CN109204600A - A kind of Robot foot mechanism adapting to complicated landform - Google Patents
A kind of Robot foot mechanism adapting to complicated landform Download PDFInfo
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- CN109204600A CN109204600A CN201710532246.7A CN201710532246A CN109204600A CN 109204600 A CN109204600 A CN 109204600A CN 201710532246 A CN201710532246 A CN 201710532246A CN 109204600 A CN109204600 A CN 109204600A
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- Prior art keywords
- foot
- complicated landform
- angle
- adapting
- ankle
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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 present invention relates to a kind of Robot foot mechanisms for adapting to complicated landform.Foot mechanism is mainly made of two symmetrical rotating mechanisms, and by the way that two rotating mechanisms are placed in different states, the adaptation walking to complicated landform may be implemented.Using rubber ring as damping device, while landing impact can be effectively reduced, it is also adapted to lesser concave-convex obstacle road surface.The advantages of structure can be adjusted according to the concrete condition on ground, have preferable flexibility and adaptivity, have light weight, can bear heavy load.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of Robot foot mechanism for adapting to complicated landform.
Background technique
In recent years, robot engineering becomes an emerging comprehensive branch of learning, it is set electron engineering, mechanical engineering, material
The newest research results for expecting the multiple subjects such as engineering, computer engineering, automation and control engineering are very active at present grind
Study carefully one of field.It walks upright and liberates both hands, if following robot adapts to the living environment service mankind of the mankind,
The walk problem of biped robot imitating human walking is most important.
Currently, general foot mechanism is reduced to be driven by ankle-joint simple both at home and abroad to the research of biped robot
Plate.Simplified foot structure is lacking most of human foot just while limiting robot foot section joint freedom degrees
Normal function.
Moreover, in order to adapt to the complicated state of ground, it is necessary to realize two rotary freedoms of human ankle joint.As specially
Shown in benefit 201310755959.1.As uniquely the position with ground face contact, the structure of foot play very in human body walking movement
Important role.Therefore, this patent proposes that a kind of completely new foot structure adapts to complicated landform, the research for robot field
Development has important value.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of Robot foot mechanism for adapting to complicated landform, Neng Goushi
Complicated landform is answered, the stability of walking is improved.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of Robot foot mechanism adapting to complicated landform, including ankle component and quasi- foot assembly, the ankle component packet
Ankle-joint 1, revolving part 2, U-shaped part 3 and encoder 4 are included, the revolving part 2 is connect with 1 rotatable engagement of ankle-joint, is constituted
Revolute pair mechanism, the U-shaped part 3 are fixedly connected with the revolving part 2, and the encoder 4 is packed on ankle-joint 1, and with institute
U-shaped part 3 is stated to be cooperatively connected；The quasi- foot assembly includes carbon fibre tube 5, toe ring 6 and washer 7, and the toe ring 6 is fixedly mounted on
5 front and back end of carbon fibre tube, the washer 7 are fixedly mounted on toe ring bottom.
Further, it respectively there are two endpoint before and after the foot, may be implemented and the three point contact on arbitrary plane, contact
Face is the triangle that three contact points are constituted.
Further, the washer and ground face contact, may be implemented anthropomorphic foot flexibility sole, adapt to some lesser recessed
Convex ground.
Further, the encoder detects the rotation angle of two rotating mechanisms respectively, can be with real-time detection perceptibly
The basic condition in face.
The invention also provides it is a kind of adapt to complicated landform Robot foot mechanism control method, including level land, on
Situation on descending and concave-convex road surface, whereinFor the rotation angle of left side rotating mechanism,For the rotation of right side rotating mechanism
Gyration；
1) level land: rotating mechanism both sides angle is consistent,, and and ground level；
2) climb and fall road surface: rotating mechanism both sides angle is consistent,It is adjusted in real time according to inclination angle
Whole rotation angle；
3) concave-convex road surface: rotating mechanism both sides angle forms differential seat angle,, adjusted according to inclination angle
The rotation angle of rotating mechanism.
The beneficial effects of the present invention are: a kind of Robot foot mechanism of adaptation complicated landform of the invention, cleverly
Two coplanar rotary freedoms combinations are realized into completely new foot mechanism, plate foot is solved and is contacted with uneven ground and asked
Topic, effectively increases the contact area of robot foot section and uneven ground, and then increase the walking stability of legged type robot.
Meanwhile the design feature that there is simple, light weight can bear heavy load simultaneously for the mechanism.
Detailed description of the invention
Fig. 1 is foot structure schematic diagram of the invention.
Fig. 2 is ankle-joint rotating mechanism schematic diagram of the invention.
Fig. 3 is foot status diagram in level land of the present invention.
Fig. 4 is climb and fall road surface foot status diagram of the present invention.
Fig. 5 is concave-convex road surface foot status diagram of the present invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It better understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, a kind of Robot foot mechanism for adapting to complicated landform of the present invention, including ankle 1, it is rotated with ankle
The revolving part 2 of connection, the U-shaped part 4 connecting with revolving part, ankle built-in encoder 5, encoder are connect with U-shaped part, and axis with
U-shaped part is vertical, and encoder real-time detection rotating mechanism rotates angle, the basic landform of perceiving ground.
