A plantar stability device and robot adaptable to unstructured environments

Abstract

The application discloses a sole stabilizing device and robot which can adapt to unstructured environment, comprising a fixed rack device, the fixed rack device is used for installing foot end mechanism, composite gear transmission system and energy storage and damping device, the foot end mechanism comprises front end support connecting rod and rear end support connecting rod, the energy storage and damping device comprises spring damping device, load bearing torsion disc and torsion spring disc, the spring damping device comprises torsion spring and rotary damper, one end of the torsion spring and the rotary damper is connected with the load bearing torsion disc, and the other end is connected with the torsion spring disc, the composite gear transmission system is used for power transmission and conversion, the front end support connecting rod drives the load bearing torsion disc to rotate through the composite gear transmission system, thereby driving the spring damping device to rotate, the rear end support connecting rod drives the torsion spring disc to rotate, thereby driving the spring damping device to rotate, and the rotating directions of the front end support connecting rod and the rear end support connecting rod are opposite to each other, and the application can adapt to various complex environments and improve the functional diversity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot sole force coordination, and more particularly, to a sole stabilizing device capable of adapting to unstructured environments and a robot. BACKGROUND

[0002] With the continuous development of economy, various industries in China have made rapid development. 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 cluttered 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 of the legs of humanoid robots adopt rigid structure, which has good strength and is easy to assemble. However, in the process of walking, running and jumping, the foot will collide with the ground during landing, so that the leg and even the body will be vibrated to a certain extent from bottom to top, which will affect the normal operation of the internal sensing and vision system of the humanoid robot and the walking stability. At the same time, with the increase of times, the joint connection, servo motor and other fragile structures will be seriously damaged. These potential problems may cause the humanoid robot to malfunction in actual work, which will lead to the failure to complete the specified task, accelerate the damage and aging speed of the parts of the humanoid robot, endanger its service life, and increase the maintenance cost. At present, most researchers adopt passive vibration isolation methods such as setting a buffer support frame at important parts and adding impact-resistant materials to the sole to solve this problem. This method does not need external energy input and only uses the structural characteristics of the material itself to achieve the purpose of vibration reduction. However, this method has a narrow working frequency band and poor adaptability. When the legged robot touches the ground, it cannot immediately and effectively reduce the vibration, and it cannot adjust the contact state between the foot and the ground.

[0003] In view of the above, the present application designs a new sole stabilizing device capable of adapting to unstructured environments. The robot adopts a three-toe foot end mechanism, a composite gear transmission system and a structure combining energy storage and damping devices, so as to adapt the legged robot to more complex environments and solve the stability problem of the existing legged robot when contacting the ground. SUMMARY

[0004] The purpose of the present application is to solve the problem of vibration and impact of the foot robot after contacting with the ground, and a foot bottom stabilizing device and robot suitable for unstructured environment are provided. A plurality of gear cooperation, a plurality of support connecting rods and spring damping devices are adopted, which can adapt to the pit degree of the terrain when walking in different terrains, and control the contact force of the robot foot bottom adapting to the ground. The structure design can make the robot have high attitude stability, high ground adaptability, high walking stability and other advantages.

[0005] The present application realizes the above-mentioned purpose by the following technical scheme: a foot bottom stabilizing device suitable for unstructured environment, comprising a foot end mechanism, a composite gear transmission system, an energy storage and damping device and a fixed rack device;

[0006] The fixed rack device is used for installing the foot end mechanism, the composite gear transmission system and the energy storage and damping device;

[0007] The foot end mechanism comprises a front end support connecting rod and a rear end support connecting rod, and the support points of the foot end mechanism comprise at least three and are not on a straight line;

[0008] The energy storage and damping device comprises a spring damping device, a force bearing torsion disc and a torsion spring disc; the spring damping device comprises a torsion spring and a rotary damper; one end of the torsion spring and the rotary damper is connected with the force bearing torsion disc, and the other end is connected with the torsion spring disc;

[0009] The composite gear transmission system is used for power transmission and conversion; the front end support connecting rod drives the force bearing torsion disc to rotate through the composite gear transmission system, so as to drive the spring damping device to rotate; the rear end support connecting rod drives the torsion spring disc to rotate, so as to drive the spring damping device to rotate; the rotating directions of the front end support connecting rod and the rear end support connecting rod driving the spring damping device are opposite.

