CN216229490U - Foot type robot and sole structure thereof - Google Patents
Foot type robot and sole structure thereof Download PDFInfo
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- CN216229490U CN216229490U CN202122640719.XU CN202122640719U CN216229490U CN 216229490 U CN216229490 U CN 216229490U CN 202122640719 U CN202122640719 U CN 202122640719U CN 216229490 U CN216229490 U CN 216229490U
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Abstract
The application relates to the field of robot structures, aims to solve the problem that the foot structure of the existing foot type robot is complex or the foot state cannot be conveniently obtained, and provides a foot type robot and a foot bottom structure thereof. The sole structure of the foot type robot comprises a sole piece, a foot bracket and a strain gauge. The sole piece is of a hemispherical structure made of elastic materials, and a hemispherical matching groove is formed in the spherical center of the sole piece. The foot bracket is connected with the foot bottom piece; the foot support comprises a hemispherical matching part, the matching part is matched in the matching groove and supports the foot bottom piece, and a groove is formed in the outer surface of the matching part. The strain gauge is attached to the groove surface of the matching groove at a position corresponding to the groove. The beneficial effects of this application are that simple structure can conveniently obtain the robot foot state.
Description
Technical Field
The utility model relates to the field of robot structures, in particular to a foot type robot and a sole structure thereof.
Background
The foot robot achieves walking or other functions by lifting and stepping down its feet. In order to control the motion of the foot, the control part of the robot needs to acquire the state of its foot.
The existing foot type robot has a complicated foot structure or cannot conveniently obtain the foot state.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a foot type robot and a sole structure thereof, and solves the problems that the foot structure of the existing foot type robot is complicated or the foot state cannot be conveniently obtained.
The embodiment of the application is realized as follows:
the embodiment of the application provides a sole structure of a foot type robot, which comprises a sole piece, a foot bracket and a strain gauge. The sole piece is of a hemispherical structure made of elastic materials, and a hemispherical matching groove is formed in the center of a sphere of the sole piece. The foot bracket is connected to the foot bottom piece; the foot support comprises a hemispherical matching part, the matching part is matched in the matching groove and supports the sole piece, and a groove is formed in the outer surface of the matching part. The strain gauge is attached to the position, corresponding to the groove, of the groove surface of the matching groove.
The sole structure of the foot type robot in the scheme is used as the sole of the foot type robot. When the robot is used, the foot bottom piece touches the ground, the foot bottom piece is stressed and deformed, so that the strain gauge adhered to the groove surface of the matching groove generates corresponding physical deformation, and the deformation of the strain gauge can be converted into an electric signal to be transmitted outwards according to the working principle of the strain gauge for judging the state of the robot; when the sole piece is lifted, the sole piece deforms and recovers, the strain gauge is driven to recover the original state, and the signal returns to the state without touching the ground.
In this scheme, the foil gage subsides are established at the trough surface of hemispherical cooperation groove, conveniently respond to each side's deformation signal. Furthermore, the hemispherical fitting portion provided with the groove can, on the one hand, support the foot piece so that a certain shape can be maintained, and, on the other hand, the groove provided allows the foot piece to deform and the strain gauge to deform, thereby enabling the strain gauge to promptly and reliably reflect the contact/non-contact state of the foot piece.
In one embodiment:
the groove surface of the matching groove is provided with a boss, the shape of the boss is matched with the strain gauge, and the strain gauge is attached to the boss.
In one embodiment:
the strain gauges are distributed circumferentially by taking a middle shaft of the sole piece as a center, and the middle shaft is an axis which passes through the spherical center of the sole piece and is perpendicular to the hemispherical end face.
In one embodiment:
the strain gauge is in a strip shape, and the length direction of the strain gauge is along the arc direction of the longitudinal section of the matching groove.
In one embodiment:
the foot bracket is provided with a channel for communicating the groove and the foot bracket; the strain gauge is connected to a signal processing system by a wire passing through the channel.
In one embodiment:
the signal processing system comprises a signal amplification module, and the signal amplification module is electrically connected with the strain gauge.
In one embodiment:
the foot stand includes a base portion and the mating portion connected to the base portion; a matching step is formed between the base part and the matching part; the upper end face of the sole piece is upwards abutted and matched with the matching step, and the matching groove of the sole piece is used for accommodating the matching part.
In one embodiment:
the upper end face of the sole piece is provided with a matching hole, the matching step is provided with a matching pin, and the matching pin is matched with the matching hole.
In one embodiment:
friction grains are distributed on the peripheral surface of the sole piece.
