Sole stabilizing device capable of adapting to unstructured environment and robot

Abstract

The invention discloses a sole stabilizing device capable of adapting to an unstructured environment and a robot. The sole stabilizing device comprises a fixed rack device; the fixed rack device is used for mounting the foot end mechanism, the compound gear transmission system and the energy storage and shock absorption device; the foot end mechanism comprises a front end supporting connecting rod and a rear end supporting connecting rod; the energy storage and shock absorption device comprises a spring damping device, a force bearing torsion disc and a torsion spring disc; the spring damping device comprises a torsional spring and a rotary damper; the other ends of the torsional spring and the rotary damper are connected with the torsional spring disc; the compound gear transmission system is used for power transmission and conversion; the front-end supporting connecting rod drives the force-bearing torsion disc to rotate through the compound gear transmission system, so that the spring damping device is driven to rotate; the rear-end supporting connecting rod drives the torsion spring disc to rotate so as to drive the spring damping device to rotate; the front-end supporting connecting rod and the rear-end supporting connecting rod drive the spring damping device to rotate in opposite directions. The device can adapt to various complex environments, and the functional diversity is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot plantar force coordination, and more specifically, to a plantar stabilization device and a robot that can adapt to unstructured environments. Background Art

[0002] With the continuous development of the economy, all walks of life in my country have made rapid progress. Mobile robots can be roughly divided into three categories: wheeled robots, tracked robots, and legged robots. Although wheeled and tracked robots can work on flat terrain, most of them cannot work in messy terrain, complex and dangerous environments; compared with wheeled and tracked robots, legged robots have better terrain adaptability because they do not need the ground to provide a continuous support area. At present, most humanoid robots use rigid structures for their legs. Although they have good strength and are easy to assemble, during walking, running, jumping, etc., the feet will collide with the ground during landing, causing the legs and even the body to be subjected to a certain degree of vibration from bottom to top, which has a certain impact on the normal operation of the internal sensor and visual system of the humanoid robot and the walking stability. At the same time, as the number of times increases, it will cause serious damage to the joint joints, servo motors and other structural fragile parts. These potential problems may cause humanoid robots to malfunction in actual work, resulting in the inability to complete the specified tasks, and accelerate the damage and aging of humanoid robot parts, endangering their service life and increasing maintenance costs. At present, most researchers have adopted passive vibration isolation methods to solve this problem, such as setting buffer support frames at important parts and adding impact-resistant materials to the soles of the feet. This type of method does not require external energy input and only achieves the purpose of vibration reduction through the structural characteristics of the material itself. However, this method has a narrow working frequency band and poor adaptability. When the legged robot touches the ground, it cannot effectively reduce vibration immediately, and it cannot adjust the contact state between the foot and the ground.

[0003] In summary, the present invention designs a new plantar stabilization device that can adapt to unstructured environments. The robot adopts a three-toed foot-end mechanism, a composite gear transmission system, and a structure that combines an energy storage and shock-absorbing device. The purpose is to enable the foot-type robot to adapt to a wider variety of complex environments, thereby alleviating the stability problem of the prior art foot-type robots when they are in contact with the ground. Summary of the invention

[0004] The purpose of the present invention is to solve the vibration and impact problems that a foot-type robot is subjected to after contacting the ground. A plantar stabilization device and a robot that can adapt to unstructured environments are proposed. The device adopts multiple gears, multiple supporting links and a spring damping device. When walking on different terrains, the device can adapt to the degree of potholes in the terrain and control the contact force of the robot's sole to adapt to the ground. This structural design can enable the robot to have the advantages of high posture stability, high ground adaptability, and high walking stability.

[0005] The present invention achieves the above-mentioned object through the following technical solutions: a plantar stabilization device that can adapt to unstructured environments, including a foot end mechanism, a composite gear transmission system, an energy storage and shock absorbing device, and a fixed frame device;

[0006] The fixed frame device is used to install the foot end mechanism, the compound gear transmission system and the energy storage and shock absorbing device;

[0007] The foot-end mechanism includes a front-end support link and a rear-end support link, and the foot-end mechanism includes at least three support points that are not in a straight line;

[0008] The energy storage and shock absorption device comprises a spring damping device, a load-bearing torsion plate and a torsion spring plate; the spring damping device comprises a torsion spring and a rotation damper; one end of the torsion spring and the rotation damper are both connected to the load-bearing torsion plate, and the other end are both connected to the torsion spring plate;

[0009] The compound gear transmission system is used for power transmission and conversion; the front end support link drives the load-bearing torsion plate to rotate through the compound gear transmission system, thereby driving the spring damping device to rotate; the rear end support link drives the torsion spring plate to rotate, thereby driving the spring damping device to rotate; the front end support link and the rear end support link drive the spring damping device to rotate in opposite directions.

