Pouring forming die for hemispherical feet of foot type robot

Abstract

The invention discloses a pouring forming die for a hemispherical foot of a foot type robot, and belongs to the field of structural design and manufacturing. According to the method, the hemispherical foot to be poured and the connecting piece are directly poured and formed, and the pouring mold only comprises two parts, namely the upper mold and the lower mold. Center pouring and peripheral exhausting pouring are adopted in the upper mold, the hollow hemisphere of the lower mold guarantees the shape characteristics of the foot, meanwhile, the robot leg connecting part serves as a forming part, glue bonding is not needed after pouring is completed, and the hemispheric foot is formed at the bottom of the connecting part. And structural connection is formed between the structural groove designed in the connecting part and the hemispherical pouring forming part in a matched mode, so that the hemispherical feet are not prone to falling off in the walking process of the foot type robot. The manufacturing method can be used for manufacturing the hemispherical feet of the foot type robot.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical design and manufacturing, and particularly relates to a casting and forming mold for a hemispherical foot of a legged robot. Background Art

[0002] Legged mobile robots have the potential to have better mobility and adaptability in complex unstructured environments. On the one hand, the movement of legged mobile robots only requires discrete footholds, and obstacles can be avoided in a non-contact manner; on the other hand, legged movement can provide an effect of active suspension, enabling the robot body to move smoothly on complex terrains. Legged mobile robots can be applied in scenarios such as urban environment transportation tasks, moving processing of large workpieces, on-orbit assembly in aerospace engineering, and patrol and combat tasks in border areas.

[0003] During the movement of a legged robot, the feet at the ends of the branches play an important role. Currently, the mainstream feet of legged robots are rigid hemispherical, and its contact model with the ground is simple, which can effectively reproduce from simulation to physical object. During the walking process of a legged robot, the contact impact between the ground and the feet is inevitable, and flexible feet can effectively reduce the impact and improve the working life of the legged robot.

[0004] Currently, most of the flexible hemispherical feet of legged robots adopt the method of first casting a hemispherical structure and then adhesively connecting it to the calf of the legged robot, resulting in the feet being prone to falling off during the walking process; in addition, during most hemispherical casting processes, the spherical surface of the hemisphere is used as the inlet of the casting process, resulting in the lack of the shape of the hemispherical surface, which affects the walking characteristics of the legged robot. Summary of the Invention

[0005] Aiming at the problems that the flexible hemispherical feet of legged robots are prone to falling off and the spherical surface shape is defective, the present invention proposes a casting and forming mold for a hemispherical foot of a legged robot, which can be used for the production of the hemispherical feet of legged robots, realizes rapid integrated casting of the leg and foot, improves the strength of the leg-foot connection component, and at the same time ensures the integrity of the hemisphere.

[0006] The casting and forming mold for the hemispherical foot of the legged robot of the present invention includes an upper mold component, a connecting component and a lower mold component.

[0007] A circular through hole is provided on the upper mold component, and an opening communicating with the circular through hole is provided on the side opposite to the circular through hole.

[0008] A hemispherical groove is provided on the lower mold component for plugging into the lower disc base of the connecting component.

[0009] The upper part of the connecting component is a cylindrical structure for connecting the calf of the legged robot. There are also lugs at the circumferentially relative positions of the upper part of the connecting component. The lower part of the connecting component is a disc base with a central hole; there is a structural groove designed on the circumference of the disc base, and the disc base is divided into upper and lower parts by the structural groove. Among them, the diameter of the upper part of the disc base matches the diameter of the hemispherical groove on the lower die component; the diameter of the lower part of the disc base is smaller than that of the upper part.

[0010] The disc base of the above-mentioned connecting component is inserted into the hemispherical groove on the lower die component; the upper die component is sleeved on the connecting component through its circular through-hole and the openings on both sides and cooperates with the cylindrical part and the lugs on both sides of the connecting component, and is fixedly connected to the lower die component; further, by rotating the connecting component, the axial position of the connecting component is restricted by the cooperation of the lugs on both sides of the connecting component and the disc base with the upper and lower surfaces of the upper die component respectively. At this time, the top surface of the disc base of the connecting component is flush with the top surface of the lower die, forming an integral casting mold.

[0011] The casting material enters the hemispherical groove through the upper cylindrical structure of the connecting component and the central through-hole of the disc base; and enters the structural groove through the gap between the lower part of the disc base and the side wall of the hemispherical groove. Finally, a hemispherical foot with a structural connection is cast and formed at the bottom of the connecting component.

[0012] The advantages of the present invention are as follows:

[0013] (1) For the casting mold of the hemispherical foot of the legged robot of the present invention, the robot leg connecting piece is designed as a part of the casting mold; after casting, a hemispherical foot can be directly formed at the bottom end of the connecting piece, and a structural connection is formed with the hemispherical foot, with high strength and not easy to fall off during the walking process of the legged robot.

