Autonomous anti-subsidence machine foot suitable for soft soil and working method of autonomous anti-subsidence machine foot

Abstract

The invention discloses an autonomous anti-subsidence machine foot suitable for soft soil and a working method of the autonomous anti-subsidence machine foot. A vertically-arranged push rod is fixed to the center of a horizontally-arranged bottom plate, and a plurality of web plates evenly distributed in the circumferential direction are hinged to the outer edge of the horizontally-arranged bottom plate; a center hole is formed in the vertically-arranged fixing frame, and a connecting disc is fixed to the top end of the center hole. The push rod and the center hole form a sliding pair and are connected with the connecting disc through a spring; the middle of each web plate is hinged to one ends of two first connecting rods arranged at intervals, and the end, away from the bottom plate, of each web plate is hinged to one ends of two second connecting rods arranged at intervals; the other end of each first connecting rod is hinged to the fixing frame, the middle of each first connecting rod is hinged to one end of one mechanical claw, and the other end of each second connecting rod is hinged to the middle of the mechanical claw on the same side. The other end of each mechanical claw is provided with an arc rod bent downwards, and the end, away from the corresponding mechanical claw, of each arc rod is a sharp corner end. The problem that the robot sinks in the soft soil environment can be effectively solved, and good ground gripping performance is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of robot feet, and in particular relates to an autonomous anti-sinking robot foot suitable for soft soil and a working method thereof. Background Art

[0002] At present, soft soil is a special type of underconsolidated soil widely distributed in China's coastal areas. It is a type of soil with high water content and small particles. It has low bearing capacity and is soft and easy to shape in its natural state. It usually contains clay, silt and other components, and has the characteristics of high water content, low strength and large deformation.

[0003] Nowadays, legged robots play an increasingly important role in rescue, detection and inspection. However, at present, legged robots may sink into the mud in soft soil foundations, which brings risks and challenges to the operation tasks, thus seriously affecting the detection efficiency of the robot. For example, the patent with patent number CN202010960733.5 proposes a mechanical foot that can be used for soft soil robots to walk. The mechanical foot is provided with toes with adjustable inclination angle and extension to increase the contact area of ​​the foot end and reduce sinking. However, the design uses multiple motors to control the inclination and extension of the toes. The system is relatively complex, and the centrifugal force generated by the rapid rotation of the toe plate at the foot end is used to control the extension of the sliding toe plate. This design may cause mud splashing when walking in a soft soil environment, which brings additional risks to the robot. In addition, the design does not solve the problem of easy slipping when walking on soft soil. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an autonomous anti-sinking machine foot suitable for soft soil and a working method thereof.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The invention discloses an autonomous anti-sinking mechanical foot suitable for soft soil, comprising a push rod, a spring, a connecting plate, a fixing frame, a first connecting rod, a second connecting rod, a mechanical claw, a web plate and a bottom plate.

[0007] A vertically arranged push rod is fixed at the center of the horizontally arranged base plate, and a plurality of web plates evenly distributed along the circumferential direction are hinged on the outer edge; a center hole is opened on the vertically arranged fixing frame, and a connecting plate is fixed on the top of the center hole; the push rod is embedded in the center hole, forming a sliding pair with the center hole, and is connected to the connecting plate through a spring; the middle part of each web plate is hinged to one end of two connecting rods one arranged at a distance, and the end away from the base plate is hinged to one end of two connecting rods two arranged at a distance; the other end of each connecting rod one is hinged to the fixing frame, the middle part is hinged to one end of a mechanical claw, and the other end of each connecting rod two is hinged to the middle part of the mechanical claw on the same side; the other end of each mechanical claw is provided with an integrally formed and downwardly bent arc rod, and the end of the arc rod away from the mechanical claw is a pointed end.

[0008] Preferably, the spring is arranged in the center hole, and the lower end of the spring is fixed to a boss integrally formed at the top of the push rod, and the upper end of the spring is fixed to a groove formed on the lower surface of the connecting plate.

[0009] Preferably, two ends of the connecting rod 1 are hinged to two U-shaped frames respectively, and the two U-shaped frames are fixed to the fixing frame and the corresponding web plates respectively.

[0010] Preferably, a rubber strip is fixed on the bottom plate just below the fixing frame.

[0011] Preferably, the inner wall of the central hole is coated with lubricating oil.

[0012] Preferably, the bottom plate is provided with a plurality of holes evenly distributed along the circumferential direction, and the four corners of the bottom plate are cut off to form an arc shape; the four sides of the bottom plate are hinged with fins.