[0010] Further, the compound gear transmission system includes a bevel gear train, a ring gear, a transition gear and a terminal gear;

[0011] The bevel gear train includes a first bevel gear, a second bevel gear, a planet carrier, and a small bevel gear;

[0012] The planet carrier is evenly surrounded by a plurality of rods, each of which is provided with the small bevel gear; the small bevel gear is meshed with the first bevel gear and the second bevel gear; the planet carrier is also provided with a fan-shaped rod for matching with the ring gear; the ring gear fixed on the fan-shaped rod is meshed with the transition gear, and the transition gear is meshed with the terminal gear;

[0013] The front end support link is fixed on the first bevel gear or the second bevel gear. When the front end support link is subjected to force and flips upward relative to the ground, it drives the first bevel gear or the second bevel gear to rotate, and then drives the small bevel gear, the planet carrier, the transition gear and the terminal gear to rotate in sequence; the terminal gear drives the load-bearing torsion plate to rotate;

[0014] The rear end supporting link is fixed to the torsion spring disk. When the rear end supporting link is subjected to force and flips upward relative to the ground, the torsion spring disk is driven to rotate.

[0015] Furthermore, the transition gear meshing includes an incomplete gear and a spur gear; the incomplete gear meshes with the ring gear; and the spur gear meshes with the terminal gear.

[0016] Furthermore, the front end support link includes a first support link and a second support link; the rear end support link includes a third support link; the first support link is fixed on the first bevel gear; the second support link is fixed on the second bevel gear; the third support link is fixed on the torsion spring disk.

[0017] Furthermore, the middle parts of the first supporting link and the second supporting link are bent to form an "outward eight" supporting structure.

[0018] Further, the fixed frame device includes a first fixed axis, a second fixed axis, a first truss, a second truss, a third truss and a foot-end fixed frame;

[0019] The foot end fixing frame is a support plate at the top, and there are four support rods under the support plate; the two sides of the first fixed axis are fixed to two of the support rods, and the two sides of the load-bearing torsion plate are rotatably mounted on the other two support rods; the support plate has mounting holes to adapt to the installation of the robot ankle joint;

[0020] The first truss is a triangular unit plane structure composed of three straight rods; the second truss is a straight rod; the third truss is a triangular unit plane structure composed of two straight rods

[0021] The first fixed shaft is sequentially covered with the first vertex of the first truss, the second supporting rod, the second bevel gear, the planet carrier, the first bevel gear, the first supporting rod, one end of the second truss, and the first vertex of the third truss; or the first fixed shaft is sequentially covered with the first vertex of the first truss, the second bevel gear, the planet carrier, the first bevel gear, one end of the second truss, and the first vertex of the third truss;

[0022] One side of the second fixed shaft is fixed to the second vertex of the first truss, and the other side is fixed to the second vertex of the third truss; the other end of the second truss is sleeved on the second fixed shaft; the transition gear is sleeved on the second fixed shaft;

[0023] The load-bearing torsion plate is a top disc-shaped plate with a fixed inner side connected to a stepped shaft, and the stepped shaft is covered with a rotation damper, a torsion spring plate, a third supporting connecting rod, a terminal gear and a third vertex of the first truss in sequence; or the stepped shaft is covered with a rotation damper, a torsion spring plate, a terminal gear and a third vertex of the first truss in sequence;

[0024] The torsion spring is sleeved on the rotation damper; the terminal gear is connected to the stepped shaft by a flat key; the disc end of the load-bearing torsion disc is sleeved with the third vertex of the third truss.

[0025] Furthermore, the fixed frame device also includes a fixed block; the fixed block is fixed between the second truss and the third truss.

[0026] Furthermore, a plurality of limit blocks are provided to limit the movement of the front end support link and the rear end support link within a predetermined range and to prevent idling in the initial position.

[0027] Furthermore, the ends of the front end supporting link and the rear end supporting link are both provided with protrusions.

[0028] The present invention also provides a robot provided with the above-mentioned plantar stabilization device that can adapt to unstructured environments.

[0029] Compared with the prior art, the beneficial effects of the embodiments of the present invention are: novel structure, small size, strong stability, strong adaptability, etc., composed of four parts, namely, foot end mechanism, compound gear transmission system, fixed frame device, energy storage and shock absorption system, foot end mechanism provides support for the device, and the design of at least three supporting links provides the foot-type robot with more flexible and stable terrain adaptability; the compound gear transmission system is responsible for power transmission and conversion, wherein the differential structure of the bevel gear system can realize the relative movement of the two connecting rods at the front end, and when the sole is impacted, the impact force can be effectively distributed; the fixed frame device provides support for the entire device to ensure the correct installation position and movement relationship between each component and the system; the energy storage and shock absorption system is responsible for absorbing the impact energy brought by the sole, the elastic deformation of the spring and the damping effect of the damper work together to make the robot better buffer when encountering sudden terrain, and the spring damping device will also store a part of the kinetic energy, which is released when the robot's feet leave the ground, thereby improving the energy utilization efficiency of the robot. Therefore, the structural design of the present invention is reasonable, can adapt to a variety of complex environments, and greatly improves the functional diversity. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0031] Figure 1 It is a schematic structural diagram of a plantar stabilization device that can adapt to unstructured environments provided by an embodiment of the present invention.

