Autonomous anti-sink machine foot suitable for soft soil and working method thereof

Abstract

The application discloses a kind of self-anti-subsidence machine foot suitable for soft soil and working method thereof.In the application, a vertically arranged push rod is fixed in the center of a horizontally arranged bottom plate, and a plurality of web plates are evenly distributed along the circumference and hinged to the outer edge of the push rod.A central hole is formed in a vertically arranged fixing frame, and a connecting disc is fixed to the top end of the central hole.The push rod and the central hole form a sliding pair, and the push rod is connected to the connecting disc through a spring.The middle part of each web plate is hinged to one end of two spaced apart connecting rods, and the end away from the bottom plate is hinged to one end of two other spaced apart connecting rods.The other end of each connecting rod one is hinged to the fixing frame, and the middle part is hinged to one end of a mechanical claw.The other end of each connecting rod two is hinged to the middle part of a mechanical claw on the same side.Each mechanical claw has a downwardly curved arcuate rod at the other end, and the end of the arcuate rod away from the mechanical claw is a sharp corner end.The application can effectively solve the subsidence problem of robots in soft soil environments, and has good grip.

Description

Technical Field

[0001] This invention belongs to the field of robotic foot technology, specifically relating to an autonomous anti-settlement robotic foot suitable for soft soil and its working method. Background Technology

[0002] Currently, soft soil is a special type of underconsolidated soil widely distributed in coastal areas of China. It is a type of soil with high water content and small particle size, low bearing capacity, and exhibits soft and easily shaped characteristics 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] Legged robots are playing an increasingly important role in rescue, exploration, and detection. However, they may get stuck in soft soil, posing risks and challenges to their tasks and severely impacting their exploration efficiency. For example, patent CN202010960733.5 proposes a robotic foot for walking in soft soil. This foot has adjustable toes with adjustable tilt angles and extension to increase the contact area and reduce sinking. However, this design uses multiple motors to control the tilt and extension of the toes, making the system relatively complex. It also uses the centrifugal force generated by the rapid rotation of the toe plate to control the extension of the sliding toe plate. This design may cause mud to splash when walking in soft soil, posing additional risks to the robot. Furthermore, this design does not solve the problem of slipping when walking in soft soil. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and propose an autonomous anti-settlement machine foot suitable for soft soil and its working method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The present invention relates to an autonomous anti-settlement machine 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 base plate.

[0007] A vertically positioned push rod is fixed at the center of the horizontally positioned base plate, and multiple webbed plates are hinged to its outer edge and evenly distributed circumferentially. A central hole is provided on the vertically positioned fixing frame, and a connecting plate is fixed at the top of the central hole. The push rod is embedded in the central hole, forming a sliding pair with the central hole, and is connected to the connecting plate by a spring. The middle part of each webbed plate is hinged to one end of two spaced-apart connecting rods, and the end away from the base plate is hinged to one end of two spaced-apart connecting rods. The other end of each connecting rod is hinged to the fixing frame, and the middle part is hinged to one end of a mechanical claw. The other end of each connecting rod is hinged to the middle part of a mechanical claw located on the same side. The other end of each mechanical claw is provided with an integrally formed, downwardly curved arc rod, and the end of the arc rod away from the mechanical claw is a sharp corner.

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

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

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

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

[0012] Preferably, the base plate has multiple holes evenly distributed circumferentially, and the four corners of the base plate are cut off to form an arc shape; the four sides of the base plate are all hinged with webbed plates.

[0013] This invention discloses a working method for an autonomous anti-settlement machine foot suitable for soft soil, as detailed below:

[0014] The mounting bracket is installed at the bottom of the robot's legs. When the robot's legs are lowered, the base plate contacts the ground. The mounting bracket moves downward along the push rod under the push of the robot's legs, and the spring starts to compress from its free state until the mounting bracket contacts the base plate. At the same time, the mounting bracket pushes each web plate downward to a horizontal state through each link one, increasing the robot's contact area with the ground. Each web plate drives each mechanical claw downward to rotate through the corresponding link two, so that the sharp ends of each mechanical claw are embedded in the soil. When the robot's legs are raised, the spring pushes the mounting bracket upward relative to the push rod, the mounting bracket disengages from the base plate, and pulls each web plate upward through each link one. At the same time, each web plate pushes each mechanical claw upward to rotate through the corresponding link two, so that the sharp ends of each mechanical claw are pulled out of the soil until the spring returns to its free state.

