CN204548271U - Walking robot foot structure - Google Patents
Walking robot foot structure Download PDFInfo
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- CN204548271U CN204548271U CN201520270652.7U CN201520270652U CN204548271U CN 204548271 U CN204548271 U CN 204548271U CN 201520270652 U CN201520270652 U CN 201520270652U CN 204548271 U CN204548271 U CN 204548271U
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- guide
- walking robot
- limit
- main body
- sole
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Abstract
The utility model discloses a kind of walking robot foot structure, comprise sole, the below of described sole end is provided with heel, the top of this sole end is provided with guide and limit ring, be provided with the guide and limit main body that can move up and down in this guide and limit ring within it, between described guide and limit main body and described guide and limit ring, be provided with weight sensor.Because the utility model adopts said structure, heel can realize cushioning foot, avoids producing vibration, and simultaneously weight sensor can Real-time Feedback ground supports power, the accurate control of walking robot of being more convenient for.
Description
Technical field
The utility model belongs to electromechanical control field, is specifically related to a kind of walking robot foot structure, is applied in the traveling gear of walking robot.
Background technology
At present, along with the development of science and technology, greatly advance the research of Robotics, increasing industrial robot is applied on manufacturing line, and the research of industrial robot is also progressively ripe.And for mobile robot, especially the research of walking robot is relatively less, in service robot field, people call and can go up robot downstairs, occur on the market much going up wheelchair downstairs, but could not address this problem completely so far, in this respect, the advantage of walking robot is apparent.
At present, common walking robot is applied more with two-legged type, all fours type, six sufficient formulas, and wherein four feet walking robot mechanism is simple and flexible, and load-carrying capacity is strong, good stability, has good application prospect in rescue and relief work, exploration, amusement and military affairs etc. are many.But the foot structure of existing walking robot is comparatively simple, foot buffering cannot be realized, also cannot feed back ground supports power, be not easy to accurate control.
Summary of the invention
Technical problem to be solved in the utility model is for above-mentioned the deficiencies in the prior art, there is provided a kind of walking robot foot structure, it can either realize, to foot buffering, avoiding producing vibration, again can Real-time Feedback ground supports power, the accurate control of walking robot of being more convenient for.
The technical scheme that the utility model adopts is: a kind of walking robot foot structure, comprise sole, the below of described sole end is provided with heel, the top of this sole end is provided with guide and limit ring, be provided with the guide and limit main body that can move up and down in this guide and limit ring within it, between described guide and limit main body and described guide and limit ring, be provided with weight sensor.
As preferably, described heel is made by rubber, plastics or timber.
As preferably, described guide and limit ring inside is provided with elastomeric element fixing with it, described guide and limit main body is provided with the caulking groove embedding coupling for above-mentioned elastomeric element, between described weight sensor is arranged on bottom elastomeric element top and caulking groove.
As preferably, described elastomeric element is spring, and its upper and lower two ends are respectively arranged with upper cover and lower cover.
As preferably, described elastomeric element is made by solid rubber, plastics or metal tube.
As preferably, described guide and limit main body is provided with the lifting spacing ring coordinated with described guide and limit ring.
As preferably, be provided with position-limited lever between described sole head end and described guide and limit main body, this position-limited lever is provided with position-limited trough, described guide and limit main body is provided with the limited post coordinated with above-mentioned position-limited trough.
As preferably, described sole bottom surface is provided with non-slip groove.
The beneficial effects of the utility model are: because the utility model adopts said structure, heel can realize cushioning foot, avoid producing vibration, and simultaneously weight sensor can Real-time Feedback ground supports power, the accurate control of walking robot of being more convenient for.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
In figure: 1, position-limited lever; 2, weight sensor; 3, upper cover; 4, guide and limit main body; 5, spring; 6, spacing ring is elevated; 7, lower cover; 8, guide and limit ring; 9, sole; 10, heel; 11, position-limited trough.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the specific embodiments the utility model is described in further detail.
As shown in Figure 1, a kind of walking robot foot structure, comprise sole 9, the below of sole 9 end is provided with heel 10, the effect of sole 9 is equivalent to the sole of people, in robot advance process, sole 9 front portion will be moved on to by heel 10 with the contact point on ground, sole 9 can use different material manufactures, it can be alloy aluminium sheet, the sole 9 that alloy aluminium sheet is made is lightweight, there is certain intensity can bear larger weight, also can be high tensile steel plate, sole 9 heavier-weight that high tensile steel plate is made, but larger weight can be born, and elasticity modulus is better.Heel 10 is made by rubber, plastics or timber, due to heel 10 directly kiss the earth, and bears gravity, require that material can not be too hard, slightly elasticity, has some strength, the heel 10 that elastomeric material is made contacts to earth and can not destroy ground, and has certain intensity can bear larger weight; The heel 10 that timber is made is lightweight, contacts to earth and can not destroy ground, and has certain intensity can bear larger weight, but will select extraordinary seeds.