[0032] Figure 2 It is a structural schematic diagram of a three-toed foot end mechanism provided in an embodiment of the present invention.

[0033] Figure 3 It is a structural schematic diagram of a compound gear transmission system provided by an embodiment of the present invention.

[0034] Figure 4 is a structural schematic diagram of a fixed rack device provided by an embodiment of the present invention

[0035] Figure 5 It is a structural schematic diagram of an energy storage and shock absorption system provided in an embodiment of the present invention.

[0036] Figure 6 It is a schematic diagram of the internal structure of a bevel gear system of a compound gear transmission system provided by an embodiment of the present invention.

[0037] Figure 7 It is a structural schematic diagram of a first truss provided in an embodiment of the present invention.

[0038] Figure 8 It is a structural schematic diagram of a second truss provided in an embodiment of the present invention.

[0039] Fig. 9 It is a schematic structural diagram of a plantar stabilization device that can adapt to unstructured environments from another angle provided by an embodiment of the present invention.

[0040] In the figure, 1-foot end mechanism; 11-first supporting link, 12-second supporting link, 13-third supporting link;

[0041] 2-compound gear transmission system; 21-bevel gear system, 211-first bevel gear, 212-second bevel gear, 213-planet carrier, 214 small bevel gear, 22-ring gear, 23-transition gear, 24-terminal gear, 25-first limit stopper, 26-second limit stopper, 27-third limit stopper, 28-fourth limit stopper, 29-fifth limit stopper;

[0042] 3-fixed frame device; 31-first fixed axis, 32-second fixed axis, 33-first truss, 34-second truss, 35-third truss, 36-fixed block, 37-foot end fixing frame;

[0043] 4-Energy storage and shock absorption system: 41-spring damping device, 411-torsion spring, 412-rotation damper, 42-load-bearing torsion plate, 43-torsion spring plate. DETAILED DESCRIPTION

[0044] The present invention is described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0045] In order to more intuitively and completely understand the technical solution of the present invention, a non-limiting feature description is now provided in conjunction with the accompanying drawings of the present invention as follows:

[0046] A plantar stabilization device that can adapt to unstructured environments of the present invention comprises a foot end mechanism 1, a composite gear transmission system 2, an energy storage and shock absorbing device 4 and a fixed frame device 3;

[0047] The fixed frame device 3 is used to install the foot end mechanism 1, the compound gear transmission system 2 and the energy storage and shock absorbing device 4;

[0048] The foot end mechanism 1 includes a front end support link and a rear end support link, and the foot end mechanism 1 includes at least three support points which are not in a straight line;

[0049] The energy storage and shock absorbing device 4 includes a spring damping device 41, a load-bearing torsion plate 42 and a torsion spring plate 43; the spring damping device 41 includes a torsion spring 411 and a rotation damper 412; one end of the torsion spring 411 and the rotation damper 412 are connected to the load-bearing torsion plate 42, and the other end is connected to the torsion spring plate 43; a certain amount of pre-tightening should be reserved when the spring damping device is installed;

[0050] The compound gear transmission system 2 is used for power transmission and conversion; the front end supporting link drives the load-bearing torsion plate 42 to rotate through the compound gear transmission system 2, thereby driving the spring damping device 41 to rotate; the rear end supporting link drives the torsion spring plate 43 to rotate, thereby driving the spring damping device 41 to rotate; the front end supporting link and the rear end supporting link drive the spring damping device 41 to rotate in opposite directions.

[0051] In one embodiment, the compound gear transmission system 2 includes a bevel gear train 21, a ring gear 22, a transition gear 23 and a terminal gear 24;

[0052] The bevel gear train 21 includes a first bevel gear 211, a second bevel gear 212, a planet carrier 213, and a small bevel gear 214;

[0053] The planet carrier 213 is evenly surrounded by a plurality of rods, each of which is provided with the small bevel gear 214; the small bevel gear 214 is meshed with the first bevel gear 211 and the second bevel gear 212; the planet carrier 213 is also provided with a fan-shaped rod for matching with the ring gear 22; the ring gear 22 fixed on the fan-shaped rod is meshed with the transition gear 23, and the transition gear 23 is meshed with the terminal gear 24;

[0054] The front end support link is fixed on the first bevel gear 211 and / or the second bevel gear 212. When the front end support link is subjected to force and flips upward relative to the ground, it drives the first bevel gear 211 and / or the second bevel gear 212 to rotate, and then drives the small bevel gear 214, the planetary carrier 213, the transition gear 23 and the terminal gear 24 to rotate in turn; the terminal gear 24 drives the load-bearing torsion plate to rotate 42;

[0055] The rear end support link is fixed to the torsion spring disk 43 , and when the rear end support link is forced to flip upward relative to the ground, the torsion spring disk 43 is driven to rotate.