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

[0016] 1. This invention effectively solves the problem of robot sinking in soft soil environments and has good grip. Specifically, the invention is installed on the robot's legs. When the robot's legs are lowered, the base plate contacts the ground. The fixing frame moves downward along the push rod under the push of the robot's legs. Through each connecting rod, each web plate is pushed downward to a horizontal state, increasing the robot's contact area with the ground. This reduces the contact stress between the robot and the ground, slows down the sinking of the feet, and achieves an anti-sinking effect. It also makes the robot more stable during operation. Furthermore, each web plate drives each mechanical claw downward through the corresponding connecting rod, so that the sharp ends of each mechanical claw dig into the soil, which can effectively increase the robot's grip and achieve an anti-slip function.

[0017] 2. In this invention, the unfolding and retracting of each webbed plate and each mechanical claw does not require energy consumption. Specifically, when the robot's legs are lowered, the base plate contacts the ground, and the fixing frame moves downward along the push rod under the pushing force of the robot's legs, causing each webbed plate and each mechanical claw to unfold. When the robot's legs are raised, the fixing frame moves upward relative to the push rod under the restoring force of the spring, causing each webbed plate and each mechanical claw to retract. This process requires no energy consumption and has a simple structure. Furthermore, the spring also helps to reduce vibration when the base plate touches the ground, providing a cushioning effect. Attached Figure Description

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

[0019] Figure 2 for Figure 1 A bottom view;

[0020] Figure 3 This is a cross-sectional view of the invention in contact with the ground;

[0021] Figure 4 This is a cross-sectional view of the invention when it is not in contact with the ground. Detailed Implementation

[0022] The present invention will now be further described with reference to the accompanying drawings.

[0023] like Figure 1 , Figure 2 and Figure 3 As shown, the present invention provides an autonomous anti-settlement machine foot suitable for soft soil, comprising 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 webbed plate 8, and a base plate 9.

[0024] A vertically positioned push rod 1 is fixed at the center of a horizontally positioned base plate 9, and four webbed plates 8 are hinged to its outer edge and evenly distributed around the circumference. A central hole is provided on a vertically positioned fixing frame 4, and a connecting plate 3 is fixed at the top of the central hole. The push rod 1 is embedded in the central hole, forming a sliding pair with the central hole. A spring 2 is located in the central 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 formed on the lower surface of the connecting plate 3. The middle part of each webbed plate 8 is hinged to one end of two spaced connecting rods 5, and the end away from the base plate is hinged to one end of two spaced connecting rods 6. The other end of each connecting rod 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 6 is hinged to the middle part of a mechanical claw 7 located on the same side. The other end of each mechanical claw 7 is provided with an integrally formed, downwardly curved arc rod, and the end of the arc rod away from the mechanical claw 7 is pointed.

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

[0026] In a preferred embodiment, a rubber strip is fixed on the base plate 9 directly below the fixing frame 4, and the rubber strip serves as a cushioning element.

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

[0028] In a preferred embodiment, the base plate 9 has multiple holes evenly distributed along the circumference, and the four corners of the base plate 9 are cut off to form an arc shape, which can effectively disperse pressure and reduce the pressure of the base plate 9 on the ground, thereby reducing the risk of the base plate 9 sinking; the four sides of the base plate 9 are all hinged with web plates 8.