[0013] The present invention provides a working method of an autonomous anti-sinking machine foot suitable for soft soil, which is specifically as follows:

[0014] The fixing frame is installed at the bottom end of the robot leg; when the robot leg is lowered, the bottom plate contacts the ground, and the fixing frame moves downward along the push rod under the pushing action of the robot leg, and the spring begins to compress from a free state until the fixing frame contacts the bottom plate, and at the same time, the fixing frame pushes each web plate to rotate downward to a horizontal state through each connecting rod 1, thereby increasing the robot's contact area with the ground, and each web plate drives each mechanical claw to rotate downward through the corresponding connecting rod 2, so that the pointed end of each mechanical claw is inserted into the soil; when the robot leg is raised, the spring pushes the fixing frame to move upward relative to the push rod, the fixing frame is disengaged from the bottom plate, and each web plate is pulled upward to rotate through each connecting rod 1, and at the same time, each web plate pushes each mechanical claw to rotate upward through the corresponding connecting rod 2, so that the pointed end of each mechanical claw is pulled out of the soil until the spring returns to a free state.

[0015] The present invention has the following beneficial effects:

[0016] 1. The present invention can effectively solve the problem of the robot sinking in a soft soil environment and has good grip. Specifically, after the present invention is installed on the robot's legs, when the robot's legs are lowered, the bottom plate contacts the ground, and the fixed frame moves downward along the push rod under the push of the robot's legs. Each webbed plate is pushed by each connecting rod to rotate downward to a horizontal state, thereby increasing the robot's ground contact area, reducing the contact stress between the robot and the ground, and slowing down the sinking of the foot end, thereby achieving an anti-sinking effect and making the robot more stable during operation. Furthermore, each webbed plate drives each mechanical claw to rotate downward through the corresponding connecting rod 2, so that the pointed end of each mechanical claw is embedded in the soil, which can effectively increase the robot's grip and achieve an anti-slip function.

[0017] 2. The unfolding and folding actions of each web and each mechanical claw in the present invention do not require energy consumption. Specifically, when the robot legs are lowered, the bottom plate in the present invention contacts the ground, and the fixed frame moves downward along the push rod through the driving force of the robot legs, so that each web and each mechanical claw are unfolded. When the robot legs are raised, the fixed frame moves upward relative to the push rod under the action of the spring restoring force, so that each web and each mechanical claw are folded. No energy consumption is required, and the structure is simple. Furthermore, the spring also helps to reduce the vibration when the bottom plate touches the ground, thereby playing a buffering role. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 for Figure 1 Bottom view of

[0020] Figure 3 It is a cross-sectional view of the present invention when it is in contact with the ground;

[0021] Figure 4 It is a cross-sectional view of the present invention when it is not in contact with the ground. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] like Figure 1 , Figure 2 and Figure 3 As shown, the present invention is an autonomous anti-sinking machine foot suitable for soft soil, including a push rod 1, a spring 2, a connecting plate 3, a fixing frame 4, a connecting rod 1 5, a connecting rod 2 6, a mechanical claw 7, a web 8 and a bottom plate 9.

[0024] A vertically arranged push rod 1 is fixed at the center of the horizontally arranged base plate 9, and four webs 8 evenly distributed along the circumferential direction are hinged on the outer edge; a center hole is opened on the vertically arranged fixing frame 4, and a connecting plate 3 is fixed on the top of the center hole; the push rod 1 is embedded in the center hole to form a sliding pair with the center hole; a spring 2 is arranged in the center hole, and the lower end of the spring 2 is fixed to a boss integrally formed at the top of the push rod 1, and the upper end is fixed to a groove opened on the lower surface of the connecting plate 3; the middle part of each web 8 is hinged to one end of two connecting rods 5 arranged at intervals, and the end away from the base plate is hinged to one end of two connecting rods 2 6 arranged at intervals; the other end of each connecting rod 1 5 is hinged to the fixing frame 4, and the middle part is hinged to one end of a mechanical claw 7; the other end of each connecting rod 2 6 is hinged to the middle part of the mechanical claw 7 on the same side; the other end of each mechanical claw 7 is provided with an integrally formed and downwardly bent arc rod, and the end of the arc rod away from the mechanical claw 7 is pointed.

[0025] As a preferred embodiment, both ends of the connecting rod 5 are hinged to two U-shaped frames respectively, and the two U-shaped frames are fixed to the fixing frame 4 and the corresponding webs 8 respectively.

[0026] As a preferred embodiment, a rubber strip is fixed on the bottom plate 9 just below the fixing frame 4, and the rubber strip plays a buffering role.

[0027] As a preferred embodiment, the inner wall of the center hole is coated with lubricating oil to reduce the friction between the push rod 1 and the center hole.

[0028] As a preferred embodiment, a plurality of holes evenly distributed along the circumferential direction are opened on the bottom plate 9, and the four corners of the bottom plate 9 are cut off to form an arc shape, which can effectively disperse the pressure and reduce the pressure of the bottom plate 9 on the ground, thereby reducing the risk of the bottom plate 9 sinking; the four edges of the bottom plate 9 are hinged with fins 8.