The top of sole 9 end is provided with guide and limit ring 8, the guide and limit main body 4 that can move up and down is provided with within it in this guide and limit ring 8, weight sensor 2 is provided with between described guide and limit main body 4 and described guide and limit ring 8, guide and limit ring 8 inside is provided with elastomeric element fixing with it, described guide and limit main body 4 is provided with the caulking groove embedding coupling for above-mentioned elastomeric element, between described weight sensor 2 is arranged on bottom elastomeric element top and caulking groove, guide and limit main body 4 is provided with the lifting spacing ring 6 coordinated with described guide and limit ring 8, prevent guide and limit main body 4 escape.Because the utility model adopts said structure, heel 10 can realize cushioning foot, avoids producing vibration, and simultaneously weight sensor 2 can Real-time Feedback ground supports power, the accurate control of walking robot of being more convenient for.
Elastomeric element can select spring 5, upper cover 3 and lower cover 7 is respectively arranged with at spring about 5 two ends, when robot ambulation, heel 10 first lands, and gravity passes to spring 5 by heel 10, sole 9, guide and limit ring 8, lower cover 7, is compressed by spring 5, and exerted pressure by upper cover 3 pairs of weight sensors 2, weight sensor 2 feedback data is for controller, and the Gravity changer that controller provides according to weight sensor 2 judges center-of-gravity position, for paces programming provides foundation.The effect of spring 5 has been buffer actions, to protect top parts.Elastomeric element also can be made by solid rubber, plastics or metal tube, and solid rubber elasticity not as good as spring 5, but can prevent vibration, walks more steady; Elasticity of plastics not as good as solid rubber, but can reduce vibration further, walks more steady.
Be provided with position-limited lever 1 between sole 9 head end and guide and limit main body 4, this position-limited lever 1 is provided with position-limited trough 11, described guide and limit main body 4 is provided with the limited post coordinated with above-mentioned position-limited trough 11, the effect one of position-limited lever 1 prevents sole 9 from rotating; Two is the distortion that can limit sole 9 when needed, makes it rotate; For avoiding sole 9 to skid, non-slip groove can be set in sole 9 bottom surface, also other anti-slip material can be set in sole 9 bottom surface.
The above, be only the utility model preferred embodiment, therefore can not limit with this scope that the utility model implements, the equivalence namely done according to the utility model claim and description change with modify, all should still belong in scope that the utility model patent contains.
Claims (8)
1. a walking robot foot structure, comprise sole (9), it is characterized in that: the below of described sole (9) end is provided with heel (10), the top of this sole (9) end is provided with guide and limit ring (8), be provided with the guide and limit main body (4) that can move up and down in this guide and limit ring (8) within it, between described guide and limit main body (4) and described guide and limit ring (8), be provided with weight sensor (2).
2. walking robot foot structure according to claim 1, is characterized in that: described heel (10) is made by rubber, plastics or timber.
3. walking robot foot structure according to claim 1, it is characterized in that: described guide and limit ring (8) inside is provided with elastomeric element fixing with it, described guide and limit main body (4) is provided with the caulking groove embedding coupling for above-mentioned elastomeric element, between described weight sensor (2) is arranged on bottom elastomeric element top and caulking groove.
4. walking robot foot structure according to claim 3, is characterized in that: described elastomeric element is spring (5), and its upper and lower two ends are respectively arranged with upper cover (3) and lower cover (7).
5. walking robot foot structure according to claim 3, is characterized in that: described elastomeric element is made by solid rubber, plastics or metal tube.
6. walking robot foot structure according to claim 1, is characterized in that: described guide and limit main body (4) is provided with the lifting spacing ring (6) coordinated with described guide and limit ring (8).
7. walking robot foot structure according to claim 1, it is characterized in that: between described sole (9) head end and described guide and limit main body (4), be provided with position-limited lever (1), this position-limited lever (1) is provided with position-limited trough (11), described guide and limit main body (4) is provided with the limited post coordinated with above-mentioned position-limited trough (11).
8. walking robot foot structure according to claim 1, is characterized in that: described sole (9) bottom surface is provided with non-slip groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520270652.7U CN204548271U (en) | 2015-04-30 | 2015-04-30 | Walking robot foot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520270652.7U CN204548271U (en) | 2015-04-30 | 2015-04-30 | Walking robot foot structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204548271U true CN204548271U (en) | 2015-08-12 |
Family
ID=53823415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520270652.7U Expired - Fee Related CN204548271U (en) | 2015-04-30 | 2015-04-30 | Walking robot foot structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204548271U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109575A (en) * | 2015-09-17 | 2015-12-02 | 山东大学 | Dog-like quadruped robot |
| CN105501325A (en) * | 2015-12-17 | 2016-04-20 | 常州大学 | Humanoid robot two-freedom-degree parallel-connection shock absorption mechanical foot |
-
2015
- 2015-04-30 CN CN201520270652.7U patent/CN204548271U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109575A (en) * | 2015-09-17 | 2015-12-02 | 山东大学 | Dog-like quadruped robot |
| CN105501325A (en) * | 2015-12-17 | 2016-04-20 | 常州大学 | Humanoid robot two-freedom-degree parallel-connection shock absorption mechanical foot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150812 Termination date: 20180430 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |