Foot sole mechanism of robot

Abstract

The invention discloses a sole mechanism of a robot. The sole mechanism is used for improving the adaptability of a quadruped robot to complex terrains and the walking stability of the quadruped robot. The mechanism comprises a spiral structure buffer, a displacement sensor, a rotating shaft, a return torsion spring and the like. The spiral structure buffer and the displacement sensor are integrated to form a spiral structure type pressure sensor, the acting force value is fed back in real time by monitoring the vertical displacement difference value between the upper plate and the lower plate, and meanwhile the ground impact force is buffered. The rotating shaft realizes axial rotation and automatic reset of the foot sole through a bearing and a return torsion spring, and the range of the rotation angle limited by a polyurethane limiter is 0-45 degrees; the angle sensor monitors the rotation angle and transmits a signal to the control center, and gait adjustment is optimized. The foot sole is connected with the ankle joint through the arch plate, and the rear anti-skid rubber pad and the rubber cover plate enhance the road holding force. The device has the advantages of buffering, force feedback and compact structure, can be extensively applied to bionic robots and complex terrain automation equipment, and improves the motion control precision and the terrain interaction capability.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, specifically to a foot mechanism for a quadruped robot, and particularly to a bionic foot structure with a buffering function and force feedback. Background Art

[0002] Nowadays, with the continuous progress of technology, the global robot market shows a steady growth trend, and the market scale continues to expand. With the wide application of robots in the field of entertainment and viewing, it further promotes the development of the market. At present, the interaction ability between the feet of quadruped robots and the ground environment is relatively low, and the adaptability to complex terrains is limited, which cannot meet the requirements of robots for walking on complex terrains. That is, when the robot's foot lands, the impact force of the foot on the ground and signal feedback are particularly important.

[0003] Currently, the research on solving the above problems at home and abroad is still being continuously optimized. The existing technology solutions do not integrate force sensors and buffering mechanisms, resulting in insufficient adaptability of the feet to terrains and control accuracy. Summary of the Invention

[0004] The present invention provides a foot mechanism for a robot, which realizes the dual functions of buffering and force feedback through a spiral-structured pressure sensor, and improves the walking stability and terrain adaptability of the robot.

[0005] The technical solution adopted by the present invention is a foot mechanism for a robot, including: a rubber cover plate, a disc base, a rotating shaft, a polyurethane limiter, a return torsion spring, a bearing, an angle sensor, a spiral buffer, a displacement sensor, a bow plate, and a rear anti-slip rubber pad; the spiral buffer and the displacement sensor are integrated to form a spiral-structured pressure sensor, which is used to buffer the force between the foot and the ground and monitor the value of the force; the disc base is connected to the rotating shaft, the polyurethane limiter is connected to the disc base, the rotating shaft is connected to the spiral buffer through the bearing and the return torsion spring, the angle sensor and the displacement sensor are connected to the spiral buffer through bolts, the spiral buffer is fixedly connected to the bow plate through bolts, the rear anti-slip rubber pad and the rubber cover plate are connected to the bow plate through adhesives and bolts, and the bow plate is connected to the robot's ankle joint.

[0006] Preferably, the spiral buffer includes an upper plate and a lower plate, which are connected by a spiral elastic structure. The displacement sensor monitors the vertical displacement difference between the upper plate and the lower plate and converts the displacement signal into a force value.

[0007] Preferably, the buffering stroke and force range of the spiral buffer are adapted to robots of different weights by adjusting parameters such as the number of spiral turns, thickness, or width.

[0008] Preferably, when the sole leaves the ground, the return torsion spring drives the disc base to reset, and the rotation angle range is limited to 0-45° by the polyurethane limiter.

[0009] Preferably, the angle sensor monitors the rotation angle of the rotating shaft in real time and transmits the signal to the robot control center for gait adjustment.

[0010] The beneficial effects of the present invention are as follows: The structure of the present invention is compact, small in size, occupies less space, and has multiple functions, which can better meet the requirements of the compact structure of the robot. The spiral structure pressure sensor has a wide range of applications. This structure can be used on the sole of the robot and also on tools for measuring the impact force value. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic diagram of the sole mechanism of the present invention; Figure 2 is an exploded view of the sole mechanism of the present invention; Figure 3 is a structural diagram of the spiral structure pressure sensor.

[0012] Markings in the figure: 1 - rubber cover plate, 2 - disc base, 3 - rotating shaft, 4 - polyurethane limiter, 5 - return torsion spring, 6 - bearing, 7 - angle sensor, 8 - spiral structure buffer, 9 - displacement sensor, 10 - bow plate, 11 - rear anti-slip rubber pad, 801 - upper plate, 802 - lower plate DETAILED DESCRIPTION OF THE INVENTION

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0014] A sole mechanism of a new type of robot of the present invention, the sole mechanism is as Figure 1 , Figure 2 shown, including: rubber cover plate 1, disc base 2, rotating shaft 3, polyurethane limiter 4, return torsion spring 5, bearing 6, angle sensor 7, spiral structure buffer 8, displacement sensor 9, bow plate 10, rear anti-slip rubber pad 11. The bow plate 10 is fixed to the ankle joint, and the structure of the ankle joint is not shown in the schematic diagram.

[0015] The spiral structure buffer 8 and the displacement sensor 9 form a "spiral structure pressure sensor", as Figure 3 shown. This structure is the core of the sole mechanism, which plays a role in buffering the force between the sole and the ground and monitoring the magnitude of the force value.

