CN113335413B - Flexible robot foot and using method thereof - Google Patents
Flexible robot foot and using method thereof Download PDFInfo
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- CN113335413B CN113335413B CN202110534081.3A CN202110534081A CN113335413B CN 113335413 B CN113335413 B CN 113335413B CN 202110534081 A CN202110534081 A CN 202110534081A CN 113335413 B CN113335413 B CN 113335413B
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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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Abstract
The invention discloses a flexible robot foot and a using method thereof. The robot foot includes a foot body, an adaptive terrain module, and an active alignment module. The self-adaptive terrain module comprises a rear side support, a front side support, a connecting frame, a rotary connecting piece and a plurality of self-adaptive elastic chains. The automatic alignment module comprises a first motor, a second motor, a distance measuring sensor group and a U-shaped bracket; the ranging sensor group comprises three ranging sensors. The three distance measuring sensors are respectively fixed at the bottoms of the two rear side brackets and one of the front side brackets, or respectively fixed at the bottoms of the two front side brackets and one of the front side brackets and the rear side bracket. The foot of the flexible robot can be passively adapted to the uneven road surface, so that the robot is always kept horizontal, and the capability of the robot for adapting to the uneven road surface is improved. According to the invention, the automatic identification of the slope terrain is realized by using the distance difference of each distance measuring sensor, and further the automatic adjustment of the foot posture of the flexible robot is realized.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to a flexible robot foot and a using method thereof.
Background
Most humanoid robots adopt a flat-foot design, the motion of the robot using the flat feet is a very difficult problem when the robot passes through uneven terrain, a control framework is generally proposed at present to enable the robot to walk on different types of texture terrain, the proposed method is generally based on a force/torque control scheme, depends on terrain recognition, and models an interaction phenomenon as a viscoelastic phenomenon, and is very inconvenient, so that the performance of the robot using the flat feet is limited. The invention proposes a flexible robot foot intended to overcome the limitations of uneven road surfaces by interacting with all types of terrain through its intrinsic passive adaptive deformation.
Disclosure of Invention
The invention aims to provide a flexible robot foot and a using method thereof.
The invention relates to a flexible robot foot, which comprises a foot main body, a self-adaptive terrain module and an active alignment module. The self-adaptive terrain module comprises a rear side support, a front side support, a connecting frame, a rotary connecting piece and a plurality of self-adaptive elastic chains. The top ends of the two rear side brackets are fixedly connected with the two sides of the foot main body respectively; the top ends of the two front side brackets are hinged with the top ends of the two rear side brackets through hinged shafts respectively; an elastic part is arranged between the front side bracket and the rear side bracket. The bottom ends of the two front side brackets and the bottom ends of the two rear side brackets are respectively connected through a connecting bracket. The tops of the self-adaptive elastic chains arranged side by side are connected with the two connecting frames. The self-adaptive elastic chain comprises a plurality of self-adaptive unit blocks which are sequentially connected in series. Any two adjacent self-adaptive unit blocks are connected through one or more elastic ropes.
The automatic alignment module comprises a first motor, a second motor, a distance measuring sensor group and a U-shaped bracket; a main shaft of the first motor is fixed with the top of the foot main body; the second motor is fixed on the first motor, and the main shaft is fixed with the U-shaped support. The U-shaped bracket is used for being connected with the foot of the multi-legged robot. The distance measuring sensor group comprises three distance measuring sensors. The three distance measuring sensors are respectively fixed at the bottoms of the two rear side brackets and one of the front side brackets, or respectively fixed at the bottoms of the two front side brackets and one of the front side brackets and the rear side bracket.
Preferably, the foot main body comprises a foot plate, a side frame plate and an elastic bandage; the foot plate is horizontally arranged. The side board is fixedly connected with the rear part of the foot board. The two ends of the elastic bandage are fixedly connected with the two sides of the front part of the foot plate respectively.
Preferably, a rotary connecting piece is arranged between the self-adaptive elastic chain and the connecting frame. The rotating connector comprises a first hinged seat and a second hinged seat. The first hinged seat is connected with the bottom of the connecting frame. The bottom of the first hinged seat is hinged with the top of the second hinged seat. The second hinged seat is fixed with one of the adaptive unit blocks of the adaptive elastic chain.