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

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

[0012] The planet carrier is uniformly surrounded by a plurality of rods, and each rod is provided with the small bevel gear; the small bevel gear is engaged with the first bevel gear and the second bevel gear; the planet carrier is also provided with a fan-shaped rod member for gear ring cooperation; the gear ring fixed on the fan-shaped rod member is engaged with the transition gear, and the transition gear is engaged 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 forced to overturn upward relative to the ground, the first bevel gear or the second bevel gear is driven to rotate, then the pinion, the planet carrier, the transition gear and the terminal gear are sequentially driven to rotate; the terminal gear drives the force bearing torsion disc to rotate.

[0014] The rear end support link is fixed with the torsion spring disc, when the rear end support link is forced to overturn upward relative to the ground, the torsion spring disc is driven to rotate.

[0015] Further, the transition gear engages a partial gear and a straight gear; the partial gear engages the gear ring; the straight gear engages the terminal gear.

[0016] Further, 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 disc.

[0017] Further, the first support link and the second support link are bent in the middle part to form an "outer eight" support structure.

[0018] Further, the fixed rack device includes a first fixed shaft, a second fixed shaft, a first truss, a second truss, a third truss and a foot end fixed rack;

[0019] The foot end fixed rack is a support plate at the top, and there are four support rod members under the support plate; the first fixed shaft is fixed on two of the support rod members, and the force bearing torsion disc is rotatably installed on the other two support rod members; the support plate has installation hole positions, which are adapted to the installation of the robot ankle joint;

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

[0021] The first fixed shaft is sequentially sleeved with the first apex of the first truss, the second support link, the second bevel gear, the planet carrier, the first bevel gear, the first support link, one end of the second truss and the first apex of the third truss; or the first fixed shaft is sequentially sleeved with the first apex of the first truss, the second bevel gear, the planet carrier, the first bevel gear, one end of the second truss and the first apex of the third truss.

[0022] One side of the second fixed shaft is fixed to the second top point of the first truss, and the other side is fixed to the second top point 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 force bearing torsion disc is a top disc-shaped inner side fixed connection stepped shaft, the stepped shaft is sequentially sleeved with a rotation damper, a torsion spring disc, a third support connecting rod, a terminal gear and a third top point of the first truss; or the stepped shaft is sequentially sleeved with a rotation damper, a torsion spring disc, a terminal gear and a third top point of the first truss;

[0024] The torsion spring is sleeved on the rotation damper; the terminal gear is connected with the stepped shaft by means of a flat key; the disc end of the force bearing torsion disc is sleeved with a third top point of the third truss.

[0025] Further, the fixed frame device further comprises a fixed block; the fixed block is fixed between the second truss and the third truss.

[0026] Further, a plurality of limiting stoppers are arranged, for limiting the movement of the front end support connecting rod and the rear end support connecting rod within a predetermined range, and preventing idling in the initial position.

[0027] Further, the ends of the front end support connecting rod and the rear end support connecting rod are provided with protrusions.

[0028] The application further provides a robot provided with the foot bottom stabilizing device suitable for unstructured environment.

[0029] Compared with the prior art, the embodiment of the application has the advantages of novel structure, small size, strong stability and strong adaptability, and is composed of four parts, namely a foot end mechanism, a composite gear transmission system, a fixed frame device and an energy storage and damping system. The foot end mechanism provides support for the device, the design of at least three support connecting rods provides more flexible and stable terrain adaptation capability for the foot type robot. The composite gear transmission system is responsible for power transmission and conversion, the differential structure of the bevel gear set can realize the relative movement of the two front end connecting rods, and the impact force can be effectively distributed when the foot bottom is impacted. The fixed frame device provides support for the whole device, and ensures the correct installation position and movement relationship of each component and system. The energy storage and damping system is responsible for absorbing the impact energy brought by the foot bottom, and the elastic deformation of the spring and the damping effect of the damper jointly act, so that the robot can better buffer when encountering sudden terrain, and a part of kinetic energy is stored by the spring damping device and released when the robot foot leaves the ground, thereby improving the energy utilization efficiency of the robot. Therefore, the structure of the application is reasonable in design, can adapt to various complex environments, and greatly improves the functional diversity. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0031] Figure 1 is a structural schematic diagram of a plantar stabilizing device provided by an embodiment of the present application, which can adapt to an unstructured environment.

[0032] Figure 2 is a structural schematic diagram of a three-toe foot end mechanism provided by an embodiment of the present application.