[0016] Working principle of the "spiral structure pressure sensor": The spiral structure buffer 8 is similar to a spring structure. When a vertical force is applied, it will undergo elastic deformation through its own spiral structure, that is, there will be a displacement difference between the upper plate 801 and the lower plate 802 in the vertical direction. The displacement sensor 9 will continuously monitor the change of the displacement difference, forming a one-to-one correspondence between the force value and the displacement signal, constituting a force sensor. Moreover, when the spiral structure buffer 8 is stressed and undergoes elastic deformation, it will also play a role in buffering the impact force between the sole and the ground. The force range and buffer stroke of the "spiral structure pressure sensor" can be determined according to the parameters of the number of spiral turns, thickness, and width, and are adapted to robots of different weights.

[0017] Connection and assembly relationship of the sole mechanism: The disc base 2 is fixedly connected to the rotating shaft 3 through shaft-hole fit and bolts. The polyurethane limiter 4 is fixedly connected to the disc base 2. The rotating shaft 3 is connected to the spiral structure buffer 8 through the bearing 6 and the return torsion spring 5 to achieve axial rotational movement. The angle sensor 7 and the displacement sensor 9 are fixedly connected to the spiral structure buffer 8 through bolts. The spiral structure buffer 8 is fixedly connected to the bow plate 10 through bolts. The rear anti-slip rubber pad 11 and the rubber cover plate 1 are fixedly connected to the bow plate 10 through adhesives and bolts. The bow plate 10 is connected to relevant structures such as the robot's ankle joint.

[0018] Installation sequence of the sole mechanism: The bearing 6 is installed with the spiral structure buffer 8; the rotating shaft 3 is inserted into the bearing 6 and the return torsion spring 5; the rotating shaft 3 is installed with the disc base 2. The installation of the remaining components is relatively simple and will not be described.

[0019] The sole mechanism moves in a follow-up manner, that is, the ankle joint drives the bow plate 10. When the sole mechanism lands and lifts, the "spiral structure pressure sensor" plays a role in buffering, identifying the signal of the front sole landing, and measuring the force on the sole.

[0020] When the robot's foot lands, the rear anti-slip rubber pad 11 touches the ground first, followed by the disc base 2 touching the ground. At the same time, the force is transmitted to the spiral structure buffer 8 through the rotating shaft 3 and the bearing 6. The spiral structure buffer 8 undergoes elastic deformation to play a buffering role. At the same time, the displacement sensor 9 can monitor the elastic deformation of the spiral structure buffer 8 and identify that the disc base 2 has landed, and send the signal to the robot control center. When the rear anti-slip rubber pad 11 leaves the ground, the displacement sensor 9 can monitor the magnitude of the vertical deformation of the spiral structure buffer 8, which can be converted into a force signal and sent to the robot control center. At the same time, the disc base 2 and the spiral structure buffer 8 rotate relative to each other, and the rotation angle range is 0 - 45°. The angle sensor 7 can send the angle signal to the robot control center. When the disc base 2 leaves the ground, the return torsion spring 5 returns the disc base 2 to its original position, that is, the polyurethane limiter 4 contacts the spiral structure buffer 8, and the return is completed.

[0021] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A foot mechanism of a robot, characterized in that, Comprising: A rubber cover plate (1), a disc base (2), a rotating shaft (3), a polyurethane limiter (4), a return torsion spring (5), a bearing (6), an angle sensor (7), a spiral structure buffer (8), a displacement sensor (9), a bow plate (10), and a rear anti-slip rubber pad (11); The spiral structure buffer (8) and the displacement sensor (9) are integrated to form a spiral pressure sensor, which is used to buffer the force between the sole of the foot and the ground and monitor the force value. The disc base (2) is connected to the rotating shaft (3), the polyurethane limiter (4) is connected to the disc base (2), the rotating shaft (3) is connected to the spiral structure buffer (8) through the bearing (6) and the return torsion spring (5), the angle sensor (7) and the displacement sensor (9) are connected to the spiral structure buffer (8) by bolts, the spiral structure buffer (8) is fixedly connected to the bow plate (10) by bolts, the rear anti-slip rubber pad (11) and the rubber cover plate (1) are connected to the bow plate (10) by gluing and bolts, and the bow plate (10) is connected to the robot ankle joint.

2. The sole mechanism of the robot according to claim 1, characterized in that, The spiral structure buffer (8) includes an upper plate (801) and a lower plate (802), which are connected by a spiral elastic structure. The displacement sensor (9) monitors the vertical displacement difference between the upper plate (801) and the lower plate (802), and converts the displacement signal into a force value.

3. The sole mechanism of the robot according to claim 1, characterized in that, The buffer stroke and the force range of the spiral structure buffer (8) are adapted to robots of different weights by adjusting parameters such as the number of spiral turns, thickness, or width.

4. The sole mechanism of the robot according to claim 1, characterized in that, The return torsion spring (5) drives the disc base (2) to reset when the sole of the foot leaves the ground, and limits the rotation angle range to 0 - 45° through the polyurethane limiter (4).

5. The sole mechanism of the robot according to claim 1, characterized in that, The angle sensor (7) monitors the rotation angle of the rotating shaft (3) in real time and transmits the signal to the robot control center for gait adjustment.

Images