
Close welding, pedal plate is provided with by front and rear, robot is had protection and glissando when leaning forward with hypsokinesis, and it is sufficient
Ankle is connected with vola by round contiguous block, and round contiguous block is in " arch ", and arch has the peptizaiton of power, so that foot
Bottom and two pedal plate stress more balance, the embedded both sides for being arranged at vola of the auxiliary spring, and the bottom of the auxiliary spring
Tight with hound is welded, and the bottom of the hound is fixedly connected with the surface of rubber support, works as machine
When tilting by a small margin to the left and right, pressure is delivered on auxiliary spring people by rubber support, so that auxiliary spring compresses, auxiliary spring
Compression process in by pressure dissipation, so as to play a supporting role, made by playing damping to the left and right of robot and fixing
With can further improve the stability of robot, the overhead surface of the bottom of the connecting pole with ankle closely welds, described
The embedded inside for being arranged at connecting pole of pin hole, by the way that latch is inserted in the pin hole in connecting pole, can quickly be dismounted
The bascule, it is more convenient with repairing and cleaning.
Brief description of the drawings
Fig. 1 is the autobalance foot stressing device overall structure diagram of the present invention；
Fig. 2 is the movable pulley partial structural diagram of the present invention.
In figure：1- ankles；2- volas；3- pedal plates；4- pedal plate connecting shafts；5- poles；6- pole contiguous blocks；7- branch bars；
8- pedal plate necks；9- sliding shoes；10- main springs；11- connecting poles；12- pin holes；13- auxiliary springs；14- guide grooves；15- diagonal braces
Bar；16- rubber supports；The round contiguous blocks of 17-.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-2 is referred to, the present invention provides a kind of technical scheme：A kind of intelligent robot, including autobalance foot by
Power apparatus, autobalance foot stressing device include ankle 1 and vola 2, and the both ends in the vola 2 are mounted on pedal plate neck 8.
And the both sides of the pedal plate neck 8 are respectively connected with pedal plate 3, one end of the pedal plate 3 is provided with pedal plate connecting shaft 4, and described
The centre position of pedal plate connecting shaft 4 is respectively connected with pole 5, and one end of the pole 5 is mounted on pole contiguous block 6, and described
The side of pole contiguous block 6 is provided with branch bar 7, and the both sides in the vola 2 are provided with auxiliary spring 13, and the auxiliary spring
13 bottom is respectively connected with hound 15, and the bottom of the hound 15 is mounted on rubber support 16, the inside of the ankle 1
Bottom is provided with sliding shoe 9, and the both ends of the sliding shoe 9 are respectively connected with guide groove 14, and the top position of the sliding shoe 9 is set
There is a main spring 10, the top position of the ankle 1 is provided with several connecting poles 11, and the connecting pole 11 is internally provided with
Pin hole 12, the bottom of the ankle 2 are provided with round contiguous block 17.
Further, the pedal plate connecting shaft 4 insertion is arranged in one end of pedal plate 3, and the interposition of the pedal plate 3
Put and closely welded with pole 5, the one end of the pole 5 with pole contiguous block 6 is fixedly connected, and the one of the branch bar 7
The other end with pole contiguous block 6 is held closely to weld, and side of the other end of the branch bar 7 with sliding shoe 9 is fixed
Connection, the top of the sliding shoe 9 closely welds with the bottom of main spring 10, and the top of the main spring 10 is interior with ankle 1
Portion is closely welded upper end, and when robot side stress tilts, the one end of pedal plate 3 is pressurized, and pressure passes through pole 5 and pole contiguous block
6, make branch bar 7 promote sliding shoe 9 to move up so as to promote main spring 10 to compress upwards, and there is spring damping and damping to make
With so that the reversal rate of pedal plate 3 slows down, improving the stationarity during robot ambulation.
Further, the one end of the both sides in the vola 2 with pedal plate neck 8 is closely welded, and the pedal plate neck 8
Both ends are flexibly connected with pedal plate 3, and the quantity of the pedal plate 3 is 2, and the round contiguous block 17 is embedded in the bottom for being arranged at ankle 1
Portion, and the tight of the bottom of the round contiguous block 17 and vola 2 welds, and is provided with pedal plate 3 by front and rear, makes machine
People has protection and glissando when leaning forward with hypsokinesis, and ankle 1 and vola 2 are connected by round contiguous block 17, circle
Type contiguous block 17 is in " arch ", and arch has the peptizaiton of power, so that vola 2 and two stress of pedal plate 3 more balance.