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

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

[0035] Figure 5 is a structural schematic diagram of an energy storage and damping system provided by an embodiment of the present application.

[0036] Figure 6 is an internal structural schematic diagram of a bevel gear train of a composite gear transmission system provided by an embodiment of the present application.

[0037] Figure 7 is a structural schematic diagram of a first truss provided by an embodiment of the present application.

[0038] Figure 8 is a structural schematic diagram of a second truss provided by an embodiment of the present application.

[0039] Figure 9 is a structural schematic diagram of another angle of a plantar stabilizing device provided by an embodiment of the present application, which can adapt to an unstructured environment.

[0040] In the drawings, 1 is a foot end mechanism; 11 is a first support connecting rod, 12 is a second support connecting rod, and 13 is a third support connecting rod.

[0041] 2 is a composite gear transmission system; 21 is a bevel gear train, 211 is a first bevel gear, 212 is a second bevel gear, 213 is a planet carrier, 214 is a bevel pinion, 22 is a ring gear, 23 is a transition gear, 24 is a terminal gear, 25 is a first limit stop, 26 is a second limit stop, 27 is a third limit stop, 28 is a fourth limit stop, and 29 is a fifth limit stop.

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

[0043] 4-energy storage and damping system: 41-spring damping device, 411-torsion spring, 412-rotary damper, 42-torsion disc, 43-torsion spring disc. DETAILED DESCRIPTION

[0044] The application will be described in detail below with reference to the accompanying drawings. The features in the following examples and embodiments can be combined with each other without conflict.

[0045] In order to understand the technical solutions of the application more intuitively and completely, the following non-limiting features are described in conjunction with the drawings of the application:

[0046] The foot end mechanism 1, the composite gear transmission system 2, the energy storage and damping device 4 and the fixed frame device 3 are connected by the fixed frame device 3.

[0047] The fixed frame device 3 is used to install the foot end mechanism 1, the composite gear transmission system 2 and the energy storage and damping device 4.

[0048] The foot end mechanism 1 includes a front end support link and a rear end support link, and the support points of the foot end mechanism 1 include at least three points and are not on a straight line.

[0049] The energy storage and damping device 4 includes a spring damping device 41, a torsion disc 42 and a torsion spring disc 43; the spring damping device 41 includes a torsion spring 411 and a rotary damper 412; one end of the torsion spring 411 and the rotary damper 412 is connected to the torsion disc 42, and the other end is connected to the torsion spring disc 43; a certain amount of pre-tightening should be left when the spring damping device is installed.

[0050] The composite gear transmission system 2 is used for power transmission and conversion; the front end support link drives the torsion disc 42 to rotate through the composite gear transmission system 2, thereby driving the spring damping device 41 to rotate; the rear end support link drives the torsion spring disc 43 to rotate, thereby driving the spring damping device 41 to rotate; the directions in which the front end support link and the rear end support link drive the spring damping device 41 to rotate are opposite.

[0051] In an embodiment, the composite gear transmission system 2 includes a bevel gear train 21, a gear ring 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 uniformly surrounded by a plurality of rods, each of which is provided with a small bevel gear 214; the small bevel gear 214 is engaged with the first bevel gear 211 and the second bevel gear 212; the planet carrier 213 is further provided with a sector-shaped rod member for engaging the gear ring 22; the gear ring 22 fixed on the sector-shaped rod member is engaged with the transition gear 23, and the transition gear 23 is engaged 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 forced to flip upwards relative to the ground, it drives the first bevel gear 211 and / or the second bevel gear 212 to rotate, and then sequentially drives the small bevel gear 214, the planet carrier 213, the transition gear 23 and the terminal gear 24 to rotate; the terminal gear 24 drives the force-bearing torsion disc to rotate 42;

[0055] The rear end support link is fixed with the torsion spring disc 43; when the rear end support link is forced to flip upwards relative to the ground, it drives the torsion spring disc 43 to rotate.

[0056] In an embodiment, the transition gear 23 engagement includes an incomplete gear and a straight gear; the incomplete gear is engaged with the gear ring 22; the straight gear is engaged with the terminal gear 24.

[0057] In an 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 disc 43.

[0058] In an embodiment, the first support link 11 and the second support link 12 are bent in the middle part to form an "outer eight" support structure.