[0056] In one embodiment, the transition gear 23 meshes with an incomplete gear and a spur gear; the incomplete gear meshes with the ring gear 22; and the spur gear meshes with the terminal gear 24.

[0057] In one embodiment, the front end support link includes a first support link 11 and a second support link 12; the rear end support link includes a third support link 13; the first support link 11 is fixed on the first bevel gear 211; the second support link 12 is fixed on the second bevel gear 212; the third support link 13 is fixed on the torsion spring disk 43.

[0058] In one embodiment, the middle portions of the first supporting link 11 and the second supporting link 12 are bent to form an "outward eight" supporting structure.

[0059] In one embodiment, the fixed frame device 3 includes a first fixed axis 31, a second fixed axis 32, a first truss 33, a second truss 34, a third truss 35 and a foot-end fixing frame 37;

[0060] The foot end fixing frame 37 is a support plate at the top, and there are four support rods under the support plate; the two sides of the first fixed shaft 31 are fixed to two of the support rods, and the two sides of the load-bearing torsion plate 42 are rotatably mounted on the other two support rods;

[0061] The first truss 33 is a triangular unit plane structure composed of three straight rods; the second truss 34 is a straight rod; the third truss 35 is a triangular unit plane structure composed of two straight rods

[0062] The first fixed shaft 31 is covered with the first vertex of the first truss 33, the second supporting link 12, the second bevel gear 212, the planet carrier 213, the first bevel gear 211, the first supporting link 11, one end of the second truss 34, and the first vertex of the third truss 35 in sequence; or the first fixed shaft 31 is covered with the first vertex of the first truss 33, the second bevel gear 212, the planet carrier 213, the first bevel gear 211, one end of the second truss 34, and the first vertex of the third truss 35 in sequence;

[0063] One side of the second fixed shaft 32 is fixed to the second vertex of the first truss 33, and the other side is fixed to the second vertex of the third truss 35; the other end of the second truss 34 is sleeved on the second fixed shaft 32; the transition gear 23 is sleeved on the second fixed shaft 32;

[0064] The load-bearing torsion plate 42 is a top disc-shaped stepped shaft fixedly connected to the inner side, and the stepped shaft is sequentially covered with a rotation damper 412, a torsion spring plate 43, a third supporting link 13, a terminal gear 24 and a third vertex of the first truss 33; or the stepped shaft is sequentially covered with a rotation damper 412, a torsion spring plate 43, a terminal gear 24 and a third vertex of the first truss 33;

[0065] The torsion spring 411 is sleeved on the rotation damper 412; the terminal gear 24 is connected to the stepped shaft by a flat key; the disc end of the load-bearing torsion plate 42 is sleeved with the third vertex of the third truss 35.

[0066] In one embodiment, the fixed frame device 3 further includes a fixing block 36 ; the fixing block 36 is fixed between the second truss 34 and the third truss 35 .

[0067] In one embodiment, a plurality of limit blocks are provided to limit the movement of the front support link and the rear support link within a predetermined range and to prevent idling in the initial position (so that each support link can only rotate in an upward direction relative to the ground).

[0068] Embodiment 1:

[0069] It should be noted that the clockwise and counterclockwise rotations described below are based on Fig. 9 The perspective is for reference.

[0070] like Figures 1 to 6As shown, a plantar stabilization device that can adapt to unstructured environments provided by embodiment 1 of the present invention includes a foot end mechanism 1 (a three-toe foot end mechanism is used as an example in this embodiment), a composite gear transmission system 2, a fixed frame device 3, and an energy storage and shock absorption system 4;

[0071] like Figure 2 As shown, the three-toe foot-end mechanism includes three foot-end support links, namely, the first support link 11, the second support link 12, and the third support link 13. The middle part of the first support link 11 and the second support link 12 is bent, and the first support link 11 and the second support link 12 form a similar "outer eight" support structure, which increases the front support area of ​​the robot and improves the stability on uneven roads. The design of the bent part enables it to provide effective support at different angles. The third support link 13 is designed as a straight rod, and the third support link 13 serves as the overall support point of the plantar stabilization device. The first support link 11 and the second support link 12 are respectively connected to the first bevel gear 211 and the second bevel gear 212 in the composite gear transmission system 2 in the form of a rotating pair. The third support link 13 is located at the tail of the plantar stabilization device and is fixedly connected to the torsion spring disk 43 of the energy storage and shock absorption system 4. The layout of the three support links constitutes a three-point stable structure, which enhances the adaptability of the robot in any terrain environment. The end of each supporting link is provided with a protrusion to increase the friction between the supporting link and the ground.

