CN201980318U - Robot foot mechanism with flexible joint - Google Patents
Robot foot mechanism with flexible joint Download PDFInfo
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- CN201980318U CN201980318U CN2011201220373U CN201120122037U CN201980318U CN 201980318 U CN201980318 U CN 201980318U CN 2011201220373 U CN2011201220373 U CN 2011201220373U CN 201120122037 U CN201120122037 U CN 201120122037U CN 201980318 U CN201980318 U CN 201980318U
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Abstract
The utility model relates to a robot foot mechanism with a flexible joint. The foot shock absorbing effect of the traditional robot is not good. The robot foot mechanism with the flexible joint comprises a toe board, a heel board, a sole board, flexible hinges, spring boards, heel vibration dampers, a six-axis force moment sensing device and an ankle supporting seat, wherein the toe board is connected with the sole board through the flexible hinges; the sole board is connected with the heel board through the spring boards; the bottom surfaces of the toe board, the sole board and the heel board are respectively provided with a rubber layer; the flexible hinges, the spring boards and the vibration dampers are respectively and symmetrically arranged along the advancing direction; the flexible hinges are respectively formed by connecting two rectangular rings in parallel, wherein the rectangular rings can flexibly deform; the flexible hinges are formed by integral linear cutting; each rectangular ring is provided with a groove which is vertical to the advancing direction and is used for absorbing deformation; and the thickness of the middle parts of the spring boards are lower than that of both ends of the spring boards. In the robot foot mechanism with the flexible joint, through increasing the degree of freedom of passive toes, the walking of a humanoid robot is more stable, and the gait is more steady and natural.
Description
Technical field
The utility model belongs to the Robotics field, relates to a kind of robot foot portion mechanism with flexible joint.
Background technology
Anthropomorphic robot is and the immediate a kind of robot of the mankind that its maximum feature can be walked as the mankind exactly.Have people's profile, and have locomotive function, operating function, associative memory, learning ability, emotion communication, sociability and have the part human experience near people's intelligent robot.With respect to wheeled or caterpillar type robot, anthropomorphic robot has running gear flexibly, can walk by biped, this has just determined its unrivaled at work preceence: alerting ability is good, working space is wide, move that " blind area " is little, power consumption is little, make things convenient for up/down steps, obstacle go beyond ability higher, can adapt to this ground, therefore, anthropomorphic robot has more vast potential for future development.
The gordian technique of anthropomorphic robot is a traveling gear, and the alerting ability of the speed of its walking, stability, gait directly influences its working ability and efficient.In the process of walking, when foot contacts with ground, produce and impact, impact is sent to the trunk of anthropomorphic robot by ankle-joint, because this impact, the dynamical equilibrium of anthropomorphic robot can be interfered, the instability that causes gait, and can cause damage to parts such as the accurate speed reduction gearing of in-to-in, servomotor, sophisticated sensors, limited the walking speed of robot, the continuity of walking step state, cause the robot lack of equilibrium, influence control stiffness etc., so when the foot mechanism of design anthropomorphic robot, need consider to absorb the problem of impact.
In order to address the above problem, developed the multiple robot foot portion mechanism that during walking, can absorb impact at present.
Chinese patent CN101108146A, a kind of foot of anthropomorphic robot, this structure comprises sole, Rubber foot bottom, six-dimension force sensor, signal handling equipment, tactile array pad, instep, obliquity sensor, upper flange, lower flange.This robot foot seems the more approaching mankind's pin, and the Rubber foot bottom has suitable elasticity, and lower surface has anti-slip tank, can absorb impulsive force by actv..In the process of walking, obliquity sensor detects the angle of inclination information of sole, six-dimension force sensor detects ground reaction force information, the tactile array pad obtains the information of pin and ground-surface contact condition and contact position, signal handling equipment is gathered the information of these sensors in real time and it is carried out comprehensive treatment, calculate the ZMP track, the gait of planning robot's walking, the stability of raising gait.Ability itself that have only less absorption to impact, key are that this has increased the difficulty of control by gait planning change walking states.This invention mainly is the impulsive force when relying on Rubber foot bottom absorption pin to land, and the effect of impact absorption is very limited.
Chinese patent CN101402380A, a kind of humanoid robot foot section impact absorption mechanism, this scheme comprises sole, shock structure, top board, upper cover plate, adjusting disk, instep shell, six-dimension force sensor, slipmat, and the front-end and back-end of sole all are designed to the inclined-plane, the walking manner of help realizing heelstrike, tiptoe is liftoff.Shock structure is arranged in the middle of sole and the top board, and upper cover plate links to each other by adjusting disk also sole, and six-dimension force sensor links to each other with the shank of anthropomorphic robot.When Humanoid Robot Based on Walking, slipmat contacts with ground, directly is subjected to ground-surface antagonistic force, and power is passed to shock structure by sole, the shock structure actv. absorbs this impulsive force, and can change the thrust of shock structure by the thickness of regulating adjusting disk.The device for impact absorbing of this type has following shortcoming, when vibration is applied to the heel of robot or toe place, can not weaken the vibration that is produced by actv..