[0059] In an embodiment, the fixed rack 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 and a foot end fixed rack 37;

[0060] The foot end fixed rack 37 is a support plate at the top, and there are four support rod members under the support plate; the first fixed shaft 31 is fixed on two of the support rod members, and the force-bearing torsion disc 42 is rotatably installed on the other two support rod members;

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

[0062] The first fixed shaft 31 is sequentially sleeved with the first apex of the first truss 33, the second support connecting rod 12, the second bevel gear 212, the planetary carrier 213, the first bevel gear 211, the first support connecting rod 11, one end of the second truss 34, and the first apex of the third truss 35; or the first fixed shaft 31 is sequentially sleeved with the first apex of the first truss 33, the second bevel gear 212, the planetary carrier 213, the first bevel gear 211, one end of the second truss 34, and the first apex of the third truss 35.

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

[0064] The force-bearing torsion disc 42 is a top disc-shaped inner side fixedly connected to a stepped shaft, the stepped shaft is sequentially sleeved with a rotary damper 412, a torsion spring disc 43, a third support connecting rod 13, a terminal gear 24, and a third apex of the first truss 33; or the stepped shaft is sequentially sleeved with the rotary damper 412, the torsion spring disc 43, the terminal gear 24, and the third apex of the first truss 33.

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

[0066] In an embodiment, the fixed rack device 3 further comprises a fixed block 36; and the fixed block 36 is fixed between the second truss 34 and the third truss 35.

[0067] In an embodiment, a plurality of limiting stoppers are further provided for limiting the movement of the front end support connecting rod and the rear end support connecting rod within a predetermined range, and preventing idling in the initial position (so that each support connecting rod can only rotate in the upward direction relative to the ground).

[0068] Embodiment 1:

[0069] It should be noted that the clockwise rotation and counterclockwise rotation described below are taken as the reference from the perspective of Figure 9 .

[0070] As Figures 1-6As shown, Embodiment 1 of the present invention provides a foot stabilization device that can adapt to unstructured environments, including a foot end mechanism 1 (in this embodiment, a three-toe foot end mechanism is used as an example), a compound 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-toed foot mechanism includes three foot support links: a first support link 11, a second support link 12, and a third support link 13. The first and second support links 11 and 12 are curved in the middle, forming an "outward-pointing" support structure. This increases the support area at the front of the robot, improving stability on uneven surfaces. The curved design allows for effective support at different angles. The third support link 13 is designed as a straight rod, serving as the overall support point for the foot stabilization device. The first and second support links 11 and 12 are connected to the first bevel gear 211 and second bevel gear 212 in the compound gear transmission system 2 via a revolute joint. The third support link 13 is located at the rear of the foot stabilization device and is fixedly connected to the torsion spring disc 43 of the energy storage and shock absorption system 4. The arrangement of the three support links constitutes a three-point stabilization structure, enhancing the robot's adaptability to any terrain environment. Each of the support links has a protrusion at its end to increase friction with the ground.