[0014] (2) For the casting mold of the hemispherical foot of the legged robot of the present invention, the channel for inserting and fixing the connecting piece and the leg during the casting process is used as the casting channel; at the same time, exhaust holes are designed on the circumference of the connecting piece, ensuring the integrity of the spherical shape of the cast hemispherical foot and making it closer to the ideal. Description of the Drawings

[0015] Figure 1 It is an exploded view of the structure of the casting mold for the hemispherical foot of the legged robot of the present invention;

[0016] Figure 2 It is a schematic structural diagram of the connecting component in the casting mold for the hemispherical foot of the legged robot of the present invention;

[0017] Figure 3 It is a schematic diagram of the intermediate state of the assembly of the casting mold for the hemispherical foot of the legged robot of the present invention;

[0018] Figure 4Schematic diagram of the assembled pouring and forming mold for the hemispherical foot of the legged robot of the present invention;

[0019] Figure 5 Schematic diagram of the hemispherical foot structure formed by pouring using the pouring and forming mold for the hemispherical foot of the legged robot of the present invention.

[0020] In the figure:

[0021] 1 - Upper mold part, 2 - Connecting part, 3 - Lower mold part

[0022] 101 - Circular through hole, 102 - Rectangular opening, 103 - Rectangular groove

[0023] 104 - Upper boss, 201 - Cylindrical main body, 202 - Disc base

[0024] 203 - Lobe, 204 - Structural groove, 205 - Vent hole

[0025] 301 - Hemispherical groove, 302 - Lower boss Detailed implementation manners

[0026] The present invention will be further described below in conjunction with the accompanying drawings and examples.

[0027] The pouring and forming mold for the hemispherical foot of the legged robot of the present invention, as Figure 1 shown, includes an upper mold part 1, a connecting part 2 and a lower mold part 3, and the materials of all three are PLA plastics.

[0028] The upper mold part 1 is integrally in a rectangular plate-like structure, and a coaxial circular through hole 101 is designed in the center; at the same time, rectangular openings 102 are designed on both sides of the circular through hole 101, and rectangular grooves 103 communicating with the circular through hole 101 are opened at the front and rear positions of the circular through hole 101 on the bottom surface. Upper bosses 104 are designed in the middle of the left and right side walls of the upper mold part 1, and bolt holes perpendicular to the upper mold part 1 in the axial direction are opened on the upper bosses 104, and the diameter of the bolt holes is M3.

[0029] The lower mold part 3 is integrally in a columnar structure, and a hemispherical groove 301 is opened on the top surface, and the diameter is larger than the diameter of the central circular through hole 101 of the upper mold part 1. Lower bosses 302 are designed at corresponding positions on both sides of the lower mold part 3, and bolt holes parallel to the axis of the upper mold part 1 in the axial direction are opened on the lower bosses 302, and the diameter of the bolt holes is M3.

[0030] As Figure 2As shown, the connecting component 2 is used to connect the calf of the legged robot, and has a cylindrical main body 201 and a disc base 202 coaxially designed at the bottom end of the cylindrical main body 201. Among them, the outer diameter of the cylindrical main body 201 is equal to the diameter of the central circular through-hole of the upper mold component 1; longitudinally arranged slits are designed at the circumferentially opposite positions on the upper part of the cylindrical main body 201, and lugs 203 are designed on both sides of the opposite slits, and through-holes are opened at the corresponding positions on the lugs 203 on both sides of the slit; thus, a hoop structure is formed on the upper part of the cylindrical main body 201. A structural groove 204 is designed on the circumference of the disc base 202, and the width of the structural groove 204 is 2 mm; the disc base 202 is divided into upper and lower parts by the structural groove 204; among them, the diameter of the upper part is matched with the diameter of the hemispherical groove 301 on the top surface of the lower mold component 3; the diameter of the lower part is smaller than that of the upper part. At the same time, four exhaust holes 205 with axes parallel to the axis of the connecting component 2 are equiangularly spaced on the circumference of the disc base 202, and the diameter of the exhaust holes 205 is 3 mm, penetrating through the upper and lower surfaces of the disc base 202.

[0031] After the upper mold component 1, the connecting component 2 and the lower mold component 3 with the above structures are assembled and then poured, a hemispherical foot integratedly formed at the lower part of the connecting component 2 is obtained. The specific method is as follows:

[0032] The assembly method of the upper mold component 1, the connecting component 2 and the lower mold component 3 is as follows:

[0033] 1) Insert the connecting component 2 coaxially into the hemispherical groove 301 on the top surface of the lower mold component 3 through the disc base 202, so that the lugs 203 on both sides of the connecting component 2 respectively correspond to the positions of the left and right lower bosses 302 of the lower mold component 3.

[0034] 2) Sleeve the upper mold component 1 onto the cylindrical main body 201 of the connecting component 1 through the central circular through-hole 101, and avoid the lugs 203 on both sides of the connecting component 2 through the rectangular openings 102 on both sides of the circular through-hole 101.