Summary of the invention
The purpose of this utility model is the weak point at anthropomorphic robot foot mechanism in the above-mentioned prior art, and a kind of robot foot portion mechanism with flexible joint is provided.
The technical scheme that the utility model technical solution problem is taked is as follows:
The utility model comprise the front along the heel plate of the toe plate of K/UP, back edge K/UP, be arranged on sole plate, flexible hinge, spring plate, heel shock attenuation unit, sextuple power moment sensor and ankle support seat between toe plate and the heel plate.
Described toe plate is connected by flexible hinge with the sole plate, and the sole plate is connected by spring plate with the heel plate;
Also be provided with rubber layer on described toe plate, sole plate and the heel plate bottom surface.
Described flexible hinge, spring plate and shock attenuation unit all follow into, and direction is symmetrical arranged.
But described flexible hinge composes in parallel for the cylindrical ring by two plastic deformations, and this flexible hinge is formed by the overall wire cutting processing, and each cylindrical ring has the groove vertical with direct of travel, is used for absorbing distortion.
Thickness in the middle of the described spring plate is less than the thickness at two ends, and material is 50Crva.
Described heel shock absorption device comprises damping shock absorption device bearing, damping shock absorption device, transmission triangle bearing, transmission trigonometric sum bearing.Damping shock absorption device bearing is positioned at the sole front edge of board, one end of damping shock absorption device is captiveed joint with damping shock absorption device bearing, the other end flexibly connects by an angle of first bearing pin and transmission triangle, be positioned at transmission triangle bearing on the spring plate of sole plate rear end by another angle flexible connection of second bearing pin with the transmission triangle, bearing is by the 3rd angle flexible connection of croisillon de joint homocinetique and transmission triangle, and described bearing contacts with spring plate on being positioned at the heel plate.Shock absorption device is installed on the sole plate.
Described sextuple power moment sensor comprises sextuple power torque sensor, sextuple power moment seat, surge arrester, energy disperser, buffer gasket and guide collar.Sextuple power moment sensor is installed on the sole plate, above the sextuple power torque sensor ankle support seat is installed, and sextuple power moment seat is installed below the sextuple power torque sensor.Sextuple power moment seat is connected with buffer gasket with energy disperser by surge arrester, and described buffer gasket and sole plate mechanical connection are provided with guide collar between described sextuple power moment seat and the sole plate.
The utility model has following beneficial effect with respect to prior art: the utility model makes the walking of anthropomorphic robot more stable by increasing passive toe degree of freedom, the steady more and nature of gait.Toe adopts elastic element to connect, and is easily manufactured, and cost-cutting improves performance, during starting, elastic element (flexible hinge) bends on the pitch axis direction, is equivalent to spring, at this moment storage elasticity potential energy, in the process that pin lifts, the elastic element releasable energy plays purpose of energy saving.Heel adopts the mode of elastic element+damper, when heelstrike, absorbs by the damping shock absorption device that consuming lands impacts the energy that produces, and it is more steady to be that robot lands.
Description of drawings
Fig. 1 is the utility model overall construction drawing;
Fig. 2 is the foot structure cutaway view;
Fig. 3 is the foot structure lateral plan;
Fig. 4 is the flexible hinge constructional drawing;
Fig. 5 is the spring plate constructional drawing;
In the accompanying drawing: 1 sole, 2 Rubber foot bottoms, 3 guide collar, 4 buffer gaskets, 5 flexible hinges, 6 surge arresters, 7 ankle support seats, 8 sextuple power moment seats, 9 sextuple power torque sensors, 10 energy dispersers, 11 transmission triangles, 12 transmission triangle bearings, 13 bearings, 14 spring plates, 15 damping shock absorption devices, 16 damping shock absorption device bearings, 1a heel plate, 1b sole plate, 1c toe plate, 2a heel Rubber foot bottom, 2b sole Rubber foot bottom, 2c toe Rubber foot bottom.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, the utility model comprise the front along the heel plate 1a of the toe plate 1c of K/UP, back edge K/UP, be arranged on sole plate 1b, flexible hinge 5, spring plate 14, heel shock absorption device (13 bearings, 14 spring plates, 15 damping shock absorption devices), sextuple Force sensor (8 sextuple power moment seats, 9 sextuple power torque sensors) and ankle support seat 7 between toe plate 1c and the heel plate 1a.
