Flexible connection member and robot foot structure using same

Abstract

The invention relates to the field of robots, and particularly discloses a flexible connection member and a robot foot structure using the same. The flexible connection member includes a central shaft and rigid joints; a fixing joint is arranged between every two rigid joints; the central shaft successively passes through the rigid joints and the fixing joints and is connected to the fixing joints; each fixing joint includes a sleeve and blades, and a connection space is formed between every two blades; bosses corresponding to shapes of the connection spaces are arranged on one ends, contacting with the fixing joints, of the rigid joints; the bosses of the two adjacent rigid joints are inserted into the adjacent connection spaces alternatively; each rigid joint includes end joints and a central joint, connection holes are formed in one ends, away from the bosses, of the end joints, and a connection gap is formed in an outer surface of the central joint. The flexible connection member can connect four soles forming a foot portion of the robot, and can overcome the problem that the robot will turn over when the soles of the robot are inclined to a ground surface in a random direction.

Description

technical field

[0001] The invention relates to the field of robots, in particular to a flexible connector and a robot foot structure using the connector. Background technique

[0002] Biped robot is a new type of robot that can imitate human walking. Similar to the human walking trajectory, the biped robot walking trajectory consists of discrete points, so it can also adapt to various types of ground in theory. Biped robots have the same physical structure as humans, and are suitable for working in various environments designed for humans. They have partially replaced humans in factories and can participate in dangerous tasks such as fire fighting, disaster relief, and flood fighting. Biped robot has become one of the most representative topics in the field of intelligent robot research.

[0003] Attitude maintenance during biped robot walking is a major difficulty in biped robot research. When the soles of the biped robot land on the ground, if the soles of the feet are...

Examples

Embodiment

[0027] Such as figure 1 As shown, a flexible connector includes an intermediate shaft 3 and at least three rigid joints, a fixed joint 2 made of rubber is arranged between every two rigid joints, and the intermediate shaft 3 passes through the The rigid joint and the fixed joint 2 are keyed to the fixed joint 2; the fixed joint 2 includes a sleeve 23 and annular blades 22 uniformly distributed outside the sleeve 23, and a connection space is formed between every two blades 22 21. The one end of the rigid joint in contact with the fixed joint 2 is evenly distributed with bosses 13 corresponding to the shape of the connection space 21, and the bosses 13 on two adjacent rigid joints are alternately inserted into the adjacent connection spaces 21 The rigid joint includes two end joints 11 and at least one intermediate joint 12, the end joint 11 is provided with a connection hole 111 away from the end of the boss 13, and the outer surface of the intermediate joint 12 is provided wi...

technical field

[0001] The invention relates to the field of robots, in particular to a flexible connector and a robot foot structure using the connector. Background technique

[0002] Biped robot is a new type of robot that can imitate human walking. Similar to the human walking trajectory, the biped robot walking trajectory consists of discrete points, so it can also adapt to various types of ground in theory. Biped robots have the same physical structure as humans, and are suitable for working in various environments designed for humans. They have partially replaced humans in factories and can participate in dangerous tasks such as fire fighting, disaster relief, and flood fighting. Biped robot has become one of the most representative topics in the field of intelligent robot research.

[0003] Attitude maintenance during biped robot walking is a major difficulty in biped robot research. When the soles of the biped robot land on the ground, if the soles of the feet are...

Examples

Embodiment

[0027] Such as figure 1 As shown, a flexible connector includes an intermediate shaft 3 and at least three rigid joints, a fixed joint 2 made of rubber is arranged between every two rigid joints, and the intermediate shaft 3 passes through the The rigid joint and the fixed joint 2 are keyed to the fixed joint 2; the fixed joint 2 includes a sleeve 23 and annular blades 22 uniformly distributed outside the sleeve 23, and a connection space is formed between every two blades 22 21. The one end of the rigid joint in contact with the fixed joint 2 is evenly distributed with bosses 13 corresponding to the shape of the connection space 21, and the bosses 13 on two adjacent rigid joints are alternately inserted into the adjacent connection spaces 21 The rigid joint includes two end joints 11 and at least one intermediate joint 12, the end joint 11 is provided with a connection hole 111 away from the end of the boss 13, and the outer surface of the intermediate joint 12 is provided wi...

Images