[0035] 3) Pass bolts through the threaded holes corresponding to the two side bosses of the upper mold component 1 and the lower mold component 2 and then tighten them with nuts to fix the upper mold component 1 and the lower mold component 3;

[0036] 4) Lift the connecting component 2 to make the disc base 202 of the connecting component 2 fit against the bottom surface of the upper mold component 1. At this time, the lugs on both sides of the connecting component 2 just completely pass through the rectangular openings 102; then rotate the connecting component 2 so that the four exhaust holes 205 on the disc base 202 of the connecting component 2 are respectively located at the two rectangular openings 102 and the two rectangular grooves 103 of the upper mold component 1, as Figure 4As shown; and by the cooperation between the lugs 203 on both sides of the connecting member 2 and the top surface of the upper die member 1, the axial displacement of the connecting member 2 is restricted, and at this time, the top surface of the lower disc base 202 of the connecting member 2 is flush with the top surface of the lower die member 3.

[0037] Thus, the assembly of the upper die member 1, the connecting member 2 and the lower die member 3 is completed.

[0038] After the assembly is completed, pouring can be carried out. The pouring material is resin, which is poured from the top entrance of the connecting member 2. The resin flows downward through the inside of the connecting member and into the hemispherical groove 301 of the lower die member 3. The gas in the hemispherical groove 301 can be discharged through the exhaust hole 205 on the disc base 202 of the connecting member 2. Further, the resin can flow into the structural groove through the gap between the part of the disc base 202 below the structural groove 204 at the bottom of the connecting member 2 and the inner wall of the hemispherical groove 301, and finally fill the hemispherical groove 301. After the pouring material resin solidifies, the connecting bolts between the upper die member 1 and the lower die member 3 are disassembled, and the connecting member 2 is rotated to the initial position. At this time, the upper die member and the lower die member are removed to obtain the final required leg-foot integrated structure, as Figure 5 shown.

[0039] Through the pouring and forming die of the hemispherical foot of the legged robot of the present invention, the connecting member 2 for connecting the calf of the robot is used as a part of the pouring and forming die. Finally, a hemispherical foot is formed by pouring at the bottom of the connecting member 2. And through the design of the structural groove 204, the connection strength between the hemispherical foot and the connecting member 2 is increased, so that an annular fixed structure is formed between the inside of the hemispherical foot and the connecting member 2, realizing a leg-foot integrated structure without pasting; the connection and fixation with the robot leg are realized through the upper hoop structure of the connecting member.

Claims

1. A casting and forming mold for the hemispherical foot of a legged robot, characterized in that: It includes an upper die component, a connecting component and a lower die component; A circular through-hole is provided on the upper die component, and an opening communicating with the circular through-hole is provided on the circumferentially opposite side of the circular through-hole; A hemispherical groove is provided on the lower die component for plugging with the lower disc base of the connecting component; The upper part of the connecting component is a cylindrical structure for connecting the calf of a legged robot; there are also lugs at the circumferentially opposite positions on the upper part of the connecting component; The lower part of the connecting component is a disc base with a central opening; a structural groove is designed on the circumference of the disc base, and the disc base is divided into upper and lower parts by the structural groove; among them, the diameter of the upper part of the disc base matches the diameter of the hemispherical groove on the lower die component; the diameter of the lower part of the disc base is smaller than that of the upper part; The disc base of the above-mentioned connecting component is plugged with the hemispherical groove on the lower die component; the upper die component is sleeved on the connecting component by cooperating with the cylindrical part and the two side lugs of the connecting component through the circular through-hole and the two side openings on it, and is fixedly connected to the lower die component; further, by rotating the connecting component, the axial position of the connecting component is restricted by the cooperation of the two side lugs and the disc base of the connecting component with the upper and lower surfaces of the upper die component respectively. At this time, the top surface of the disc base of the connecting component is flush with the top surface of the lower die component, forming an integral casting mold.

2. The casting and forming mold for the hemispherical foot of the legged robot according to claim 1, characterized in that: The pouring process is as follows: the pouring material enters the hemispherical groove through the upper cylindrical structure of the connecting component and the central through-hole of the disc base; and enters the structural groove through the gap between the lower part of the disc base and the side wall of the hemispherical groove, and finally fills the hemispherical groove; after the pouring material resin solidifies, a hemispherical foot with structural connection is formed at the bottom of the connecting component.

3. The casting and forming mold for the hemispherical foot of the legged robot according to claim 1, wherein: Four exhaust holes parallel to the axis of the connecting component are equally spaced at an angle on the circumference of the disc base; by designing openings on the left and right sides of the circular through-hole of the upper die component and grooving on the bottom surface of the upper die component at the front and rear positions of the circular through-hole, and cooperating with the four exhaust holes respectively, the gas in the groove of the lower die component is discharged.

4. The casting and forming mold for the hemispherical foot of a legged robot according to claim 1, characterized in that: Longitudinal gaps are designed at the circumferentially opposite positions on the upper part of the cylindrical structure, and lugs are designed on both sides of the opposite gaps, and through-holes are provided at the corresponding positions on the lugs on both sides of the gaps; thus, a hoop structure is formed on the upper part of the cylindrical structure.

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