Further, the embedded both sides for being arranged at vola 2 of the auxiliary spring 13, and the bottom of the auxiliary spring 13 with
The tight welding of hound 15, and surface of the bottom of the hound 15 with rubber support 16 is fixedly connected, and works as machine
When tilting by a small margin to the left and right, pressure is delivered on auxiliary spring 13 device people by rubber support 16, so that auxiliary spring 13 is pressed
Contracting, by pressure dissipation in the compression process of auxiliary spring 13, so as to play a supporting role, by being played to the left and right of robot
Damping fixation, it can further improve the stability of robot.
Further, overhead surface of the bottom of the connecting pole 11 with ankle 1 closely welds, and the pin hole 12 is equal
The embedded inside for being arranged at connecting pole 11, by the way that latch is inserted in the pin hole 12 in connecting pole 11, it can quickly dismount this
Bascule, it is more convenient with repairing and cleaning.
Operation principle：First, when robot side stress tilts, the one end of pedal plate 3 is pressurized, and pressure passes through pole 5 and branch
Bar contiguous block 6, branch bar 7 is set to promote sliding shoe 9 to move up so as to promote main spring 10 to compress upwards, and spring has damping
And damping action, so that the reversal rate of pedal plate 3 slows down, the stationarity during robot ambulation is improved, and by setting
Two pedal plates 3 are equipped with, robot is had protection and glissando when leaning forward with hypsokinesis, and ankle 1 and vola 2 pass through
Round contiguous block 17 connects, and round contiguous block 17 is in " arch ", and arch has the peptizaiton of power, so that vola 2 and two
The individual stress of pedal plate 3 is more balanced, and then, when robot is tilting by a small margin to the left and right, pressure is transmitted by rubber support 16
Onto auxiliary spring 13, so that auxiliary spring 13 compresses, by pressure dissipation in the compression process of auxiliary spring 13, so as to play a branch
Support acts on, and can further improve the stability of robot, finally, by the way that latch is inserted in the pin hole 12 in connecting pole 11,
The bascule can be quickly dismounted, it is more convenient with repairing and cleaning.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
- A kind of 1. intelligent robot, it is characterised in that：Including autobalance foot stressing device, the autobalance foot stress Device includes ankle (1) and vola (2), and the both ends of the vola (2) are mounted on pedal plate neck (8), and the pedal plate neck (8) both sides are respectively connected with pedal plate (3), and one end of the pedal plate (3) is provided with pedal plate connecting shaft (4), and the pedal plate connects The centre position of spindle (4) is respectively connected with pole (5), and one end of the pole (5) is mounted on pole contiguous block (6), and institute The side for stating pole contiguous block (6) is provided with branch bar (7), and the both sides of the vola (2) are provided with auxiliary spring (13), and The bottom of the auxiliary spring (13) is respectively connected with hound (15), and the bottom of the hound (15) is mounted on rubber support (16), the inner bottom of the ankle (1) is provided with sliding shoe (9), and the both ends of the sliding shoe (9) are respectively connected with guide groove (14), the top position of the sliding shoe (9) is provided with main spring (10), and the top position of the ankle (1) is provided with some Individual connecting pole (11), and the connecting pole (11) is internally provided with pin hole (12), the bottom of the ankle (2) is provided with circle Type contiguous block (17).
- A kind of 2. intelligent robot according to claim 1, it is characterised in that：The pedal plate connecting shaft (4) insertion is set It is placed in one end of pedal plate (3), and the centre position of the pedal plate (3) is closely welded with pole (5), the pole (5) is equal It is fixedly connected with one end of pole contiguous block (6), and the other end of the one end of the branch bar (7) with pole contiguous block (6) Close welding, and side of the other end of the branch bar (7) with sliding shoe (9) is fixedly connected.
- A kind of 3. intelligent robot according to claim 2, it is characterised in that：The top of the sliding shoe (9) and main bullet The bottom of spring (10) is closely welded, and the top of the main spring (10) and the inner upper end of ankle (1) are closely welded.
- A kind of 4. intelligent robot according to claim 3, it is characterised in that：The both sides of the vola (2) are and pedal plate One end of neck (8) is closely welded, and the both ends of the pedal plate neck (8) are flexibly connected with pedal plate (3).
