A self-locking wearable foot structure based on tensegrity structure
By adopting a self-locking design based on a tensioned integral structure, the control complexity and weight problems of wearable foot structures when walking on adaptive unstructured terrain are solved, realizing the switching between flexible adaptive and rigid loading states, and improving stability and motion diversity.
Patent Information
- Application Number
- CN202211650814.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-12-21
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2042-12-21
AI Technical Summary
Existing wearable foot structures suffer from problems such as complex control systems, heavy weight, large size, and limited movement in adaptive unstructured terrain walking.
It adopts a self-locking design based on the overall tension structure, combining the support structure, rotation structure, pressure plate, tensioning component and locking structure to achieve free switching between flexible self-adaptation and rigid load-bearing state.
It achieves stable walking on unstructured terrain while maintaining both compliance and stability, simplifies the control system, reduces mass and volume, and increases the diversity of movement.
Smart Images
Figure CN115741648B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robot foot structure, more particularly to a wearable foot structure based on tensegrity structure and capable of self-locking. BACKGROUND
[0002] The foot structure is an important component of the humanoid robot, which should be able to walk stably in unstructured environment and meet the high human-computer interaction. The wearable foot structure has made breakthrough progress in rehabilitation treatment, walking assistance and other aspects.
[0003] However, the wearable foot structure still has some problems, such as complex control system, heavy weight, large volume, single movement, etc., especially in the function of adaptive unstructured terrain walking.
[0004] Therefore, it is an urgent problem for those skilled in the art to provide a wearable foot structure based on tensegrity structure and capable of self-locking, which has both flexibility and stability. SUMMARY
[0005] Therefore, the present application provides a wearable foot structure based on tensegrity structure and capable of self-locking, which has both flexibility and stability.
[0006] In order to achieve the above purpose, the present application adopts the following technical scheme:
[0007] A wearable foot structure based on tensegrity structure and capable of self-locking, comprising:
[0008] A support structure, comprising a top plate and a bottom plate, the top plate being located above the bottom plate;
[0009] A rotating structure, the center of the top plate and the center of the bottom plate being rotatably connected through the rotating structure;
[0010] A stepping plate, the stepping plate being installed on the upper rear side of the top plate through a elastic component;
[0011] A tensegrity structure, comprising four tensioning components, the four corner end portions of the top plate and the four corner end portions of the bottom plate being flexibly connected through the four tensioning components respectively;
[0012] The locking structure comprises four ratchets, four pawls and a first guide wheel, the four ratchets are respectively installed in four first mounting holes on the rear side of the top plate through rotating shafts, and the four ratchets are arranged in a ring matrix; the four pawls are respectively fixed on the bottom of the pressing plate and correspond to the four ratchets respectively; the first guide wheel is installed in a second mounting hole on the front side of the top plate through a rotating shaft; the two ratchets symmetrically distributed are connected through a first transmission rope, the ratchet on the front side is connected with the bottom plate through a second transmission rope around the first guide wheel, and the remaining three ratchets are respectively connected with the bottom plate through third transmission ropes.
[0013] By adopting the above technical scheme, the application has the following beneficial effects:
[0014] In the process of walking on unstructured terrain, when the top plate is not loaded, according to the terrain changes, under the action of the rotating structure and the tensioning overall structure, the whole body changes from a self-stabilizing state to a flexible self-adaptive state, forming a flexible self-adaptive mechanism; when a load is applied to the top plate and the pressing plate, the whole mechanism is locked under load through the locking structure, forming a rigid loadable mechanism, thereby combining the flexibility and stability characteristics.
[0015] Further, the rotating structure comprises two first bearing seats, two second bearing seats and a cross shaft, the two first bearing seats are fixed on the top plane of the bottom plate and symmetrically distributed; the two second bearing seats are fixed on the bottom plane of the top plate and symmetrically distributed, and the adjacent first bearing seat and the second bearing seat are spaced 90° in the circumferential direction; the two first bearing seats and the two second bearing seats are both provided with bearings; the four ends of the cross shaft are respectively installed in the four bearings.
[0016] Further, the top plate is provided with a first through hole corresponding to the positions of the two first bearing seats; the bottom plate is provided with a second through hole corresponding to the positions of the two second bearing seats.