Described toe plate 1c is connected by flexible hinge 5 with sole plate 1b, and sole plate 1b is connected by spring plate 14 with heel plate 1a;
Described sextuple power moment device is placed on the sole plate 1b, is positioned on the sole plate 1b of sextuple power moment sensor both sides the heel shock attenuation unit is housed, and ankle support seat 7 is equipped with at the top of sextuple power moment sensor.
As shown in Figure 2, be connected with ankle support seat 7 above the sextuple power torque sensor 9, pass through the screw mechanical connection with sextuple power moment seat 8 below.Sextuple power moment seat 8 is connected with energy disperser 10 with surge arrester 6, and surge arrester 6 is connected with sole plate 1b by screw with energy disperser 10, and and sole plate 1b between buffer gasket 4 is installed, be provided with guiding collar 3 between sextuple power moment seat 8 and the sole plate 1b.The ground reaction force information of sextuple power torque sensor 9 when the monitoring robot pin contacts with the road surface in real time, this information is used for the ZMP position of calculating robot when walking, the position of judging ZMP and provides foundation for next step gait planning of robot whether in stable zone.
Described flexible hinge 5, spring plate 14 and heel shock absorption device (13 bearings, 14 spring plates, 15 damping shock absorption devices) all follow into, and direction is symmetrical arranged.
Described shock attenuation unit comprises damping shock absorption device bearing 16, damping shock absorption device 15, transmission triangle bearing 12, transmission triangle 11 and bearing 13 as shown in Figure 3.Damping shock absorption device bearing 16 is positioned at sole plate 1b front end, one end of damping shock absorption device 15 is captiveed joint with damping shock absorption device bearing 16, the other end flexibly connects by an angle of first bearing pin and transmission spider 11, be positioned at transmission triangle bearing 12 on the spring plate 14 of sole plate 1b rear end by another angle flexible connection of second bearing pin with transmission spider 11, bearing 13 is by croisillon de joint homocinetique another angle flexible connection with transmission spider 11, and described bearing 13 contacts with spring plate 14 on being positioned at heel plate 1b.
Described flexible hinge 5 as shown in Figure 4, for being composed in parallel by two cylindrical rings, this flexible hinge overall wire cutting processing forms, the end face of each cylindrical ring has the groove vertical with direct of travel with the bottom surface symmetry, is used for absorbing being out of shape.Flexible hinge 5 one ends and sole plate 1b are by the screw mechanical connection, and an end and toe plate 1c are by the screw mechanical connection.When walking on uneven road surface, toe plate can be rotated on pitch orientation by flexible hinge, also can rotate around rotating direction.Putting down the walking manner that lands at present anthropomorphic robot sole, uneven or when little obstacle is arranged when ground, insensitive to ground, with respect to active toe degree of freedom, can simplify ROBOT CONTROL and stablize robot's gait.During starting, the large deformation flexible hinge is equivalent to spring, can storage elasticity potential energy, when pin lifts, can release energy, and play purpose of energy saving.
Described spring plate 14 is flat H type as shown in Figure 5, and two ends are thick, and intermediate thin is formed by the line cutting processing, produces large deformation under the middle thin plate at both ends strained condition, thereby reaches heel damping purpose.
Also be provided with rubber layer on described toe plate 1c, sole plate 1b and the heel plate 1a bottom surface.Heel plate 1a is connected with glue with heel Rubber foot bottom 2a, and sole plate 1b is connected with glue with sole Rubber foot bottom 2b, and toe plate 1c is connected with glue with toe Rubber foot bottom 2c, and the shape of Rubber foot bottom 2 is consistent with the bottom shape of sole 1.Rubber foot bottom 2 has good elasticity, directly contacts with ground, plays preliminary buffer shock-absorbing effect when the pin of robot lands.
Sole 1 in the utility model is to be made of heel 1a, sole plate 1b, toe plate 1c three parts, and Rubber foot bottom 2 comprises heel Rubber foot bottom 2a, sole Rubber foot bottom 2b and toe Rubber foot bottom 2c.Be connected with Rubber foot bottom 2 usefulness glue below the sole 1, the shape of Rubber foot bottom 2 is identical with the shape of sole 1, that the material of Rubber foot bottom 2 adopts is the LP-13 Shake Absorber Vibration Isolation Pads of U.S. KELLETT company, has good absorption cushioning effect, a mechanical energy part that produces in the time of pin can being landed converts heat energy to, prevent to vibrate butt contact and exert an influence, play certain buffer action.Toe plate 1c and heel 1a are provided with corresponding radian respectively, when pin lands or liftoff, perhaps ground not at ordinary times, sole can keep suitable with ground and contact and reduced the suffered impulsive force of ankle-joint.
More than by with reference in the accompanying drawings the expression exemplary embodiment the utility model has been done special displaying and explanation, to one skilled in the art, should be understood that various modifications and the change made under thought of the present utility model and the scope in the form and details not deviating from.So real thought and scope that the utility model will be protected are limited by appending claims.