Preferably, the bottom of the connecting frame is provided with a T-shaped sliding groove. A T-shaped convex block is arranged on the first hinging seat. The T-shaped convex block on the first hinging seat is in sliding connection with the T-shaped sliding groove on the corresponding connecting frame.
Preferably, the second hinge base is provided with a connection groove. The tops of the adaptive unit blocks are provided with connecting lugs respectively. The connecting lugs of any two self-adaptive unit blocks on the self-adaptive elastic chain are connected with the connecting grooves of the corresponding two rotary connecting pieces through bolts, nuts or pin shafts.
Preferably, the first motor and the second motor are both double-output-shaft motors.
Preferably, the spindle axis of the first motor and the spindle axis of the second motor are perpendicular to each other.
Preferably, two ends of a main shaft of the first motor are connected with the side wall plates through mortise and tenon mechanisms. The mortise and tenon mechanism comprises a tenon, a mortise and a fixing pin; the tenon is fixed on a main shaft of the first motor, and the mortise is fixed on the inner wall of the side enclosing plate; the tenon is clamped with the mortise. The corresponding positions of the middle parts of the tenon and the mortise are provided with pin holes, and the fixing pin is inserted into the pin holes.
Preferably, the elastic element is a torsion spring. The torsional spring is sleeved on the hinged shaft, and the two ends of the torsional spring are respectively clamped on the inner side of the rear side bracket and the inner side of the front side bracket.
The use method of the flexible robot foot comprises the following steps:
step one, a flexible robot foot is arranged at the tail end of each mechanical foot of the multi-foot robot.
And step two, the feet of the multi-legged robot drive the feet of the flexible robot to move, so that the multi-legged robot walks. When the flexible robot foot steps on uneven ground, the elastic chain is adaptive to move the position or deform, so that the foot body is parallel to the ground.
In the walking process of the multi-legged robot, when the distance values detected by the three distance measuring sensors are different, the first motor or the second motor rotates to adjust the postures of the foot main body and the self-adaptive terrain module, so that the distance values detected by the three distance measuring sensors tend to be consistent. At the moment, under the condition that the posture of the foot of the multi-legged robot is not changed, the adaptive elastic chains are opposite to the ground.
The invention has the beneficial effects that:
1. the invention has the self-adaptive unit blocks, when the foot of the flexible robot walks on the road surface with the strip-shaped obstacles along the left and right directions, the middle part of the foot of the flexible robot and the front end of the foot of the flexible robot are stepped on the strip-shaped obstacles, and the self-adaptive unit blocks are connected through the elastic ropes, so that the self-adaptive unit blocks at the lower end of the front side bracket and the self-adaptive unit blocks at the lower end of the rear side bracket can still be contacted with the ground, the foot plate can be kept horizontal continuously, and the environment adaptability of the foot of the flexible robot to walk on the road surface with the strip-shaped obstacles along the left and right directions is improved. The foot of the flexible robot can be passively adapted to uneven road surfaces, so that the upper part of the foot of the flexible robot is always kept horizontal, and the capability of the robot passing through the uneven road surfaces is improved.
2. The self-adaptive unit blocks distributed in the array increase the contact area of the feet of the flexible robot and the ground, reduce the pressure of the feet of the flexible robot to the ground, and enable the feet of the flexible robot not to be easily sunk into sand and marsh, thereby increasing the environmental adaptability of the feet of the flexible robot to sand and marsh and increasing the mobility of the feet of the flexible robot in the sand and marsh.
3. The automatic alignment module also comprises a mortise and tenon mechanism, wherein the mortise and tenon mechanism comprises a tenon, a mortise and a fixing pin; the first motor is connected with the side wall plate through the mortise and tenon mechanism, so that the disassembling and assembling steps of the first motor are simplified; when the humanoid robot with the flat feet needs to walk on the uneven road surface, the mortise and tenon mechanism is disassembled, the flat feet of the humanoid robot are assembled between the foot plate and the side wall plate, and the flat feet are fixed by the elastic binding belt, so that the flat-bottomed humanoid robot can walk on the uneven road surface more easily; when no flatfoot humanoid robot need walk on unevenness's ground, link firmly the mechanical foot end and the U type support of this humanoid robot, first motor passes through mortise and tenon mechanism and is connected with the side wall board to make no flatfoot humanoid robot walk on unevenness's road surface more easily.