[0017] Further, the elastic assembly comprises six positioning shafts, six limiting flanges and six compression springs, the bottom ends of the six positioning shafts are respectively fixed on the top plane of the top plate and uniformly distributed; the six limiting flanges are respectively connected with the top ends of the six positioning shafts as a whole; the six compression springs are respectively sleeved on the six positioning shafts; the pressing plate is sleeved on the six positioning shafts, and the top end of each compression spring is in contact with the pressing plate, and the bottom end of each compression spring is in contact with the top plate.
[0018] Further, each of the tension assembly comprises a tension spring, a second guide wheel and a fourth transmission rope, one end of the tension spring is fixed on the fixed block of the top plane of the top plate, the second guide wheel is installed in the third mounting hole of the top plate through a rotating shaft, one end of the fourth transmission rope is fixedly connected with the other end of the tension spring, and the other end of the fourth transmission rope is fixedly connected with the top plane of the bottom plate.
[0019] Further, the application further comprises a protective plate, the protective plate is fixed on the top of the top plate, the protective plate is provided with embedded holes corresponding to positions of the tension assembly and the locking structure respectively, and the elastic assembly penetrates the protective plate.
[0020] Compared with the prior art, the application provides a wearable foot structure based on a tension whole structure and capable of self-locking, the wearable foot structure is capable of freely switching between a rigid loadable state and a flexible adaptive state through mechanical self-locking, the problems of a complex control system, heavy quality, large size and single movement of the prior wearable foot structure are overcome, and the overall stability of the wearable foot structure is ensured. BRIEF DESCRIPTION OF DRAWINGS
[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of the provided drawings.
[0022] Figure 1 A structural schematic view of the wearable foot structure based on the tension whole structure and capable of self-locking is provided.
[0023] Figure 2 A front view of the wearable foot structure based on the tension whole structure and capable of self-locking is provided.
[0024] Figure 3 A top view of the wearable foot structure based on the tension whole structure and capable of self-locking is provided.
[0025] Figure 4 An exploded view of the wearable foot structure based on the tension whole structure and capable of self-locking is provided.
[0026] Figure 5 A structural schematic view of the connection relationship between the four ratchets and the first guide wheel is provided.
[0027] Figure 6 A structural schematic view of the wearable state of the wearable foot structure based on the tension whole structure and capable of self-locking is provided. DETAILED DESCRIPTION
[0028] 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. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the protection scope of the present application.
[0029] As shown in the drawings, Figures 1-6 The embodiment of the present application discloses a wearable foot structure based on a self-locking tensegrity structure, which comprises a supporting structure 1, a rotating structure 2, a treading plate 3, four tensioning assemblies 4 and a locking structure 5. The supporting structure 1 comprises a top plate 11 and a bottom plate 12, the top plate 11 is located above the bottom plate 12, and the bottom plate 12 serves as a contact part in contact with unstructured terrain. The center of the top plate 11 and the center of the bottom plate 12 are rotatably connected through the rotating structure 2. The treading plate 3 is installed above the rear side of the top plate 11 through a spring assembly 6. The four tensioning assemblies 4 jointly constitute a tensegrity structure, and the four corner end portions of the top plate 11 and the four corner end portions of the bottom plate 12 are respectively flexibly connected through the four tensioning assemblies 4. The locking structure 5 comprises four ratchets 51, four pawls 52 and a first guide wheel 53. The four ratchets 51 are respectively installed in the four first mounting holes on the rear side of the top plate 11 through shafts, and the four ratchets 51 are arranged in a ring matrix. The four pawls 52 are respectively fixed at the bottom of the treading plate 3 and correspond to the four ratchets 51, i.e. are located directly above the four ratchets 51. The first guide wheel 53 is installed in the second mounting hole on the front side of the top plate 11 through a shaft. The two ratchets 51 symmetrically distributed are connected through a first transmission rope 54, so as to ensure that the two ratchets 51 symmetrically distributed rotate at the same speed and in the same direction. The ratchet 51 on the front side is connected with the bottom plate 12 through a second transmission rope 55 around the first guide wheel 53, and the remaining three ratchets 51 are respectively connected with the bottom plate 12 through third transmission ropes 56. In the process of walking on unstructured terrain, when the top plate 11 is not loaded, according to the change of terrain, under the action of the rotating structure 2 and the tensegrity structure, the whole structure changes from a self-stabilizing state to a flexible self-adaptive state, forming a flexible self-adaptive mechanism. When a person's foot applies a load on the top plate 11 and the treading plate 3, the whole mechanism is locked by the locking structure 5, and a rigid loadable mechanism is formed, so as to have both flexibility and stability.