[0072] like Figure 3 As shown, the compound gear transmission system 2 includes a bevel gear train 21, a ring gear 22, a transition gear 23, a terminal gear 24, a first limit stop 25, a second limit stop 26, a third limit stop 27, a fourth limit stop 28, and a fifth limit stop 29; Figure 6As shown, the bevel gear system 21 includes a first bevel gear 211, a second bevel gear 212, a planet carrier 213, and a small bevel gear 214; wherein the first bevel gear 211 and the second bevel gear 212 have the same mechanical parameters such as module, number of teeth, tooth width, pressure angle, etc. The center of the planet carrier 213 is a cylindrical support plate, on which there are three rods with an angle of 60 degrees to each other and a fan-shaped rod for matching with the ring gear 22, the ring gear 22 is fixed on the fan-shaped rod, and a small bevel gear 214 is arranged on each rod of the planet carrier 213, and the three small bevel gears 214 are meshed with the first bevel gear 211 and the second bevel gear 212. When the small bevel gear 214 is in the first bevel gear 211 When the first bevel gear 211 and / or the second bevel gear 212 rotates, the planetary carrier 213 will rotate with the revolution of the small bevel gear 214. The planetary carrier 213 is coaxially connected with the first bevel gear 211 and the second bevel gear 212. The ring gear 22 located on the planetary carrier 214 is meshed with the transition gear 23. The transition gear 23 consists of an incomplete gear and a spur gear. The incomplete gear of the transition gear 23 is meshed with the ring gear 22 to transmit the torque input by the ring gear 22. The terminal gear 24 is meshed with the spur gear in the transition gear 23 and is installed on the stepped shaft of the load-bearing torsion plate 42 of the energy storage and shock absorption system 4, and the rotation direction of the load-bearing torsion plate 42 is always opposite to the rotation direction of the torsion spring plate 43. The design of the bevel gear system 21 enables that when the first supporting link 11 and the second supporting link 12 rotate clockwise, the first bevel gear 211 and the second bevel gear 212 respectively connected thereto rotate clockwise, and then the planet carrier 213 rotates clockwise, and then drives the transition gear 23 to rotate counterclockwise, thereby driving the load-bearing torsion plate 42 connected to the terminal gear 24 to rotate clockwise, and then the torsion spring 411 of the spring damping device is tightened to absorb the kinetic energy generated by the first supporting link 11 and the second supporting link 12. And the impact force can be distributed to avoid overloading of a single supporting link. Figure 7 and Figure 8As shown, the first limit stopper 25 is installed on the first bevel gear 211 and contacts the lower groove of the second truss 34 at the initial position of the device to prevent the first support link 11 from rotating counterclockwise at the initial position. The second limit stopper 26 is installed on the second bevel gear 212 and contacts the lower groove of the first truss 33 at the initial position of the device to prevent the second support link 12 from rotating counterclockwise at the initial position of the device. The third limit stopper 27 is installed on the torsion spring disk 43 and contacts the keyway of the second fixed shaft 32 at the initial position of the device to prevent the third support link 13 from rotating clockwise at the initial position. The limit position of the rotation of the third support link 13 is related to the deformation of the torsion spring to ensure that the third support link 13 is rotated clockwise. The three supporting links 13 can only move within a predetermined range. The fourth limit stop 28 is installed on the first bevel gear 211 and contacts the upper groove of the second truss 34 at the extreme position of the rotation of the first supporting link 11, preventing the first supporting link 11 from continuing to rotate at the extreme position of the device. The fifth limit stop 29 is installed on the second bevel gear 212 and contacts the upper groove of the first truss 33 at the extreme position of the rotation of the second supporting link 12, preventing the second supporting link 12 from continuing to rotate at the extreme position of the device. The composite gear transmission system 2 can coordinate and distribute the foot-end contact force received by the three supporting links, realize the anti-overturning effect of the foot end, and achieve the purpose of stable walking of the foot end.