[0029] The present invention provides a working method of an autonomous anti-sinking machine foot suitable for soft soil, which is specifically as follows:

[0030] The fixing frame 4 is installed at the bottom end of the robot leg; when the robot leg is lowered, the bottom plate 9 contacts the ground, and the fixing frame 4 moves downward along the push rod 1 under the pushing action of the robot leg, and the spring 2 begins to compress from the free state until the fixing frame 4 contacts the bottom plate 9. At the same time, the fixing frame 4 pushes each web plate 8 to rotate downward to a horizontal state through each connecting rod 1 5, thereby increasing the robot's contact area with the ground, reducing the contact stress between the robot and the ground, and slowing down the sinking. Each web plate 8 drives each mechanical claw 7 to rotate downward through the corresponding connecting rod 2 6, so that the pointed end of each mechanical claw 7 is embedded in the soil, which can effectively realize the anti-slip function. Figure 3As shown; when the robot leg is lifted, the spring 2 pushes the fixing frame 4 to move upward relative to the push rod 1, the fixing frame 4 is out of contact with the bottom plate 9, and pulls each web 8 to rotate upward through each connecting rod 1 5, and at the same time each web 8 pushes each mechanical claw 7 to rotate upward through the corresponding connecting rod 2 6, so that the pointed end of each mechanical claw 7 is pulled out of the soil until the spring returns to a free state, as shown in FIG. Figure 4 shown.

Claims

1. An autonomous anti-sinking machine foot suitable for soft soil, comprising a push rod, a spring, a connecting plate, a fixing frame and a bottom plate, characterized in that: It also includes connecting rod one, connecting rod two, mechanical claws and webs; a vertically arranged push rod is fixed at the center of the horizontally arranged bottom plate, and a plurality of webs evenly distributed along the circumferential direction are hinged on the outer edge; a center hole is opened on the vertically arranged fixing frame, and a connecting plate is fixed on the top of the center hole; the push rod is embedded in the center hole, forming a sliding pair with the center hole, and is connected to the connecting plate through a spring; the middle part of each web is hinged to one end of two connecting rods one arranged at intervals, and the end away from the bottom plate is hinged to one end of two connecting rods two arranged at intervals; the other end of each connecting rod one is hinged to the fixing frame, the middle part is hinged to one end of a mechanical claw, and the other end of each connecting rod two is hinged to the middle part of the mechanical claw on the same side; the other end of each mechanical claw is provided with an integrally formed and downwardly bent arc rod, and the end of the arc rod away from the mechanical claw is a pointed end.

2. The autonomous anti-sinking machine foot suitable for soft soil according to claim 1, characterized in that: The spring is arranged in the central hole, and the lower end of the spring is fixed to a boss integrally formed at the top of the push rod, and the upper end of the spring is fixed to a groove formed on the lower surface of the connecting plate.

3. The autonomous anti-sinking machine foot suitable for soft soil according to claim 1, characterized in that: The two ends of the connecting rod 1 are respectively hinged to the two U-shaped frames, and the two U-shaped frames are respectively fixed to the fixing frame and the corresponding web plates.

4. The autonomous anti-sinking machine foot suitable for soft soil according to claim 1, characterized in that: A rubber strip is fixed on the bottom plate just below the fixing frame.

5. The autonomous anti-sinking machine foot suitable for soft soil according to claim 1, characterized in that: The inner wall of the central hole is coated with lubricating oil.

6. The autonomous anti-sinking machine foot suitable for soft soil according to claim 1, characterized in that: The bottom plate is provided with a plurality of holes evenly distributed along the circumferential direction, and the four corners of the bottom plate are cut off to form an arc shape; the four sides of the bottom plate are hinged with fins.

7. A working method of an autonomous anti-sinking machine foot suitable for soft soil according to any one of claims 1 to 6, characterized in that: The details are as follows: The fixing frame is installed at the bottom end of the robot leg; when the robot leg is lowered, the bottom plate contacts the ground, and the fixing frame moves downward along the push rod under the pushing action of the robot leg, and the spring begins to compress from a free state until the fixing frame contacts the bottom plate, and at the same time, the fixing frame pushes each web plate to rotate downward to a horizontal state through each connecting rod 1, thereby increasing the robot's contact area with the ground, and each web plate drives each mechanical claw to rotate downward through the corresponding connecting rod 2, so that the pointed end of each mechanical claw is inserted into the soil; when the robot leg is raised, the spring pushes the fixing frame to move upward relative to the push rod, the fixing frame is disengaged from the bottom plate, and each web plate is pulled upward to rotate through each connecting rod 1, and at the same time, each web plate pushes each mechanical claw to rotate upward through the corresponding connecting rod 2, so that the pointed end of each mechanical claw is pulled out of the soil until the spring returns to a free state.

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