4. The invention is provided with the distance measurement sensor group, when the foot of the flexible robot realizes the automatic identification of the slope terrain by utilizing the distance difference of each distance measurement sensor, thereby realizing the automatic adjustment of the posture of the foot of the flexible robot, leading the self-adaptive unit block to be always over against the ground, leading the foot of the flexible robot to be capable of moving on various slopes, and improving the environment adaptability of the foot of the flexible robot.
5. The lower side of the connecting frame is provided with the transverse T-shaped sliding groove, the upper end of the first hinge seat is provided with the T-shaped sliding block, and the first hinge seat enables the self-adaptive unit block to slide along the direction of the T-shaped sliding groove through the matching of the T-shaped sliding block and the transverse T-shaped sliding groove. Under the condition that the bar-shaped obstacles exist in the front and back directions, the first hinged seat is allowed to slide in the transverse T-shaped sliding groove through the T-shaped sliding block, so that the adaptive unit blocks are driven to move in the direction away from the bar-shaped obstacles, and therefore when the feet of the flexible robot step on the ground, a gap is reserved between the adaptive unit blocks, and the bar-shaped obstacles can be accommodated.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is another schematic view of the overall structure of the present invention;
FIG. 3 is a schematic partial cross-sectional view of the present invention;
FIG. 4 is a schematic front view of the present invention;
FIG. 5 is a bottom view of the present invention;
FIG. 6 is a schematic diagram of the deformation of the adaptive elastic chain when encountering an obstacle according to the present invention;
fig. 7 is a top view of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, a flexible robotic foot comprises a foot body 1, an adaptive terrain module 2, an active alignment module 3, and a controller; the foot main body 1 comprises a foot plate 1-1, a side wall plate 1-2 and an elastic bandage 1-3; the foot plate 1-1 is horizontally arranged. The side coaming 1-2 is fixedly connected with the rear part of the foot board 1-1. Two ends of the elastic bandage 1-3 are fixedly connected with two sides of the front part of the foot plate 1-1 respectively; the elastic bandage 1-3 is used for removing the active alignment module 3 under the condition that the robot using the invention has a humanoid flat foot, and the fixing of the foot plate 1-1 and the flat foot is realized by directly using the elastic bandage 1-3 and the side coaming plate 1-2.
As shown in fig. 1, 3, 4 and 5, the adaptive terrain module 2 comprises a rear side support 2-1, a front side support 2-2, a connecting support 2-3, a rotating connector and a plurality of adaptive elastic chains. The top ends of the two rear side brackets 2-1 are fixedly connected with the two sides of the side coaming 1-2 respectively; the top ends of the two front side brackets 2-2 are hinged with the top ends of the two rear side brackets 2-1 through hinge shafts respectively; the bottom ends of the two front side brackets 2-2 and the bottom ends of the two rear side brackets 2-1 are fixedly connected through two connecting brackets 2-3 respectively.
Four rotary connecting pieces are arranged on the two connecting frames 2-3. The rotating connection comprises a first articulated seat 2-4 and a second articulated seat. The bottom of the connecting frame 2-3 is provided with a T-shaped chute. The first hinged seat 2-4 is provided with a T-shaped convex block. The T-shaped convex block on the first hinging seat 2-4 is connected with the T-shaped sliding groove on the corresponding connecting frame 2-3 in a sliding way. The bottom of the first hinging seat 2-4 is hinged with the top of the second hinging seat. The second hinge base is provided with a connecting groove.
The rear sides of the tops of the four self-adaptive elastic chains are respectively connected with the four rotary connecting pieces on the rear side bracket 2-1. The front sides of the tops of the four self-adaptive elastic chains are respectively connected with the four rotary connecting pieces on the front side bracket 2-2. The adaptive elastic chain comprises a plurality of adaptive unit blocks 2-5 which are connected in series in sequence. Any two adjacent adaptive unit blocks 2-5 are connected through elastic ropes 2-6. The tops of the respective adaptive unit blocks 2-5 are provided with connecting lugs. An adaptive elastic chain is arranged on each of the two connecting frames 2-3 and corresponds to a rotating connecting piece. The connecting convex blocks of any two self-adaptive unit blocks 2-5 on the self-adaptive elastic chain are connected with the connecting grooves of the two corresponding rotary connecting pieces through bolts, nuts or pin shafts. Therefore, four self-adaptive elastic chains are connected to the lower part of the foot main body 1, and the included angle between the rear side support 2-1 and the front side support 2-2 can be adjusted by selecting different self-adaptive unit blocks 2-5 to be connected with the rotary connecting piece.