[0073] like Figure 4As shown, the fixed frame device 3 includes a first fixed shaft 31, a second fixed shaft 32, a first truss 33, a second truss 34, a third truss 35, a fixed block 36, and a foot end fixed frame 37. The first fixed shaft 31 is sequentially sleeved with the second supporting link 12, the second bevel gear 212, the planetary carrier 213, the first bevel gear 211, the first supporting link 11, and one end of the second truss 34, and the two ends of the first fixed shaft 31 are respectively sleeved with a vertex of the first truss 33 and a vertex of the third truss 35. The two ends of the second fixed shaft 32 are respectively fixedly connected to the first truss 33 and the third truss 35; the second fixed shaft 32 is sleeved with the other end of the second truss 34 and the transition gear 23 (the transition gear 23 is rotatable). The first truss 33 is a planar structure with triangular units composed of three straight rods. Two vertices of the first truss 33 are fixedly connected to the ends of the first fixed shaft 31 and the second fixed shaft 32 respectively, and the other vertex is rotatably connected to the end of the stepped shaft of the load-bearing torsion plate 42 of the spring damping device 41. The ends connected to the first fixed shaft 31 are respectively designed with grooves above and below. When the second bevel gear 212 is in the initial position, the second limit stop 26 is just embedded in the lower groove of the first truss 33, thereby preventing the second bevel gear 212 from continuing to rotate in this direction. After the second bevel gear 212 rotates, when it rotates to the limit angle, the fifth limit stop is just embedded in the upper groove of the first truss, ensuring that the gear can only move within a predetermined range. The rotation angle of the large bevel gear (i.e., the first bevel gear 211 and the second bevel gear 212) is related to the number of teeth of the large bevel gear and the number of teeth of the small bevel gear. The second truss 34 is a straight rod, and its two ends are fixedly connected to the middle of the first fixed shaft 31 and the middle of the second fixed shaft 32 respectively. Grooves are designed at the upper and lower ends connected to the first fixed shaft 31 as the limit positions of the first limit block 25. When the first bevel gear 211 is in the initial position, the first limit block 25 is just embedded in the groove of the second truss 34, thereby preventing the first bevel gear 211 from continuing to rotate in this direction. After the first bevel gear 211 rotates, when it rotates to the limit angle, the fourth limit block is just embedded in the upper groove of the second truss, ensuring that the gear can only move within a predetermined range. The third truss 35 is a triangular unit planar mechanism composed of two straight rods, two vertices of which are fixedly connected to the end of the first fixed shaft 31 and the end of the second fixed shaft 32 respectively, and the other vertex is rotatably connected to the torsion plate 42 (that is, the torsion plate 42 is rotatable). A fixed block 36 is arranged between the second truss 34 and the third truss 35 to strengthen the fastening effect of the second truss 34 and the third truss 35. A keyway is designed in the middle of the second fixed shaft 32 as the extreme position of the third limit block 27. When the third supporting link 13 is in the initial position, the third limit block 27 is just embedded in the keyway of the second fixed shaft 32, thereby preventing the third supporting link 13 from continuing to rotate in the clockwise direction.The foot-end fixing frame is a support plate on the top, and there are four support rods under the support plate, two of which are fixedly connected to the two ends of the first fixed axis 31, and the other two are rotatably connected to the two ends of the load-bearing torsion plate 42; or the four support rods are fixedly connected to the two vertices of the first truss 33 and the third truss 35 (the two vertices are the two vertices connected to the first fixed axis 31 and the two ends of the load-bearing torsion plate 42), and the two ends of the load-bearing torsion plate 42 are not in contact with the support rods; the first fixed axis 31, the second fixed axis 32 and the load-bearing torsion plate 42 are arranged in parallel; the four supporting connecting rods are designed with different lengths to cooperate with the effective connection between the first fixed axis 31 and the load-bearing torsion plate 42.

[0074] like Figure 5 As shown, the energy storage and shock absorption system 4 includes: a spring damping device 41, a load-bearing torsion plate 42, and a torsion spring plate 43. The spring damping device 41 is composed of a torsion spring 411 and a rotary damper 412. The two ends of the torsion spring 411 are respectively fixedly connected to the load-bearing torsion plate 42 and the torsion spring plate 43. The two ends of the rotary damper 412 are also respectively fixedly connected to the load-bearing torsion plate 42 and the torsion spring plate 43. The torque of the rotary damper changes according to the change of the rotation speed. The change rule is: the speed increases, the torque also increases. The speed slows down, and the torque also decreases. One end of the load-bearing torsion plate 42 is connected to the third truss 35 in the form of a revolute pair, and the other end is connected to the first truss 33 in the form of a revolute pair. The overall shape is a top disc-shaped inner side connected to a stepped shaft. The spring damping device 41, the torsion spring plate 43, and the terminal gear 24 are all installed on this stepped shaft. The terminal gear 24 is connected to the stepped shaft with a flat key. A bearing is placed between the torsion spring plate 43 and the stepped shaft. The load-bearing torsion plate 42 will rotate as the terminal gear 24 rotates. The torsion spring plate and the load-bearing torsion plate always move in opposite directions. The spring damping device is a typical second-order system, and the motion equation can be expressed as:

[0075]