[0072] like Figure 3 As shown, the compound gear transmission system 2 includes a bevel gear train 21, a gear ring 22, a transition gear 23, a terminal gear 24, a first limiting block 25, a second limiting block 26, a third limiting block 27, a fourth limiting block 28, and a fifth limiting block 29; as shown... Figure 6As shown, 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; wherein the first bevel gear 211 and the second bevel gear 212 have the same mechanical parameters such as modulus, number of teeth, tooth width, pressure angle, etc., the planet carrier 213 is a cylindrical support plate, and the support plate has three rods with an included angle of 60 degrees and a fan-shaped rod for cooperating with the gear ring 22, the gear ring 22 is fixed on the fan-shaped rod, and the planet carrier 213 is arranged with one small bevel gear 214 on each rod, the three small bevel gears 214 are in mesh with the first bevel gear 211 and the second bevel gear 212, when the small bevel gear 214 is driven to rotate by the first bevel gear 211 and / or the second bevel gear 212, the planet carrier 213 will rotate with the revolution of the small bevel gear 214, the planet carrier 213 is coaxially connected between the first bevel gear 211 and the second bevel gear 212, the gear ring 22 located on the planet carrier 214 is in mesh with the transition gear 23, the transition gear 23 is composed of an incomplete gear and a spur gear, the incomplete gear of the transition gear 23 is in mesh with the gear ring 22 for transmitting the torque input by the gear ring 22, the terminal gear 24 is in mesh with the spur gear of the transition gear 23, is installed on the stepped shaft of the load-bearing torsion disc 42 of the energy storage and damping system 4, and makes the rotation direction of the load-bearing torsion disc 42 always opposite to the rotation direction of the torsion spring disc 43. The design of the bevel gear train 21 makes the first bevel gear 211 and the second bevel gear 212 connected with the first support connecting rod 11 and the second support connecting rod 12 rotate clockwise, and then the planet carrier 213 rotates clockwise, and then drives the transition gear 23 to rotate counterclockwise, so as to drive the load-bearing torsion disc 42 connected with 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 support connecting rod 11 and the second support connecting rod 12. And the impact force can be distributed to avoid overload of a single support connecting rod. For example Figure 7 and Figure 8As shown, the first limit block 25 is installed on the first bevel gear 211 and contacts the lower groove of the second truss 34 in the initial position of the device, preventing the first support link 11 from rotating counterclockwise in the initial position, the second limit block 26 is installed on the second bevel gear 212 and contacts the lower groove of the first truss 33 in the initial position of the device, preventing the second support link 12 from rotating counterclockwise in the initial position, the third limit block 27 is installed on the torsion spring disc 43 and contacts the key groove of the second fixed shaft 32 in the initial position of the device, preventing the third support link 13 from rotating clockwise in the initial position, the limit position of the rotation of the third support link 13 is related to the deformation amount of the torsion spring, ensuring that the third support link 13 can only move within a predetermined range, the fourth limit block 28 is installed on the first bevel gear 211 and contacts the upper groove of the second truss 34 in the limit position of the rotation of the first support link 11, preventing the first support link 11 from continuing to rotate in the limit position of the device, the fifth limit block 29 is installed on the second bevel gear 212 and contacts the upper groove of the first truss 33 in the limit position of the rotation of the second support link 12, preventing the second support link 12 from continuing to rotate in the limit position of the device, the composite gear transmission system 2 can coordinate the distribution of the foot contact force received by the three support links, achieve the anti-overturning effect of the foot, and achieve the purpose of stable walking of the foot.

[0073] As Figure 4As shown, the fixed rack device 3 comprises 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 rack 37. The first fixed shaft 31 is sequentially sleeved with a second support connecting rod 12, a second bevel gear 212, an annular gear 213, a first bevel gear 211, a first support connecting rod 11, and one end of the second truss 34. The two ends of the first fixed shaft 31 are respectively sleeved with one vertex of the first truss 33 and one vertex of the third truss 35. The two ends of the second fixed shaft 32 are respectively fixedly connected with 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 a transition gear 23 (the transition gear 23 is rotatable). The first truss 33 is a planar structure with a triangular unit composed of three straight rods. Two vertices of the first truss 33 are respectively fixedly connected with the ends of the first fixed shaft 31 and the second fixed shaft 32, and the other vertex is rotatably connected with the stepped shaft end of a load bearing torsion disc 42 of a spring damping device 41. The end of the first fixed shaft 31 is designed with grooves above and below. When the second bevel gear 212 is at the initial position, a second limiting block 26 is embedded in the lower groove of the first truss 33, thereby preventing the second bevel gear 212 from continuing to rotate in that direction. When the second bevel gear 212 rotates, the fifth limiting block is embedded in the upper groove of the first truss when it rotates to the limit angle, 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 the two ends thereof are respectively fixedly connected with the middle part of the first fixed shaft 31 and the middle part of the second fixed shaft 32. The end of the first fixed shaft 31 is designed with grooves above and below as the limit position of a first limiting block 25. When the first bevel gear 211 is at the initial position, the first limiting block 25 is embedded in the groove of the second truss 34, thereby preventing the first bevel gear 211 from continuing to rotate in that direction. When the first bevel gear 211 rotates, the fourth limiting block is embedded in the upper groove of the second truss when it rotates to the limit angle, 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, and the two vertices thereof are respectively fixedly connected with the ends of the first fixed shaft 31 and the second fixed shaft 32, and the other vertex is rotatably connected with the load bearing torsion disc 42 (i.e., the load bearing torsion disc 42 is rotatable). The 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. The middle part of the second fixed shaft 32 is designed with a key groove as the limit position of a third limiting block 27. When the third support connecting rod 13 is at the initial position, the third limiting block 27 is embedded in the key groove of the second fixed shaft 32, thereby preventing the third support connecting rod 13 from continuing to rotate in the clockwise direction.The foot end fixing frame is a support plate at the top, and the support plate has four support rod members below, two of which are fixedly connected with both ends of the first fixed shaft 31, and the other two are rotatably connected with both ends of the load bearing torsion disc 42;Or four support rod members are fixedly connected with two top points of the first truss 33 and the third truss 35 (the two top points are both connected with the two top points of the first fixed shaft 31 and the load bearing torsion disc 42), and both ends of the load bearing torsion disc 42 are not in contact with the support rod members;The first fixed shaft 31, the second fixed shaft 32 and the load bearing torsion disc 42 are arranged in parallel;The four support connecting rods are designed to have different lengths to effectively connect between the first fixed shaft 31 and the load bearing torsion disc 42.