The carbon fibre tube 6 of the present embodiment is connect with revolving part 2, and the front and back end of carbon fibre tube 6 is symmetrically fixed with a toe ring 7, described
The lower end of toe ring is fixed with washer 8, can also be fitted while landing impact can be effectively reduced using washer as damping device
Answer lesser concave-convex obstacle road surface.Washer regarded as to four points of the front and back of foot, foot may be implemented on arbitrary plane
Three point contact, contact surface are the triangle that three contact points are constituted.
The point of foot mechanism bottom four of the present embodiment passes through spring respectively and connect with shank, and as zero freedom degree is passive
Foot.
The foot mechanism of the present embodiment controls the accurate angle of two rotating mechanisms by transmission or driving device, as entirely
The active foot of freedom degree.
The control method of the present embodiment includes the case where in level land, climb and fall and concave-convex road surface, whereinFor left side spin
The rotation angle of rotation mechanism,For the rotation angle of right side rotating mechanism；
1) level land: rotating mechanism both sides angle is consistent,, and and ground level；
2) climb and fall road surface: rotating mechanism both sides angle is consistent,It is adjusted in real time according to inclination angle
Whole rotation angle；
3) concave-convex road surface: rotating mechanism both sides angle forms differential seat angle,, adjusted according to inclination angle
The rotation angle of rotating mechanism.
A kind of Robot foot mechanism of adaptation complicated landform of the present embodiment is cleverly free by two coplanar rotations
Degree combination realizes completely new foot structure, solves plate foot and uneven ground contact problems, effectively increases robot
The contact area of foot and uneven ground, and then increase the walking stability of legged type robot.Meanwhile the mechanism have it is simple,
Light weight can bear the design feature of heavy load simultaneously.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection scope of the present invention
It is without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (5)
1. a kind of Robot foot mechanism for adapting to complicated landform, it is characterised in that: including ankle component and quasi- foot assembly, institute
Stating ankle component includes ankle-joint 1, revolving part 2, U-shaped part 3 and encoder 4, and the revolving part 2 is rotated with the ankle-joint 1
It is cooperatively connected, constitutes revolute pair mechanism, the U-shaped part 3 is fixedly connected with the revolving part 2, and the encoder 4 is packed in ankle pass
On section 1, and it is cooperatively connected with the U-shaped part 3；The quasi- foot assembly includes carbon fibre tube 5, toe ring 6 and washer 7, the toe
Ring 6 is fixedly mounted on 5 front and back end of carbon fibre tube, and the washer 7 is fixedly mounted on toe ring bottom.
2. a kind of Robot foot mechanism for adapting to complicated landform according to claim 1, it is characterised in that: before the foot
Bottom is respectively there are two endpoint afterwards, may be implemented with the three point contact on arbitrary plane, contact surface is three that three contact points are constituted
It is angular.
3. a kind of Robot foot mechanism for adapting to complicated landform according to claim 1, it is characterised in that: the washer
With ground face contact, anthropomorphic foot flexibility sole may be implemented, adapt to some lesser concave-convex ground.
4. a kind of Robot foot mechanism for adapting to complicated landform according to claim 1, it is characterised in that: the coding
Device detects the rotation angle of two rotating mechanisms respectively, can be with the basic condition of real-time detection perceiving ground.
5. it is a kind of adapt to complicated landform Robot foot mechanism control method, it is characterised in that including level land, climb and fall with
And the situation in concave-convex road surface, whereinFor the rotation angle of left side rotating mechanism,For the rotation angle of right side rotating mechanism
Degree；
1) level land: rotating mechanism both sides angle is consistent,, and and ground level；
2) climb and fall road surface: rotating mechanism both sides angle is consistent,It is adjusted in real time according to inclination angle
Whole rotation angle；
3) concave-convex road surface: rotating mechanism both sides angle forms differential seat angle,, adjusted and revolved according to inclination angle
The rotation angle of rotation mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710532246.7A CN109204600A (en) | 2017-07-03 | 2017-07-03 | A kind of Robot foot mechanism adapting to complicated landform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710532246.7A CN109204600A (en) | 2017-07-03 | 2017-07-03 | A kind of Robot foot mechanism adapting to complicated landform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109204600A true CN109204600A (en) | 2019-01-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710532246.7A Pending CN109204600A (en) | 2017-07-03 | 2017-07-03 | A kind of Robot foot mechanism adapting to complicated landform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109204600A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059568A (en) * | 2021-04-07 | 2021-07-02 | 哈尔滨理工大学 | Multifunctional foot end |
-
2017
- 2017-07-03 CN CN201710532246.7A patent/CN109204600A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059568A (en) * | 2021-04-07 | 2021-07-02 | 哈尔滨理工大学 | Multifunctional foot end |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190115 |
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| WD01 | Invention patent application deemed withdrawn after publication |