[0076] J: moment of inertia of the system; C: damping coefficient of the rotary damper; K: elastic coefficient of the torsion spring; θ: angular displacement of the torsion spring; τ: external torque

[0077] The specific working process of the present invention is as follows:

[0078] In a structured environment, there are no obvious potholes on the road. When the robot's foot touches the ground, the three supporting links touch the ground at the same time. After the first supporting link 11 and the second supporting link 12 are transmitted through the bevel gear system 21, the two links are lifted relative to the ground at the same time, and the planetary carrier 213 moves clockwise, the transition gear 23 meshes with the ring gear on the planetary carrier 213, and the terminal gear 24 meshes with the transition gear 23. When the terminal gear 24 rotates, the load-bearing torsion plate 42 of the energy storage and shock absorption system 4 will rotate accordingly, and then the spring damping device 41 dynamically adjusts the damping force according to the rotation angle and speed, and effectively absorbs the impact force caused by contacting the ground. When contacting the ground, the third supporting link 13 is also lifted relative to the ground. At this time, the third supporting link 13 drives the torsion spring plate 43 of the energy storage and shock absorption system 4 to rotate. It is worth noting that the torsion spring plate 43 rotates in the opposite direction to the load-bearing torsion plate 42 to obtain a better spring damping effect.

[0079] On a rough road, assuming that the first supporting link 11 and the second supporting link 12 contact the obstacle in turn, and finally the third supporting link 13 contacts the obstacle, no matter whether the first supporting link 11 or the second supporting link 12 steps on the obstacle, the supporting link that steps on the obstacle first will be compressed, and the large bevel gear fixed to it will rotate in the direction of lifting relative to the ground, and then the supporting link at the other end will touch the ground. Assuming that the speed of the bevel gear that rotates first is n, when the supporting link at the other end does not move, the planet carrier 213 is The planet carrier 213 rotates clockwise at a speed greater than 0 and less than The speed of the first support link 11 rotates clockwise, so the planet carrier 213 will rotate clockwise according to the differential relationship of the compression stroke of the first support link 11 and the second support link 12, thereby driving the transition gear 23 to rotate counterclockwise, thereby driving the load-bearing torsion plate 42 fixedly connected to the terminal gear 24 to rotate clockwise, and the spring damping device 41 absorbs the kinetic energy generated by the first support link 11 and the second support link 12. When the third support link 13 contacts an obstacle, the torsion spring plate 43 of the energy storage and shock absorption system 4 will rotate counterclockwise with the compression of the third support link 13, compressing the spring damping device 41, and the spring damping device 41 coordinates and distributes the elastic force that meets the transmission ratio to the first support link 11 and the second support link 12 through the gear set, so that the foot end has a greater reaction resistance. At the same time, the force generated by the compression of the spring damping will make the first support link 11 and the second support link 12 equal to the reaction force on the outside through the differential structure of the bevel gear system 21. The transmission paths of the first supporting link 11 and the second supporting link 12 are coupled to each other, and the transmission path of the third supporting link 13 is independent, but the contact reaction force of each contact link is transmitted to the spring damping device 41. Therefore, any order of the foot ends contacting the ground conforms to the above principle, so this structure enables the robot foot ends to obtain a better balance effect on rugged terrain. Therefore, no matter which contact link of the sole steps on an obstacle, this device can ensure that the impact force of the sole is coordinated to any foot end, realizing the stability and anti-overturning ability of the robot ankle joint, and further realizing the stable walking of the robot.

[0080] After the spring damping device 41 takes effect, the spring damping device 41 will also store kinetic energy as elastic potential energy. When the robot foot ends leave the ground in any posture and the compression stroke of the three foot ends changes relatively, the contact force of any foot end on the ground reaches a dynamic balance, and the robot obtains the best energy utilization efficiency. In addition, the spring damping device 41 can adapt to different types of ground environments by dynamically adjusting the contact force, providing more stable support on hard ground, and reducing the degree of foot sinking in soft ground environments to ensure a certain grip.

[0081] The above embodiments are only used to illustrate the design ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, any equivalent changes or modifications made based on the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.

Claims

1. A plantar stabilization device that can adapt to unstructured environments, characterized in that: It includes a foot end mechanism, a compound gear transmission system, an energy storage and shock absorbing device, and a fixed frame device; The fixed frame device is used to install the foot end mechanism, the compound gear transmission system and the energy storage and shock absorbing device; The foot-end mechanism includes a front-end support link and a rear-end support link, and the foot-end mechanism includes at least three support points that are not in a straight line; The energy storage and shock absorption device comprises a spring damping device, a load-bearing torsion plate and a torsion spring plate; the spring damping device comprises a torsion spring and a rotation damper; one end of the torsion spring and the rotation damper are both connected to the load-bearing torsion plate, and the other end are both connected to the torsion spring plate; The compound gear transmission system is used for power transmission and conversion; the front end support link drives the load-bearing torsion plate to rotate through the compound gear transmission system, thereby driving the spring damping device to rotate; the rear end support link drives the torsion spring plate to rotate, thereby driving the spring damping device to rotate; the front end support link and the rear end support link drive the spring damping device to rotate in opposite directions.