Claims (1)
1. the robot foot portion mechanism that has flexible joint, comprise the front along the heel plate of the toe plate of K/UP, back edge K/UP, be arranged on sole plate, flexible hinge, spring plate, heel shock attenuation unit, sextuple power moment sensor and ankle support seat between toe plate and the heel plate, it is characterized in that:
Described toe plate is connected by flexible hinge with the sole plate, and the sole plate is connected by spring plate with the heel plate;
Also be provided with rubber layer on described toe plate, sole plate and the heel plate bottom surface;
Described flexible hinge, spring plate and shock attenuation unit all follow into, and direction is symmetrical arranged;
But described flexible hinge composes in parallel for the cylindrical ring by two plastic deformations, and each cylindrical ring has the groove vertical with direct of travel, is used for absorbing distortion;
Thickness in the middle of the described spring plate is less than the thickness at two ends;
Described heel shock absorption device comprises damping shock absorption device bearing, damping shock absorption device, transmission triangle bearing, transmission trigonometric sum bearing; Damping shock absorption device bearing is positioned at the sole front edge of board, one end of damping shock absorption device is captiveed joint with damping shock absorption device bearing, the other end flexibly connects by an angle of first bearing pin and transmission triangle, be positioned at transmission triangle bearing on the spring plate of sole plate rear end by another angle flexible connection of second bearing pin with the transmission triangle, bearing flexibly connects by the 3rd angle of croisillon de joint homocinetique and transmission triangle, described bearing contacts with spring plate on being positioned at the heel plate, and shock absorption device is installed on the sole plate;
Described sextuple power moment sensor comprises sextuple power torque sensor, sextuple power moment seat, surge arrester, energy disperser, buffer gasket and guide collar; Sextuple power moment sensor is installed on the sole plate, above the sextuple power torque sensor ankle support seat is installed, and sextuple power moment seat is installed below the sextuple power torque sensor; Sextuple power moment seat is connected with buffer gasket with energy disperser by surge arrester, and described buffer gasket and sole plate mechanical connection are provided with guide collar between described sextuple power moment seat and the sole plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201220373U CN201980318U (en) | 2011-04-24 | 2011-04-24 | Robot foot mechanism with flexible joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201220373U CN201980318U (en) | 2011-04-24 | 2011-04-24 | Robot foot mechanism with flexible joint |
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| Publication Number | Publication Date |
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| CN201980318U true CN201980318U (en) | 2011-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201220373U Expired - Lifetime CN201980318U (en) | 2011-04-24 | 2011-04-24 | Robot foot mechanism with flexible joint |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180206A (en) * | 2011-04-24 | 2011-09-14 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
| CN103057620A (en) * | 2013-02-05 | 2013-04-24 | 武汉大学 | Foot structure of humanoid robot based on modularized array sensor |
| CN105501326A (en) * | 2015-12-17 | 2016-04-20 | 常州大学 | Humanoid robot two-freedom-degree series-connection shock absorption mechanical foot |
| ITUB20153207A1 (en) * | 2015-08-25 | 2017-02-25 | Marco Ceccarelli | Active protection for robots |
| CN108791556A (en) * | 2018-06-13 | 2018-11-13 | 芜湖易迅生产力促进中心有限责任公司 | A kind of Special anti-skid mechanism of robot |
| CN108918013A (en) * | 2018-09-14 | 2018-11-30 | 哈尔滨工业大学（威海） | A kind of compliant mechanism is from decoupling six-dimension force sensor |
-
2011
- 2011-04-24 CN CN2011201220373U patent/CN201980318U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180206A (en) * | 2011-04-24 | 2011-09-14 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
| CN102180206B (en) * | 2011-04-24 | 2012-07-04 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
| CN103057620A (en) * | 2013-02-05 | 2013-04-24 | 武汉大学 | Foot structure of humanoid robot based on modularized array sensor |
| CN103057620B (en) * | 2013-02-05 | 2016-08-31 | 武汉大学 | A kind of humanoid robot foot section structure based on modular array sensor |
| ITUB20153207A1 (en) * | 2015-08-25 | 2017-02-25 | Marco Ceccarelli | Active protection for robots |
| CN105501326A (en) * | 2015-12-17 | 2016-04-20 | 常州大学 | Humanoid robot two-freedom-degree series-connection shock absorption mechanical foot |
| CN108791556A (en) * | 2018-06-13 | 2018-11-13 | 芜湖易迅生产力促进中心有限责任公司 | A kind of Special anti-skid mechanism of robot |
| CN108918013A (en) * | 2018-09-14 | 2018-11-30 | 哈尔滨工业大学（威海） | A kind of compliant mechanism is from decoupling six-dimension force sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110921 Effective date of abandoning: 20120704 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20110921 Effective date of abandoning: 20120704 |