- A kind of 5. intelligent robot according to claim 4, it is characterised in that：The quantity of the pedal plate (3) is 2.
- A kind of 6. intelligent robot according to claim 4, it is characterised in that：The round contiguous block (17) is embedded to be set Tight in the bottom of ankle (1), and the bottom of the round contiguous block (17) and vola (2) welds.
- A kind of 7. intelligent robot according to claim 1, it is characterised in that：The auxiliary spring (13) insertion is arranged at The both sides in vola (2), and tight of the bottom of the auxiliary spring (13) with hound (15) welds, and the hound (15) surface of the bottom with rubber support (16) is fixedly connected.
- A kind of 8. intelligent robot according to claim 1, it is characterised in that：The bottom of the connecting pole (11) with foot The overhead surface of ankle (1) closely welds, the embedded inside for being arranged at connecting pole (11) of the pin hole (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710746700.9A CN107512324A (en) | 2017-08-27 | 2017-08-27 | A kind of intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710746700.9A CN107512324A (en) | 2017-08-27 | 2017-08-27 | A kind of intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107512324A true CN107512324A (en) | 2017-12-26 |
Family
ID=60724337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710746700.9A Pending CN107512324A (en) | 2017-08-27 | 2017-08-27 | A kind of intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107512324A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019041077A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Intelligent robot |
| CN110758585A (en) * | 2019-11-11 | 2020-02-07 | 江苏科技大学 | Shank structure of disk-shaped claw thorn type wall-climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5758734A (en) * | 1996-01-19 | 1998-06-02 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
| EP1459854A1 (en) * | 2001-12-25 | 2004-09-22 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
| 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 |
| CN105015641A (en) * | 2015-07-09 | 2015-11-04 | 大连理工大学 | Foot mechanism with high load bearing of foot type robot |
| CN105292297A (en) * | 2015-11-21 | 2016-02-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
| CN205256502U (en) * | 2015-12-25 | 2016-05-25 | 河海大学常州校区 | Flexibility has foot of robot structure of topography self -adaptation function |
| CN105799806A (en) * | 2016-03-18 | 2016-07-27 | 重庆邮电大学 | Three-dimensional human-simulating walking device and control method thereof |
| CN205686501U (en) * | 2016-06-22 | 2016-11-16 | 闽南理工学院 | A kind of walking robot foot foot structure |
| CN205801292U (en) * | 2016-07-11 | 2016-12-14 | 深圳益智天地科技有限公司 | A kind of foot combines the mobile robot of design with wheel |
-
2017
- 2017-08-27 CN CN201710746700.9A patent/CN107512324A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5758734A (en) * | 1996-01-19 | 1998-06-02 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
| EP1459854A1 (en) * | 2001-12-25 | 2004-09-22 | Honda Giken Kogyo Kabushiki Kaisha | Device for absorbing floor-landing shock for legged mobile robot |
| 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 |
| CN105015641A (en) * | 2015-07-09 | 2015-11-04 | 大连理工大学 | Foot mechanism with high load bearing of foot type robot |
| CN105292297A (en) * | 2015-11-21 | 2016-02-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
| CN205256502U (en) * | 2015-12-25 | 2016-05-25 | 河海大学常州校区 | Flexibility has foot of robot structure of topography self -adaptation function |
| CN105799806A (en) * | 2016-03-18 | 2016-07-27 | 重庆邮电大学 | Three-dimensional human-simulating walking device and control method thereof |
| CN205686501U (en) * | 2016-06-22 | 2016-11-16 | 闽南理工学院 | A kind of walking robot foot foot structure |
| CN205801292U (en) * | 2016-07-11 | 2016-12-14 | 深圳益智天地科技有限公司 | A kind of foot combines the mobile robot of design with wheel |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019041077A1 (en) * | 2017-08-27 | 2019-03-07 | 刘哲 | Intelligent robot |
| CN110758585A (en) * | 2019-11-11 | 2020-02-07 | 江苏科技大学 | Shank structure of disk-shaped claw thorn type wall-climbing robot |
| CN110758585B (en) * | 2019-11-11 | 2022-04-05 | 江苏科技大学 | Shank structure of disk-shaped claw thorn type wall-climbing robot |
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Application publication date: 20171226 |
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| WD01 | Invention patent application deemed withdrawn after publication |