As shown in fig. 6, when the flexible robot foot walks on the road surface with the bar-shaped obstacles in the left and right directions, if the middle part of the flexible robot foot and the front end of the flexible robot foot step on the bar-shaped obstacles, the adaptive unit blocks 2-5 connected together by the elastic ropes 2-6 are automatically dislocated from each other, so that the adaptive unit block 2-5 at the lower end of the front side bracket 2-2 and the adaptive unit block 2-5 at the lower end of the rear side bracket 2-1 can still contact with the ground, and the adaptive unit block 2-5 contacting with the obstacles is raised in conformity with the shape of the obstacles, so that the foot plate 1-1 is kept horizontal, and the environment adaptability of the flexible robot foot to walk on the road surface with the bar-shaped obstacles in the left and right directions is increased.
When meeting the strip-shaped obstacles in the front-back direction, the obstacles push the four self-adaptive elastic chains to transversely move along the T-shaped sliding groove, so that when the feet of the flexible robot step on the ground, a gap can be left between the four self-adaptive elastic chains, and the gap can accommodate the strip-shaped obstacles, so that the feet of the flexible robot can more easily walk on a road surface with the strip-shaped obstacles in the front-back direction.
And a torsion spring 2-7 is arranged between the rear side bracket 2-1 and the front side bracket 2-2, and two ends of the torsion spring 2-7 are respectively clamped on the inner side of the rear side bracket 2-1 and the inner side of the front side bracket 2-2. When the flexible robot works, the two ends of the torsion spring 2-7 prop the rear side support 2-1 and the front side support 2-2 open towards the two sides, so that the self-adaptive elastic chain is straightened, and the self-adaptive unit blocks 2-5 keep the maximum contact area with the ground, thereby increasing the mobility and the environment adaptability of the foot of the flexible robot when walking in sandy and marshland.
The automatic alignment module 3 comprises a first motor 3-5, a second motor 3-2, a distance measuring sensor group 3-3 and a U-shaped bracket 3-4; the first motor 3-5 and the second motor 3-2 are both double-output-shaft motors. Two ends of a main shaft of the first motor 3-5 are fixedly connected with two sides of the inner wall of the side enclosing plate 1-2 respectively; the second motor 3-2 is fixed on the first motor 3-5, and two ends of the main shaft are respectively fixed with the two side plates of the U-shaped bracket 3-4. The spindle axis of the first motor 3-5 is vertical to the spindle axis of the second motor 3-2; the U-shaped bracket 3-4 is used for connecting with the foot of the multi-legged robot.
As shown in figure 4, two ends of a main shaft of a first motor 3-5 are connected with side coamings 1-2 through mortise and tenon mechanisms 3-1. The mortise and tenon mechanism 3-1 comprises a tenon 3-11, a mortise 3-12 and a fixing pin 3-13; the tenon 3-11 is fixed on a main shaft of the first motor 3-5, and the mortise 3-12 is fixed on the inner wall of the side coaming 1-2; the tenon 3-11 can be clamped with the mortise 3-12. The corresponding positions of the middles of the tenons 3-11 and the mortises 3-12 are provided with pin holes 3-14, and the fixing pins 3-13 are inserted into the pin holes 3-14. When the motor works, the first motor 3-5 is connected with the side coaming 1-2 through the mortise and tenon mechanism 3-1, so that the disassembling and assembling steps of the first motor 3-5 are simplified; when the humanoid robot with the flat feet needs to walk on the uneven road surface, the mortise and tenon mechanism 3-1 is disassembled, the mechanical foot tail end of the humanoid robot with the flat feet is assembled between the foot plate 1-1 and the side wall plate 1-2, and the elastic binding belt 1-3 is used for fixing the mechanical foot tail end of the humanoid robot with the flat feet, so that the humanoid robot with the flat feet can walk on the uneven road surface more easily; when the humanoid robot without the flat-bottom foot needs to walk on the uneven ground, the humanoid robot without the flat-bottom foot is fixedly connected with the U-shaped support 3-4, and the first motor 3-5 is connected with the side coaming 1-2 through the mortise and tenon mechanism 3-1, so that the humanoid robot can walk on the uneven ground more easily.