The application also provides a foot robot, which comprises the foot structure of the foot robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a legged robot in an embodiment of the present application;
FIG. 2 is a three-dimensional view of a foot structure of a legged robot in an embodiment of the present application;
FIG. 3 is a cross-sectional view of the foot structure of the legged robot of FIG. 2;
FIG. 4 is an exploded view of the foot structure of the legged robot of FIG. 2;
FIG. 5 is a schematic view of the foot structure of the legged robot of FIG. 3 in contact with the ground;
FIG. 6 is an enlarged view of FIG. 5 at A;
FIG. 7 is a schematic diagram of the sole structure of the legged robot of FIG. 3 connected to a signal processing system by wires;
fig. 8 is a three-dimensional expanded view of fig. 7.
Description of the main element symbols:
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the present application are described in detail. In the following embodiments, features of the embodiments may be combined with each other without conflict.
Examples
Referring to fig. 1, the present embodiment provides a legged robot 10, where the legged robot 10 has one, two (as shown) or more feet 11, and the distal ends of the feet 11 adopt the legged robot sole structure 12 provided by the present application.
Referring to fig. 2-4 in combination, the present embodiment provides a foot structure 12 of a legged robot, which includes a sole 13, a foot support 14 and a strain gauge 15. The foot rest 14 is used for connecting with other parts of the legged robot 10, the sole piece 13 is connected to the foot rest 14 for contacting the ground, and the strain gauge 15 is used for sensing the deformation of the sole piece 13.
The sole piece 13 is a semispherical structure made of an elastic material, and a semispherical matching groove 16 is formed in the center of the sole piece 13. Optionally, the elastic material is made of single material or composite material such as silica gel, soft rubber, rubber and the like. Optionally, friction grains 17 are distributed on the outer peripheral surface of the sole piece 13. The friction lines 17 may be formed in a concave structure or a convex structure, or may be formed by surface treatment.
The foot support 14 includes a hemispherical engagement portion 18, the engagement portion 18 engaging within the engagement slot 16 and supporting the sole member 13. In this embodiment, the fitting portion 18 has a substantially hemispherical outer surface 19, and the fitting portion 18 is attached to the groove surface 20 of the fitting groove 16 via the outer surface 19, so that the sole 13 is supported, and the shape of the sole 13 can be ensured to some extent. Meanwhile, the outer surface 19 of the fitting portion 18 is provided with a groove 21, and the groove 21 is arranged so that the outer surface 19 of the fitting portion 18 has a portion which does not fit with the groove surface 20 of the fitting groove 16.
Optionally, the foot stand 14 includes a base portion 22 and a mating portion 18 connected to the base portion 22. A matching step 23 is formed between the base part 22 and the matching part 18; the upper end surface 24 of the bottom piece 13 is upwards abutted and matched with the matching step 23, and the matching groove 16 of the bottom piece is used for accommodating the matching part 18. The upper end surface 24 of the sole piece 13 is provided with a matching hole 25, the matching step 23 extends downwards to form a matching pin 26, and the matching pin 26 is matched with the matching hole 25, so that the foot support 14 and the sole piece 13 are connected in a positioning and matching mode. Optionally, the fitting pins 26 and the fitting holes 25 are four in number and are evenly spaced in the circumferential direction.
In this embodiment, the strain gauge 15 is attached to the groove surface 20 of the fitting groove 16 at a position corresponding to the recessed groove 21. The strain gage 15 in this embodiment may be a semiconductor strain gage or other type of strain gage. For some strain gauges 15, the deformation can be converted into an electrical signal by a corresponding change in the internal wire resistance with the magnitude of the mechanical deformation that occurs.
The legged robot sole structure 12 in this embodiment serves as the sole of the legged robot 10. When in use, if the sole piece 13 is supported on the ground 27, with reference to fig. 5 and 6, the sole piece 13 is stressed and deformed, so that the strain gauge 15 adhered to the groove surface 20 of the fitting groove 16 generates corresponding physical deformation, and according to the working principle of the strain gauge 15, the deformation of the strain gauge 15 can be converted into an electric signal to be transmitted outwards for judging the state of the legged robot 10; when the bottom piece 13 is lifted, the bottom piece 13 deforms and recovers, the strain gauge 15 is driven to recover (see fig. 3), and the signal returns to the non-contact state. Referring to fig. 3 and 5, in the present embodiment, when the sole member 13 does not contact the ground 27, the shape of the strain gauge 15 is a circular arc shape adapted to fit the groove surface 20 of the groove 16; upon contact with the ground 27, the lower portion of the strain gage 15 is lifted a distance above the deformed bottom piece 13 to form a non-circular arc shape, which changes the electrical properties (e.g., resistance) of the strain gage 15, thereby converting the physical deformation of the bottom piece 13 into an electrical signal.
In the scheme, the strain gauge 15 is attached to the groove surface 20 of the hemispherical matching groove 16, so that the strain gauge is convenient to sense all-directional deformation signals. Furthermore, the hemispherical fitting portion 18 provided with the concave groove 21 is capable of supporting the foot piece 13 so as to be able to maintain a certain shape on the one hand, and on the other hand, the concave groove 21 is provided to allow the deformation of the foot piece 13 and the deformation of the strain gauge 15, so that the strain gauge 15 can promptly and reliably reflect the contact/non-contact state of the foot piece 13.