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

[0075]

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

[0077] The specific work flow of the application is as follows:

[0078] In the structured environment, the road surface has no obvious pit area, when the robot foot bottom touches the ground, the three support links contact the ground at the same time, the first support link 11 and the second support link 12 are lifted relative to the ground at the same time after transmission through the bevel gear train 21, the planetary carrier 213 rotates clockwise, the transition gear 23 meshes with the gear ring on the planetary carrier 213, the terminal gear 24 meshes with the transition gear 23, when the terminal gear 24 rotates, the load torsion disc 42 of the energy storage and damping system 4 will rotate, and then the spring damping device 41 adjusts the damping force according to the rotation angle and speed, and effectively absorbs the impact force brought by contacting the ground, when contacting the ground, the third support link 13 also lifts relative to the ground, at this time the third support link 13 drives the torsion spring disc 43 of the energy storage and damping system 4 to rotate, it is worth noting that the rotation direction of the torsion spring disc 43 and the load torsion disc 42 is opposite, and better spring damping effect is obtained.

[0079] In the rugged road surface, it is assumed that the first support link 11 and the second support link 12 contact the obstacle in turn, and finally the third support link 13 contacts the obstacle, no matter whether the first support link 11 or the second support link 12 steps on the obstacle, the support link stepping on the obstacle first will be compressed, and the large bevel gear fixed thereto rotates along the direction of lifting relative to the ground, and then the other end support link touches the ground, it is assumed that the rotating speed of the bevel gear rotating first is n, when the other end support link is stationary, the planetary carrier 213 rotates clockwise at a speed of When the other end support link rotates, the planetary carrier 213 rotates clockwise at a speed greater than 0 and less than The speed rotates clockwise, so the planet carrier 213 will rotate clockwise according to the differential relationship of the compression stroke of the first support connecting rod 11 and the second support connecting rod 12, further driving the transition gear 23 to rotate counterclockwise, thus driving the force-bearing torsion disc 42 fixed with the terminal gear 24 to rotate clockwise, and the spring damping device 41 absorbs the kinetic energy generated from the first support connecting rod 11 and the second support connecting rod 12. When the third support connecting rod 13 contacts the obstacle, the torsion spring disc 43 of the energy storage and shock absorption system 4 will rotate counterclockwise with the compression of the third support connecting rod 13, compressing the spring damping device 41, and the spring damping device 41 coordinates the elastic force in accordance with the transmission ratio and distributes it to the first support connecting rod 11 and the second support connecting rod 12 through the gear set, so that the foot end has greater counteractive resistance. At the same time, the force generated by the compression of the spring damping will make the first support connecting rod 11 and the second support connecting rod 12 have equal counteractive force to the outside world through the differential structure of the bevel gear set 21. The transmission paths of the first support connecting rod 11 and the second support connecting rod 12 are coupled to each other, and the transmission path of the third support connecting rod 13 is independent, but the contact force of each contact connecting rod is transmitted to the spring damping device 41, so that the foot end contacts the ground in any order. The above principle is met, so that the structure can make the robot foot end have better balance effect in rugged terrain. Therefore, no matter which contact connecting rod of the foot bottom steps on the obstacle, this device can ensure that the impact force of the foot bottom is coordinated to any foot end, realizes the stability and anti-overturning ability of the robot ankle joint, and further realizes the stable walking of the robot.

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

[0081] The above examples are only used to illustrate the design idea and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and the protection scope of the present application is not limited to the above examples. Therefore, any equivalent changes or modifications made according to the principles and design ideas disclosed by the present application are within the protection scope of the present application.