As shown in FIGS. 1 and 7, the ranging sensor group 3-3 includes a front ranging sensor 3-31, a rear left ranging sensor 3-32, and a rear right ranging sensor 3-33; the front distance measuring sensor 3-31 is fixed on the outer side of the left front side bracket 2-2, and the distance between the front distance measuring sensor 3-31 and the ground is L1; the rear left distance measuring sensor 3-32 is arranged on the outer side of the left rear side bracket 2-1, and the distance between the rear left distance measuring sensor 3-32 and the ground is L2; the rear right distance measuring sensor 3-33 is arranged on the outer side of the right rear side bracket 2-1, and the distance between the rear right distance measuring sensor 3-33 and the ground is L3. On the flat bottom surface, L1 ═ L2 ═ L3. When the flexible robot works, when the feet of the flexible robot walk on an uphill terrain, L1 is larger than L2, the controller controls the first motor 3-5 to rotate positively to drive the front end of the feet of the flexible robot to ascend, when L1 is equal to L2, the first motor 3-5 stops rotating, and the lower side of the self-adaptive unit block 2-5 is opposite to the ground; when the feet of the flexible robot walk on the downhill terrain, L1 is less than L2, the front end of the feet of the flexible robot is driven to descend by the reverse rotation of the first motor 3-5, and when L1 is equal to L2, the controller controls the first motor 3-5 to stop rotating, and the lower side face of the adaptive unit block 2-5 is opposite to the ground; when the foot of the flexible robot walks on a slope with high left and low right, L2 is less than L3, the second motor 3-2 turns left, and when L2 is equal to L3, the second motor 3-2 brakes to enable the lower side surface of the adaptive unit block 2-5 to be opposite to the ground; when the foot of the flexible robot walks on a slope with a low left and a high right, L2 is larger than L3, the controller controls the second motor 3-2 to rotate right, and when L2 is equal to L3, the second motor 3-2 brakes to enable the lower side surface of the adaptive unit block 2-5 to be opposite to the ground; therefore, the front distance measuring sensors 3-31, the rear left distance measuring sensors 3-32 and the rear right distance measuring sensors 3-33 feed back data of L1, L2 and L3, the controller controls the first motor 3-5 and the second motor 3-2 to rotate, the self-adaptive unit blocks 2-5 can always face the ground, the feet of the flexible robot can move on various slopes, and the environment adaptive capacity of the feet of the flexible robot is improved.
The use method of the flexible robot foot comprises the following steps:
step one, a flexible robot foot is arranged at the tail end of each mechanical foot of the multi-foot robot. In particular to a U-shaped bracket of the foot of a flexible robot which is fixed with the corresponding foot of the multi-legged robot.
And step two, the feet of the multi-legged robot drive the feet of the flexible robot to move, so that the multi-legged robot walks. When the feet of the flexible robot step on uneven ground, the flexible robot respectively adapts to the elastic chains to move in a self-adaptive mode or deform, so that the foot main body 1 is kept parallel to the ground, and the walking stability of the multi-legged robot is improved.
In the walking process of the multi-legged robot, the front distance measuring sensors 3-31, the rear left distance measuring sensors 3-32 and the rear right distance measuring sensors 3-33 respectively detect the distances from the robot to the ground, and the three distance values are respectively marked as L1, L2 and L3.
When L1> L2, when the multi-legged robot is judged to walk on the uphill terrain, the controller controls the first motor 3-5 to rotate positively to drive the front end of the foot of the flexible robot to ascend, and when L1 is equal to L2, the first motor 3-5 stops rotating, and at the moment, the adaptive elastic chains of the multi-legged robot are enabled to face the ground under the condition that the posture of the foot of the multi-legged robot is not changed.