[0030] Specifically, the rotating structure 2 comprises two first bearing seats 21, two second bearing seats 22 and a cross shaft 23, the two first bearing seats 21 are both fixed on the top plane of the bottom plate 12 and symmetrically distributed; the two second bearing seats 22 are both fixed on the bottom plane of the top plate 11 and symmetrically distributed, the adjacent first bearing seat 21 and the second bearing seat 22 are spaced 90° in the circumferential direction, that is, the inner hole axes of the two first bearing seats 21 and the inner hole axes of the two second bearing seats 22 are vertically distributed; the two first bearing seats 21 and the two second bearing seats 22 are both provided with bearings, in the embodiment, the bearings are all selected as rolling bearings; the four ends of the cross shaft 23 are respectively installed in the four bearings.
[0031] Specifically, the top plate 11 is provided with a first through hole corresponding to the positions of the two first bearing seats 21; the bottom plate 12 is provided with a second through hole corresponding to the positions of the two second bearing seats 22, so as to avoid interference between the parts.
[0032] Specifically, the elastic assembly 6 comprises six positioning shafts 61, six limiting flanges 62 and six compression springs 63, the six positioning shafts 61 are respectively fixed at the bottom ends on the top plane of the top plate 11 and uniformly distributed; the six limiting flanges 62 are respectively connected with the top ends of the six positioning shafts 61 as a whole; the six compression springs 63 are respectively sleeved on the six positioning shafts 61; the pressing plate 3 is sleeved on the six positioning shafts 61 and limited by the limiting flanges 62, and the top end of each compression spring 63 is in contact with the pressing plate 3, and the bottom end of each compression spring 63 is in contact with the top plate 11.
[0033] Specifically, each tensioning assembly 4 comprises a tension spring 41, a second guide wheel 42 and a fourth transmission rope 43, one end of the tension spring 41 is fixed on a fixed block of the top plane of the top plate 11, and the tension spring 41 is arranged in parallel with the length direction of the top plate 11; the second guide wheel 42 is installed in the third mounting hole of the top plate 11 through a rotating shaft; one end of the fourth transmission rope 43 is fixedly connected with the other end of the tension spring 41, and the other end of the fourth transmission rope 43 is fixedly connected with the top plane of the bottom plate 12.
[0034] In order to protect the tensioning assemblies 4, the locking structure 5 and the like on the top plate 11, and avoid the human foot stepping on these components, the protective plate 13 is fixed on the top of the top plate 11, and the protective plate 13 is provided with embedded holes corresponding to the positions of the four tensioning assemblies 4 and the locking structure 5 respectively; the elastic assembly 6 penetrates through the protective plate 13, and the compression spring 63 is not in contact with the protective plate 13.
[0035] The working mode of the embodiment provided by the application can be that before walking on unstructured terrain, a stable structure can be achieved by the four tensile springs 41 forming a self-adaptive, self-recovery and self-stable tensile whole structure; when worn on the human foot and walking on unstructured terrain, the bottom plate 12 will deflect with the change of terrain, and through the first guide wheel 53, the first transmission rope 54, the second transmission rope 55 and the third transmission rope 56, the four ratchets 51 are driven to rotate, after adapting to the terrain, the self-gravity of the human foot is exerted on the pressing plate 3 to make the corresponding ratchet 51 engage with the pawl 52, and the passive locking function is completed;
[0036] The working mode of the embodiment provided by the application can also be that when the human foot lifts up to step forward, the self-gravity on the pressing plate 3 disappears, the corresponding ratchet 51 and the pawl 52 are separated under the action of the compression spring 63, so that the whole structure recovers to the previous stable state under the action of the tensile whole structure, and the automatic unlocking function is completed.