Claims

1. A foot stabilization device adaptable to unstructured environments, characterized in that, Includes foot mechanism, compound gear transmission system, energy storage and shock absorption device and fixed frame device; The fixed frame device is used to install the foot mechanism, the composite gear transmission system, and the energy storage and shock absorption device. The foot end mechanism includes a front support link and a rear support link, and the foot end mechanism has at least three support points that are not on a straight line. The energy storage and shock absorption device includes a spring damping device, a load-bearing torsion disc, and a torsion spring disc; the spring damping device includes a torsion spring and a rotary damper; one end of the torsion spring and the rotary damper are both connected to the load-bearing torsion disc, and the other end of the torsion spring disc is also connected to the torsion spring disc. The composite gear transmission system is used for power transmission and conversion; the front support link drives the load-bearing torsion disc to rotate through the composite gear transmission system, thereby driving the spring damping device to rotate; the rear support link drives the torsion spring disc to rotate, thereby driving the spring damping device to rotate; the front support link and the rear support link drive the spring damping device to rotate in opposite directions; The composite gear transmission system includes a bevel gear system, a gear ring, a transition gear, and a terminal gear; The bevel gear system includes a first bevel gear, a second bevel gear, a planetary carrier, and a small bevel gear; The planetary carrier is evenly arranged with several rods, each rod being provided with a small bevel gear; the small bevel gear meshes with the first bevel gear and the second bevel gear; the planetary carrier is also provided with a fan-shaped rod for gear ring engagement; the gear ring fixed on the fan-shaped rod meshes with the transition gear, and the transition gear meshes with the terminal gear; The front support link is fixed to the first bevel gear or the second bevel gear. When the front 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 planetary carrier, the transition gear and the terminal gear to rotate in sequence; the terminal gear drives the load-bearing torsion disc to rotate. The rear support link is fixed to the torsion spring disc. When the rear support link is subjected to force and flips upward relative to the ground, it drives the torsion spring disc to rotate.

2. The foot stabilization device adaptable to unstructured environments according to claim 1, characterized in that, The transition gear meshing includes an incomplete gear and a spur gear; the incomplete gear meshes with the gear ring; and the spur gear meshes with the terminal gear.

3. A foot stabilization device adaptable to unstructured environments according to claim 1, characterized in that, The front support link includes a first support link and a second support link; the rear support link includes a third support link; the first support link is fixed to the first bevel gear; the second support link is fixed to the second bevel gear; and the third support link is fixed to the torsion spring disc.

4. A foot stabilization device adaptable to unstructured environments according to claim 3, characterized in that, The middle part of the first support link and the second support link is bent to form an "outward" support structure.

5. A foot stabilization device adaptable to unstructured environments according to claim 3, 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 consists of a top support plate with four support rods underneath; the two sides of the first fixing shaft 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 fit the robot ankle joint. The first truss is a planar structure consisting of a triangular unit composed of three straight bars; the second truss is a single straight bar; and the third truss is a planar mechanism consisting of a triangular unit composed of two straight bars. The first fixed shaft is sequentially fitted with the first vertex of the first truss, the second support link, the second bevel gear, the planetary carrier, the first bevel gear, the first support link, one end of the second truss, and the first vertex of the third truss; or the first fixed shaft is sequentially fitted with the first vertex of the first truss, the second bevel gear, the planetary 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 fitted onto the second fixed shaft; the transition gear is fitted onto the second fixed shaft; The load-bearing torsion disc is a stepped shaft fixedly connected to the inner side of a top disc. The stepped shaft is sequentially fitted with a rotation damper, a torsion spring disc, a third support link, a terminal gear, and the third vertex of the first truss; or the stepped shaft is sequentially fitted with a rotation damper, a torsion spring disc, a terminal gear, and the third vertex of the first truss. The torsion spring is sleeved on the rotational damper; the terminal gear is connected to the stepped shaft by a flat key; the disk end of the load-bearing torsion disc is sleeved with the third vertex of the third truss.

6. A foot stabilization device adaptable to unstructured environments according to claim 5, characterized in that, The fixed frame device further includes a fixing block; the fixing block is fixed between the second truss and the third truss.

7. A foot stabilization device adaptable to unstructured environments according to claim 1, characterized in that, Multiple limit blocks are also provided to limit the movement of the front support link and the rear support link within a predetermined range, and to prevent freewheeling in the initial position.

8. A foot stabilization device adaptable to unstructured environments according to claim 1, characterized in that, Both the front and rear support links have protrusions at their ends.

9. A robot, characterized in that, The device is equipped with a foot stabilization device adaptable to unstructured environments as described in any one of claims 1-8.

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