When L1< L2, when the multi-legged robot is judged to walk on downhill terrain, the controller controls the first motor 3-5 to rotate reversely to drive the front end of the foot of the flexible robot to descend until L1 is equal to L2, the first motor 3-5 stops rotating, and at the moment, the adaptive elastic chains are enabled to be opposite to the ground under the condition that the posture of the foot of the multi-legged robot is not changed.
When the L2 is less than the L3, the controller judges that the ground on the left side of the foot of the flexible robot is higher than the ground on the right side, the controller controls the second motor 3-2 to rotate forwards, so that the foot main body 1 and the adaptive terrain module 2 are integrally inclined towards the left side, and when the L2 is equal to the L3, the second motor 3-2 stops rotating, and at the moment, the adaptive elastic chains are enabled to be opposite to the ground under the condition that the posture of the foot of the multi-legged robot is not changed.
When the L2 is greater than the L3, the controller judges that the ground on the right side of the foot of the flexible robot is higher than the ground on the left side, controls the second motor 3-2 to rotate reversely, so that the foot main body 1 and the adaptive terrain module 2 are integrally inclined towards the right side, and stops rotating the second motor 3-2 until the L2 is equal to the L3, and at the moment, the adaptive elastic chains are enabled to be opposite to the ground under the condition that the posture of the foot of the multi-legged robot is not changed.
Based on the method, the multi-legged robot can freely walk on different terrains under the condition that the walking posture of the multi-legged robot is basically unchanged.
Claims (10)
1. A flexible robotic foot comprising a foot body (1); the method is characterized in that: the device also comprises a self-adaptive terrain module (2) and an active alignment module (3); the self-adaptive terrain module (2) comprises a rear side support (2-1), a front side support (2-2), a connecting support (2-3), a rotating connecting piece and a plurality of self-adaptive elastic chains; the top ends of the two rear side brackets (2-1) are fixedly connected with the two sides of the foot main body (1) respectively; the top ends of the two front side brackets (2-2) are respectively hinged with the top ends of the two rear side brackets (2-1) through hinged shafts; an elastic part is arranged between the front side bracket (2-2) and the rear side bracket (2-1); the bottom ends of the two front side brackets (2-2) and the bottom ends of the two rear side brackets (2-1) are respectively connected through a connecting bracket (2-3); the tops of the self-adaptive elastic chains arranged side by side are connected with the two connecting frames (2-3); the self-adaptive elastic chain comprises a plurality of self-adaptive unit blocks (2-5) which are sequentially connected in series; any two adjacent self-adaptive unit blocks (2-5) are connected through one or more elastic ropes (2-6);
the active alignment module (3) comprises a first motor (3-5), a second motor (3-2), a distance measuring sensor group (3-3) and a U-shaped bracket (3-4); the main shaft of the first motor (3-5) is fixed with the top of the foot main body (1); the second motor (3-2) is fixed on the first motor (3-5), and the main shaft is fixed with the U-shaped bracket (3-4); the U-shaped bracket (3-4) is used for being connected with a mechanical foot of the multi-legged robot;
the distance measurement sensor group (3-3) comprises three distance measurement sensors; the three distance measuring sensors are respectively fixed at the bottoms of the two rear side brackets (2-1) and one of the front side brackets (2-2), or respectively fixed at the bottoms of the two front side brackets (2-2) and one of the front side brackets (2-2) and the rear side bracket (2-1).
2. A flexible robot foot according to claim 1, characterized in that: the foot main body (1) comprises a foot plate (1-1), side coamings (1-2) and elastic bands (1-3); the foot plate (1-1) is horizontally arranged; the side coaming (1-2) is fixedly connected with the rear part of the foot board (1-1); two ends of the elastic bandage (1-3) are fixedly connected with two sides of the front part of the foot plate (1-1) respectively.
3. A flexible robot foot according to claim 1, characterized in that: a rotary connecting piece is arranged between the self-adaptive elastic chain and the connecting frame (2-3); the rotary connecting piece comprises a first hinge seat (2-4) and a second hinge seat; the first hinged seat (2-4) is connected with the bottom of the connecting frame (2-3); the bottom of the first hinge seat (2-4) is hinged with the top of the second hinge seat; the second articulated mount is fixed to one of the adaptive cell blocks (2-5) of the adaptive elastic chain.