[0037] Therefore, the wearable foot structure provided by the application has three working states by combining the tensile whole structure and the locking structure 5: the first is a self-stable state, the second is a self-adaptive state, and the third is a loaded locking state. Before locking, it is a flexible and self-adaptive wearable foot structure, and after locking, it is a rigid and loadable wearable foot structure. The locking structure can realize the free switching between the rigid load state and the flexible adaptive state of the wearable foot structure, thereby changing the problems of the existing wearable foot structure, such as complex control system, heavy quality, large volume, single motion, etc. The structure is simple, stable and reliable, and is expected to be developed vigorously and realize its application value in many fields.
[0038] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part.
[0039] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A wearable foot-type structure based on a tensioned integral structure with self-locking capability, characterized in that, include: A supporting structure, comprising a top plate and a bottom plate, wherein the top plate is located above the bottom plate; A rotating structure is provided, wherein the center of the top plate and the center of the bottom plate are rotatably connected by the rotating structure. A pressure plate, which is installed on the upper rear side of the top plate via an elastic component; The tensioned integral structure includes four tensioning components, and the four corner ends of the top plate and the four corner ends of the bottom plate are flexibly connected through the four tensioning components respectively; The locking structure includes four ratchet wheels, four pawls, and a first guide wheel. The four ratchet wheels are respectively installed in four first mounting holes on the rear side of the top plate via rotating shafts, and the four ratchet wheels are arranged in a circular matrix. The four pawls are respectively fixed to the bottom of the foot plate and correspond to the four ratchet wheels. The first guide wheel is installed in a second mounting hole on the front side of the top plate via rotating shafts. Two symmetrically distributed ratchet wheels are connected by a first transmission rope. The ratchet wheel located on the front side is connected to the bottom plate via a second transmission rope that passes around the first guide wheel. The other three ratchet wheels are respectively connected to the bottom plate via a third transmission rope.
2. The wearable foot structure based on a tensioned integral structure with self-locking capability according to claim 1, characterized in that, The rotating structure includes two first bearing seats, two second bearing seats, and a cross shaft. The two first bearing seats are fixed on the top plane of the base plate and are symmetrically distributed. The two second bearing seats are fixed on the bottom plane of the top plate and are symmetrically distributed. Adjacent first bearing seats and second bearing seats are spaced 90° apart in the circumferential direction. Bearings are installed on the two first bearing seats and the two second bearing seats. The four ends of the cross shaft are respectively installed in the four bearings.
3. A self-locking wearable foot structure based on a tensioned integral structure according to claim 2, characterized in that, The top plate has a first through hole corresponding to the positions of the two first bearing seats; the bottom plate has a second through hole corresponding to the positions of the two second bearing seats.
4. A self-locking wearable foot structure based on a tensioned integral structure according to claim 1, characterized in that, The elastic assembly includes six positioning shafts, six limiting flanges, and six compression springs. The bottom ends of the six positioning shafts are respectively fixed on the top plane of the top plate and are evenly distributed. The six limiting flanges are respectively connected to the top ends of the six positioning shafts as a whole. The six compression springs are respectively sleeved on the six positioning shafts. The pressing plate is sleeved on the six positioning shafts, and the top end of each compression spring contacts the pressing plate, and the bottom end of each compression spring contacts the top plate.
5. A self-locking wearable foot structure based on a tensioned integral structure according to any one of claims 1-4, characterized in that, Each tensioning assembly includes a tension spring, a second guide wheel, and a fourth transmission rope. One end of the tension spring is fixed to a fixing block on the top plane of the top plate. The second guide wheel is installed in a third mounting hole in the top plate via a rotating shaft. One end of the fourth transmission rope is fixedly connected to the other end of the tension spring, and the other end of the fourth transmission rope is fixedly connected to the top plane of the bottom plate.
6. A wearable foot structure based on a tensioned integral structure with self-locking capability, as described in claim 1, is characterized in that, It also includes a protective plate, which is fixed to the top of the top plate and has embedded holes corresponding to the positions of the tensioning component and the locking structure, respectively; the elastic component passes through the protective plate.
Citation Information
Patent Citations
Anti-falling self-locking mechanism for exoskeleton robot
CN106625617A
Passive exoskeleton based on physical mobility characteristic of ankle complex
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