The strain gauge 15 may be provided in one (as illustrated) or in plural. When a plurality of strain gauges 15 are arranged, the plurality of strain gauges 15 can be circumferentially distributed by taking the central shaft 28 of the sole piece 13 as a center, the central shaft 28 is an axis which passes through the spherical center of the sole piece 13 and is perpendicular to the hemispherical end face, and at the moment, the plurality of strain gauges 15 which are axially distributed can conveniently and accurately sense the deformation of the sole piece 13 in all directions.
In this embodiment, optionally, a boss 29 is provided on the groove surface 20 of the mating groove 16, the shape of the boss 29 is adapted to the strain gauge 15, and the strain gauge 15 is attached to the boss 29. The boss 29 facilitates, on the one hand, indicating the attachment position of the strain gauge 15 and fixing the strain gauge 15. In the case where a plurality of strain gauges 15 are provided, a plurality of corresponding bosses 29 are also provided. In other embodiments, the boss 29 may be replaced with a concave surface.
The strain gauge 15 in this embodiment may be provided in various shapes, for example, in a long strip shape, and the length direction of the strain gauge 15 is along the arc direction of the longitudinal section of the fitting groove 16.
Referring to fig. 7 and 8, in the present embodiment, the foot support 14 defines a channel 30 that communicates between the groove 21 and the foot support 14. The strain gage 15 is connected to a signal processing system 32 by a wire 31 passing through the channel 30. The signal processing system 32 may be the overall control system of the legged robot 10. The signal processing system 32 may include a signal amplifying module 33, and the signal amplifying module 33 is electrically connected to the strain gauge 15 and is configured to amplify the signal transmitted by the strain gauge 15.
In summary, the foot structure 12 and the foot robot 10 of the foot robot in the embodiment of the present application have the advantages of simple and reasonable structure, and being capable of conveniently and reliably obtaining the state of the foot of the robot.
Although the present application has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the present application.
Claims (10)
1. A footed structure of a footed robot, comprising:
the sole piece is of a hemispherical structure made of elastic materials, and a hemispherical matching groove is formed in the spherical center of the sole piece;
a foot bracket connected to the foot piece; the foot bracket comprises a hemispherical matching part, the matching part is matched in the matching groove and supports the sole piece, and a groove is formed in the outer surface of the matching part;
and the strain gauge is attached to the position, corresponding to the groove, of the groove surface of the matching groove.
2. The legged robot sole structure according to claim 1, characterized in that:
the groove surface of the matching groove is provided with a boss, the shape of the boss is matched with the strain gauge, and the strain gauge is attached to the boss.
3. The legged robot sole structure according to claim 1 or 2, characterized in that:
the strain gauges are distributed circumferentially by taking a middle shaft of the sole piece as a center, and the middle shaft is an axis which passes through the spherical center of the sole piece and is perpendicular to the hemispherical end face.
4. The legged robot sole structure according to claim 3, characterized in that:
the strain gauge is in a strip shape, and the length direction of the strain gauge is along the arc direction of the longitudinal section of the matching groove.
5. The legged robot sole structure according to claim 1, characterized in that:
the foot bracket is provided with a channel for communicating the groove and the foot bracket;
the strain gauge is connected to a signal processing system by a wire passing through the channel.
6. The legged robot sole structure according to claim 5, characterized in that:
the signal processing system comprises a signal amplification module, and the signal amplification module is electrically connected with the strain gauge.
7. The legged robot sole structure according to claim 1, characterized in that:
the foot stand includes a base portion and the mating portion connected to the base portion; a matching step is formed between the base part and the matching part;
the upper end face of the sole piece is upwards abutted and matched with the matching step, and the matching groove of the sole piece is used for accommodating the matching part.
8. The legged robot sole structure according to claim 7, characterized in that:
the upper end face of the sole piece is provided with a matching hole, the matching step is provided with a matching pin, and the matching pin is matched with the matching hole.
9. The legged robot sole structure according to claim 1, characterized in that:
friction grains are distributed on the peripheral surface of the sole piece.
10. A legged robot, characterized by:
the legged robot including a legged robot sole structure according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122640719.XU CN216229490U (en) | 2021-10-28 | 2021-10-28 | Foot type robot and sole structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122640719.XU CN216229490U (en) | 2021-10-28 | 2021-10-28 | Foot type robot and sole structure thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216229490U true CN216229490U (en) | 2022-04-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122640719.XU Active CN216229490U (en) | 2021-10-28 | 2021-10-28 | Foot type robot and sole structure thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216229490U (en) |
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2021
- 2021-10-28 CN CN202122640719.XU patent/CN216229490U/en active Active
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