[0029] This invention discloses a working method for an autonomous anti-settlement machine foot suitable for soft soil, as detailed below:

[0030] The mounting bracket 4 is installed at the bottom of the robot's legs. When the robot's legs are lowered, the base plate 9 contacts the ground. The mounting bracket 4 moves downwards along the push rod 1 under the pushing action of the robot's legs. The spring 2 compresses from its free state until the mounting bracket 4 contacts the base plate 9. Simultaneously, the mounting bracket 4, through each connecting rod 5, pushes each webbed plate 8 downwards to a horizontal position, increasing the robot's contact area with the ground. This reduces the contact stress between the robot and the ground, slowing down the sinking. Each webbed plate 8, through its corresponding connecting rod 6, drives each mechanical claw 7 downwards, causing the sharp ends of each mechanical claw 7 to dig into the soil, effectively achieving an anti-slip function. Figure 3As shown; when the robot's legs are raised, spring 2 pushes the fixed frame 4 to move upward relative to the push rod 1, the fixed frame 4 disengages from the base plate 9, and pulls each web plate 8 upward through each connecting rod 5. At the same time, each web plate 8 pushes each mechanical claw 7 upward through the corresponding connecting rod 6, so that the sharp ends on each mechanical claw 7 are pulled out of the soil, until the spring returns to its free state, as shown. Figure 4 As shown.

Claims

1. An autonomous anti-sink machine foot suitable for soft soil, comprising a push rod, a spring, a connecting disc, a fixing frame and a bottom plate, characterized in that: It also includes connecting rod one, connecting rod two, mechanical claw and web plate; The center of the horizontal bottom plate is fixed with the vertical push rod, and the outer edge is hinged with a plurality of circumferentially distributed web plates; The vertical fixed frame is provided with a central hole, and the top end of the central hole is fixed with the connecting disc; The push rod is embedded in the central hole, and the central hole and the central hole form a sliding pair, and are connected with the connecting disc through the spring; The middle part of each web plate is hinged with two spaced connecting rod one ends, and the end away from the bottom plate is hinged with two spaced connecting rod two ends; The other end of each connecting rod one is hinged with the fixed frame, and the middle part is hinged with one end of the mechanical claw; The other end of each mechanical claw is provided with an integral and downward bending arc rod, and the end away from the mechanical claw is a sharp corner end; When the robot leg is put down, each web plate drives each mechanical claw to rotate downward through the corresponding connecting rod two, so that the sharp corner end of each mechanical claw is inserted into the soil; When the robot leg is lifted, each web plate drives each mechanical claw to rotate upward through the corresponding connecting rod two, so that the sharp corner end of each mechanical claw is pulled out of the soil; The spring is arranged in the central hole, and the lower end of the spring is fixed with the boss integrally formed at the top end of the push rod, and the upper end is fixed with the groove formed in the lower surface of the connecting disc.

2. An autonomous anti-sink machine foot suitable for soft ground according to claim 1, characterized in that: The two ends of the connecting rod one are hinged with two U-shaped frames respectively, and the two U-shaped frames are fixed with the fixed frame and the corresponding web plate respectively.

3. The self-burying machine foot suitable for soft soil according to claim 1, characterized in that: The bottom plate is fixed with a rubber strip below the fixed frame.

4. The self-burying 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.

5. The self-burying machine foot suitable for soft soil according to claim 1, characterized in that: A plurality of holes are evenly distributed on the bottom plate in the circumferential direction, and the four corners of the bottom plate are cut to be circular arc; The four edges of the bottom plate are hinged with the web plate.

6. A method of working for an autonomous anti-sink machine foot suitable for soft ground according to any one of claims 1 to 5, characterized in that: Specifically as follows: The fixed frame is installed at the bottom end of the robot leg; When the robot leg is put down, the bottom plate contacts the ground, the fixed frame moves downward along the push rod under the pushing action of the robot leg, the spring is compressed from the free state, until the fixed frame contacts the bottom plate, at the same time, the fixed frame drives each web plate to rotate downward to the horizontal state through each connecting rod one, increases the contact area of the robot, each web plate drives each mechanical claw to rotate downward through the corresponding connecting rod two, so that the sharp corner end of each mechanical claw is inserted into the soil; When the robot leg is lifted, the spring drives the fixed frame to move upward relative to the push rod, the fixed frame is separated from the bottom plate, and each web plate is pulled upward through each connecting rod one, at the same time, each web plate drives each mechanical claw to rotate upward through the corresponding connecting rod two, so that the sharp corner end of each mechanical claw is pulled out of the soil, until the spring returns to the free state.

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