4. A flexible robot foot according to claim 3, characterized in that: the bottom of the connecting frame (2-3) is provided with a T-shaped sliding groove; a T-shaped convex block is arranged on the first hinging seat (2-4); the T-shaped convex block on the first hinging seat (2-4) is in sliding connection with the T-shaped sliding groove on the corresponding connecting frame (2-3).
5. A flexible robot foot according to claim 3, characterized in that: the second hinge seat is provided with a connecting groove; the tops of the adaptive unit blocks (2-5) are provided with connecting lugs respectively; the connecting convex blocks of any two self-adaptive unit blocks (2-5) on the self-adaptive elastic chain are connected with the connecting grooves of the two corresponding rotary connecting pieces through bolts, nuts or pin shafts.
6. A flexible robot foot according to claim 1, characterized in that: the first motor (3-5) and the second motor (3-2) are both double-output-shaft motors.
7. A flexible robot foot according to claim 1, characterized in that: the spindle axis of the first motor (3-5) is perpendicular to the spindle axis of the second motor (3-2).
8. A flexible robot foot according to claim 1, characterized in that: the main shaft of the first motor (3-5) is connected with the foot main body (1) through a mortise and tenon mechanism (3-1); the mortise and tenon mechanism (3-1) comprises a tenon (3-11), a mortise (3-12) and a fixing pin (3-13); the tenon (3-11) is fixed on a main shaft of the first motor (3-5), and the mortise (3-12) is fixed on the inner wall of the foot main body (1); the tenon (3-11) is clamped with the mortise (3-12); the corresponding positions of the middles of the tenons (3-11) and the mortises (3-12) are provided with pin holes (3-14), and the fixing pins (3-13) are inserted into the pin holes (3-14).
9. A flexible robot foot according to claim 1, characterized in that: the elastic part adopts a torsion spring; the torsional spring (2-7) is sleeved on the hinged shaft, and the two ends of the torsional spring are respectively clamped on the inner side of the rear side bracket (2-1) and the inner side of the front side bracket (2-2).
10. A method of using a flexible robot foot according to claim 1, characterized by: step one, mounting a flexible robot foot at the tail end of each mechanical foot of the multi-foot robot;
step two, the feet of the multi-legged robot drive the feet of the flexible robot to move, so that the multi-legged robot walks; when the feet of the flexible robot step on uneven ground, the flexible robot respectively adapts to the elastic chains to move positions or deform in a self-adaptive manner, so that the foot main body (1) is kept parallel to the ground;
in the walking process of the multi-legged robot, when the distance values detected by the three distance measuring sensors are different, the first motor (3-5) or the second motor (3-2) rotates to adjust the postures of the foot main body (1) and the self-adaptive terrain module (2), so that the distance values detected by the three distance measuring sensors tend to be consistent; at the moment, under the condition that the posture of the foot of the multi-legged robot is not changed, the adaptive elastic chains are opposite to the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110534081.3A CN113335413B (en) | 2021-05-17 | 2021-05-17 | Flexible robot foot and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110534081.3A CN113335413B (en) | 2021-05-17 | 2021-05-17 | Flexible robot foot and using method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113335413A CN113335413A (en) | 2021-09-03 |
| CN113335413B true CN113335413B (en) | 2022-04-15 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101823515A (en) * | 2010-02-11 | 2010-09-08 | 上海交通大学 | Air cushion type walking vehicle |
| CN102556199A (en) * | 2011-12-29 | 2012-07-11 | 北京航空航天大学 | Multi-degree-of-freedom flexible foot plate for humanoid 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 |
| CN110481668A (en) * | 2019-08-30 | 2019-11-22 | 吉林大学 | A kind of adaptive strain posture bionic mechanical foot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20080297091A1 (en) * | 2007-05-31 | 2008-12-04 | Samsung Electronics Co., Ltd. | Foot of walking robot and walking robot having the same |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101823515A (en) * | 2010-02-11 | 2010-09-08 | 上海交通大学 | Air cushion type walking vehicle |
| CN102556199A (en) * | 2011-12-29 | 2012-07-11 | 北京航空航天大学 | Multi-degree-of-freedom flexible foot plate for humanoid 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 |
| CN110481668A (en) * | 2019-08-30 | 2019-11-22 | 吉林大学 | A kind of adaptive strain posture bionic mechanical foot |
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