2. A plantar stabilization device adaptable to unstructured environments according to claim 1, characterized in that: The compound gear transmission system includes a bevel gear train, a ring gear, a transition gear and a terminal gear; The bevel gear train includes a first bevel gear, a second bevel gear, a planet carrier, and a small bevel gear; The planet carrier is evenly surrounded by a plurality of rods, each of which is provided with the small bevel gear; the small bevel gear is meshed with the first bevel gear and the second bevel gear; the planet carrier is also provided with a fan-shaped rod for matching with the ring gear; the ring gear fixed on the fan-shaped rod is meshed with the transition gear, and the transition gear is meshed with the terminal gear; The front end support link is fixed on the first bevel gear or the second bevel gear. When the front end support link is subjected to force and flips upward relative to the ground, it drives the first bevel gear or the second bevel gear to rotate, and then drives the small bevel gear, the planet carrier, the transition gear and the terminal gear to rotate in sequence; the terminal gear drives the load-bearing torsion plate to rotate; The rear end supporting link is fixed to the torsion spring disk. When the rear end supporting link is subjected to force and flips upward relative to the ground, the torsion spring disk is driven to rotate.

3. A plantar stabilization device adaptable to unstructured environments according to claim 2, characterized in that: The transition gear meshing includes an incomplete gear and a spur gear; the incomplete gear meshes with the ring gear; and the spur gear meshes with the terminal gear.

4. A plantar stabilization device adaptable to unstructured environments according to claim 2, characterized in that: The front end support link includes a first support link and a second support link; the rear end support link includes a third support link; the first support link is fixed on the first bevel gear; the second support link is fixed on the second bevel gear; the third support link is fixed on the torsion spring disk.

5. A plantar stabilization device adaptable to unstructured environments according to claim 4, characterized in that: The middle parts of the first supporting link and the second supporting link are bent to form an "outward eight" supporting structure.

6. A plantar stabilization device adaptable to unstructured environments according to claim 4, characterized in that: The fixed frame device includes a first fixed shaft, a second fixed shaft, a first truss, a second truss, a third truss and a foot end fixed frame; The foot end fixing frame is a support plate at the top, and there are four support rods under the support plate; the two sides of the first fixed axis are fixed to two of the support rods, and the two sides of the load-bearing torsion plate are rotatably mounted on the other two support rods; the support plate has mounting holes to adapt to the installation of the robot ankle joint; The first truss is a triangular unit plane structure composed of three straight rods; the second truss is a straight rod; the third truss is a triangular unit plane structure composed of two straight rods The first fixed shaft is sequentially covered with the first vertex of the first truss, the second supporting rod, the second bevel gear, the planet carrier, the first bevel gear, the first supporting rod, one end of the second truss, and the first vertex of the third truss; or the first fixed shaft is sequentially covered with the first vertex of the first truss, the second bevel gear, the planet carrier, the first bevel gear, one end of the second truss, and the first vertex of the third truss; One side of the second fixed shaft is fixed to the second vertex of the first truss, and the other side is fixed to the second vertex of the third truss; the other end of the second truss is sleeved on the second fixed shaft; the transition gear is sleeved on the second fixed shaft; The load-bearing torsion plate is a top disc-shaped plate with a fixed inner side connected to a stepped shaft, and the stepped shaft is covered with a rotation damper, a torsion spring plate, a third supporting connecting rod, a terminal gear and a third vertex of the first truss in sequence; or the stepped shaft is covered with a rotation damper, a torsion spring plate, a terminal gear and a third vertex of the first truss in sequence; The torsion spring is sleeved on the rotation damper; the terminal gear is connected to the stepped shaft by a flat key; the disc end of the load-bearing torsion disc is sleeved with the third vertex of the third truss.

7. A plantar stabilization device adaptable to unstructured environments according to claim 6, characterized in that: The fixed frame device also includes a fixed block; the fixed block is fixed between the second truss and the third truss.

8. The plantar stabilization device adaptable to unstructured environments according to claim 1, characterized in that: A plurality of limit blocks are also provided to limit the movement of the front end support link and the rear end support link within a predetermined range and to prevent idling at the initial position.

9. The plantar stabilization device adaptable to unstructured environments according to claim 1, characterized in that: The ends of the front end supporting link and the rear end supporting link are both provided with protrusions.

10. A robot, characterized in that: A plantar stabilization device capable of adapting to unstructured environments is provided as described in any one of claims 1 to 9.

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